Omron R88M-K User Manual page 602

Appendices
• Distribution Completed (DEN)
This bit shows Distribution Completed (DEN) for the position command. DEN is 1 under the following
conditions:
In csp mode
• When the position command distribution amount before or after position command filtering is zero
during the communications cycle.
In hm mode
• When the position command distribution amount before or after position command filtering is zero
during the communications cycle when the NC built into the servo amplifier has completed
command distribution up to the target position.
• 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: Torque Limit (TLIM)
T_LIM is 1 during torque limit. T_LIM is 0 when the servo is OFF. The judgment conditions during
torque limit can be changed in the Torque Limit Flag Output Setting (3703 hex).
3703 hex = 0: 1 at torque limit, including torque command value
3703 hex = 1: 1 at torque limit, excluding torque command value
• Bit 4: Speed Limit (VLIMT)
This bit shows Speed Limiting (VLIMT). When the Speed Limit Selection (3317 hex) is 0, the speed is
limited by the Speed Limit Value Setting (3321 hex). When the Speed Limit Selection (3317 hex) is 1,
the speed is limited by the smaller of the Speed Limit Value Setting (3321 hex) and Max profile
velocity (607F hex). VLIMT is 1 when the speed is being limited.
Note 1 The position error in 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.
2 This bit is forced to 0 when Target velocity ignored (6041 hex, bit 12) = 0 during deceleration processing for
the drive prohibition input. Refer to page A-56 for details.
• Bit 5: Forward Software Limit (PSOT)
• Bit 6: Reverse Software Limit (NSOT)
PSOT is 1 when the Position actual value is greater than the set value of the Max position limit
(607D hex, Sub-index: 02 hex).
NSOT is 1 when the Position actual value is less than the set value of the Min position limit
(607D hex, Sub-index: 01 hex).
The value is 0 when the Software Position Limit Function is disabled (individual settings are possible
in each direction with 3801 hex) and when homing is not attained.
• Bit 7: Speed Agreement (VCMP)
This bit operates as the Speed Agreement (V_CMP). VCMP is 1 when the absolute value of the
difference between the command speed before acceleration limit and the Velocity actual value is less
than the Speed Conformity Detection Range (3435 hex).
Note 1 The position error in encoder pulses can be set as the threshold value for the external output signal INP
output from the Position Setting Unit Selection (3520 hex). However, this signal is always in command
units. The set values of Positioning Completion Condition Selection (3432 hex) and Positioning Completed
Hold Time (3433 hex) do not affect this signal. Therefore, there may be differences in the judgment
conditions for INP and Target reached (6041 hex bit 10), i.e., when an electronic gear is set.
2 This bit is forced to 0 when Target velocity ignored (6041 hex, bit 12) = 0 during deceleration processing for
the drive prohibition input.
• Bit 8: Positioning Proximity (NEAR) (Only during position control)
This bit operates as the Positioning Proximity (NEAR). NEAR will be 1 when the absolute value of the
position error converted to command units is less than the Position Completion Range 2 (3442 hex)
regardless of whether position command distribution is completed.
A-52 G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)