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9.7
[Machine diagnostic status (Obj. 2C20h)]
[Machine diagnostic status (Obj. 2C20h: 00h)]
Data Type
Access
U16
RO
Supported firmware version
ECT
A5
Description
The machine diagnostic status is returned.
[Bit 0 to 3: Friction estimation status at forward rotation]
0: Estimation in progress. (normal)
1: Estimation has finished. (normal)
2: The motor may have rotated/traveled more frequently in one direction than the other. (warning)
3: The servo motor speed may be too slow for friction estimation. (warning)
4: The change in the servo motor speed may be too small for friction estimation. (warning)
5: The acceleration/deceleration time constants may be too short for friction estimation. (warning)
6: The operation time may be insufficient. (warning)
When warning conditions for 2 to 6 are met at the same time, the lower number takes priority.
Even if a warning occurs during estimation, upon completion the status will change to "Estimation has finished".
[Bit 4 to 7: Friction estimation status at reverse rotation]
0: Estimation in progress. (normal)
1: Estimation has finished. (normal)
2: The motor may have rotated/traveled more frequently in one direction than the other. (warning)
3: The servo motor speed may be too slow for friction estimation. (warning)
4: The change in the servo motor speed may be too small for friction estimation. (warning)
5: The acceleration/deceleration time constants may be too short for friction estimation. (warning)
6: The operation time may be insufficient. (warning)
When warning conditions for 2 to 6 are met at the same time, the lower number takes priority.
Even if a warning occurs during estimation, upon completion the status will change to "Estimation has finished".
[Bit 8 to 11: Vibration estimation status]
0: Estimation in progress.
1: Estimation has finished.
[Bit 12 to 15: reserved]
9 Manufacturer Specific Control Object
104
9.7 [Machine diagnostic status (Obj. 2C20h)]
Mapping
Default
Impossible
Range
Units
0000h to FFFFh
Save
Parameter
Impossible
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