Omron R88M-K User Manual page 559

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 1) to 3) below.
*2 When commands in the Controlword (6040 hex) are not followed when the servo is ON, this bit will be 0. For
details, see figures 2) and 3) below.
*3 When commands in the Controlword (6040 hex) are not followed when the servo is ON, the preceding value is
retained. For details, see figure 4) below.
*4 Profile position mode (pp) is supported for unit version 2.1 or later.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
6061: Modes of Operation Display
Position control mode
*4
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
*3
attained
Homing 0
*3
error
DEN 1
0 0
0 0
NEAR 1
Appendices
Speed Torque
Control Control
Mode Mode
csv cst
0 0
Target Target
velocity torque
*1 *1
ignored ignored
0 0
0 0
0
*2
VLIM
*2 0
VCMP
0 0
A-9