Statusword/Status Do; Bit Definition Of Statusword - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. CiA 402 DRIVE PROFILE

5.3 Statusword/Status DO

The objects of Statusword or Status DO notify the master (controller) of the FSA state of the MR-J4-_TM_
servo amplifier and other drive status. Use 6041h to notify the status defined with CiA 402. Use 2D11h to
2D13h for the other Vendor-specific statuses.
Index Sub
6041h
2D11h
to
2D13h

5.3.1 Bit definition of Statusword

The following table shows the bit definition of Statusword.
Bit Symbol
0 RTSO
1 SO
2 OE
3 F
4 VE
5 QS
6 SOD
7 W
8
9 RM
10 TR
11 ILA
12
OMS
13
14
15
Object Name
VAR Statusword
Status DO 1
VAR to
Status DO 3
Ready-to-switch-on
Switch-on
Operation-enabled
Fault
Voltage-enabled
0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.
Quick stop
0: During a quick stop
1: No during a quick stop (including during the test mode)
Switch on disabled
Warning
0: No warning has been occurred.
1: A warning has occurred.
Remote
0: Not following the Controlword command
1: In operation following the Controlword command
Target reached
Differs depending on Mode of operation (6060h). (Refer to section 5.4.)
Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software
position limit have not been reached
1: The forward rotation stroke end, reverse rotation stroke end, or software
position limit has been reached.
(Enabled in the csp, csv, pp, pv, or hm mode)
Differs depending on Mode of operation (6060h). (Refer to section 5.4.)
Data
R/W
Type
U16 rw
U16 rw The servo status is returned.
Description
5 - 7
Description