Omron R88D-KN series User Manual page 456

Appendicies
Bit
9 Remote
10 Target reached
11 Internal limit active
12 Target value ignored
or Homing attained
13 Following error
14 and 15 Manufacturer specific
*1 The Voltage enabled bit indicates that the main circuit power supply is ON when it is 1.
*2 Not applicable in Quick stop active state. This bit is 0 in a "Not ready to switch ON" state only. It is always 1 in
all other cases.
*3 This bit will also change to 1 when the actual speed becomes less than 30 mm/s after bit 8 (Halt) in
Controlword (6040 hex) is set to 1 during operation in the Homing mode.
For details, refer to 6-5 Homing Mode on page 6-15.
*4 Although the Servo Drive need not be updated when combined with an OMRON Controller, when using a third-
party controller, update the target value taking the following points into consideration.
When the Target value ignored bit is 0, the target value is ignored and operation will follow the Servo Drive's
internal command. However, when the Target Value Ignored bit later changes to 1 and the target value is
enabled, the target position of the controller and that of the Servo Drive will vary. Therefore, it is necessary to
update the Target position or other target values in the controller while monitoring items such as the Position
actual value.
A-56
Name
This bit indicates that the Servo Drive is being controlled by the
Controlword.
Changes to 1 (remote) after initialization has been completed.
When 0 (local) is given, it indicates that the support software has the
control right to the Servo Drive.
This bit is 1 when homing is completed during the Homing mode.
This bit is not used in other modes of operation.
This bit indicates that the limit function is in effect.
This bit becomes 1 when the limit function in the Servo Drive is
activated.
The limit function has four limits, the torque limit, speed limit, drive
prohibition input, and software limit.
These bits are specific to the operation mode.
This bit is 0 when the Servo Drive could not move according to the host
command while the Servo is ON or in csp mode, csv mode, or cst mode.
This bit will not become 0 if there is an error.
This bit becomes 0 in the following cases.
• Between when the drive prohibition input (PLS/NLS) is input until
when the motor decelerates and stops when the Drive Prohibition
Input Selection (3504 hex) is set to 0.
• When a warning occurs for a mode of operation.
• When a data setting warning (B0 hex) occurs while the mode of
operation is being changed and instead of changing the mode of
operation, the current mode of operation is retained.
• When a drive prohibition direction command is received while in a
drive prohibition state.
• When there is a change in position command that exceeds the motor's
maximum speed.
This bit changes to 1 when the homing operation reaches its target while
in the Homing mode (hm).
These bits are specific to the operation mode.
The Following error (Error counter overflow) is indicated in Cyclic
synchronous position mode.
Position Error Counter Overflow is set to 1 when the Position actual
value (6064 hex) exceeds the Following error window (6065 hex) that is
set based on Position demand value (6062 hex).
This bit changes to 1 when the homing operation is not completed
successfully while in the Homing mode (hm).
These are manufacturer specific bits. This bit is not used by G5-series
Servo Drives.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Description
*4
*3