Omron R88D-KN series User Manual page 451

Bit 0: Origin Position (ZPOINT)
This bit is 1 when Position actual value (6064 hex) is within the Origin Range (3803 hex) after
homing is completed. In the absolute mode, homing is completed when the control power is
turned ON or when the Config operation is completed.
Bit 1: Distribution Completed (DEN)
This bit shows Distribution Completed (DEN) for the position command. DEN is 1 under the
following conditions:
In csp mode
In hm mode
Bit 2: Zero Speed Detected (ZSP)
This bit shows Zero Speed (ZSPD).
ZSPD is 1 when the absolute velocity actual value is less than Zero Speed Detection (3434 hex).
Bit 3: Force Limit (TLIM)
T_LIM is 1 during force limit. T_LIM is 0 when the servo is OFF. The judgment conditions during
force limit can be changed in the Force Limit Flag Output Setting (3703 hex).
Value set in 3703 hex
Bit 4: Speed Limit (VLIMT)
This bit shows Speed Limiting (VLIMT). VLIMT is 1 when the speed is being limited.
The speed limiting operation varies according to the value set in the Speed Limit Selection
(3317 hex).
Value set in 3317 hex
Precautions for Correct Use Precautions for Correct Use
• The position error in external encoder pulses can be set as the threshold value for the external
output signal INP2 output from the Position Setting Unit Selection (3520 hex). However, this
signal is always in command units.
Therefore, there may be differences in the judgment conditions for INP2 and NEAR, i.e., when
an electronic gear is set.
• This bit is forced to 0 when the Target velocity ignored (6041 hex, bit 12) is 0 during
deceleration processing for the drive prohibition input.
For details, refer to Target value ignored on page A-56.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Mode
When the position command distribution amount before or after position
command filtering is "0" during the communications cycle.
When the position command distribution amount before or after position
command filtering is "0" during the communications cycle when the NC built
into the servo amplifier has completed command distribution up to the target
position.
0 1 at force limit, including force command value
1 1 at force limit, excluding force command value
0 The speed is limited by the Speed Limit Value Setting (3321 hex).
1 The speed is limited by the smaller of the Speed Limit Value Setting (3321
hex) and Max profile velocity (607F hex).
Appendicies
Conditions
Contents
Contents
A-51