Omron R88D-KN series User Manual page 409

Bit Displays According to Modes of Operation Display (6061 Hex)
Some of the bits in the Statusword (6041 hex) and Statusword 1 (4000 hex) are dependent on the
control mode. Their relationship with Modes of operation display is shown in the following table:
Object Bit
6041 hex 10
12
13
4000 hex 1
4
7
8
*1 When commands in the Controlword (6040 hex) are not followed when the servo is ON, this bit will be 0
(ignored). For details, see figures (a) to (c) below.
*2 When commands in the Controlword (6040 hex) are not followed when the servo is ON, the preceding value is
retained. For details, see figure (d) below.
*3 When commands in the Controlword (6040 hex) are not followed when the servo is ON, this bit will be 0. For
details, see figures (b) and (c) below.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Modes of Operation Display (6061 hex)
Position control mode
csp pp
0 Target
reached
Target Acknowledge
position
*1
ignored
Following Following
error error
DEN DEN
0 0
0 0
NEAR NEAR
Not
hm
specified
Target 0
reached
Home 0
*2
attained
Homing error 0
DEN 1
0 0
0 0
NEAR 1
Appendicies
Speed Force
Control Control
Mode Mode
csv cst
0 0
Target Target
velocity torque
*1 *1
ignored ignored
0 0
0 0
0 *3
VLIM
*3 0
VCMP
0 0
A-9