Omron R88M-K User Manual page 603

• Bit 9: Servo Ready (CMDRDY)
This bit indicates if command reception is possible (1) or not possible (0). When Servo Ready is 0,
one of the following operations is being processed. It changes to 1 when all processing has been
completed.
• Writing to object using SDO mailbox communications.
• Executing Config (4100 hex).
• Resetting Warning/Error.
• Executing Error History Clear (2100 hex).
• Executing Backup parameter changed (10F0 hex, Sub: 02 hex).
• Executing Save all parameters (1010 hex, Sub: 01 hex).
• Executing Restore all default parameters (1011 hex, Sub: 01 hex).
• Executing Absolute Encoder Setup (4102 hex).
• From when a Servo ON command (Enable operation) is accepted until the Servo ON state is
reached.
• From when a Servo OFF command (Disable operation, Shutdown, or Disable Voltage) is accepted
until the Servo OFF state is reached.
Sub Error Code
4001 hex
Range 0000 to
FFFF hex
Size 2 bytes (U16)
• This object shows errors that have occurred in the Servo Drive.
4020 hex
Reference Position for CSP
Range -2,147,483,648 to
2,147,483,647 hex
Size 4 bytes (INT32)
• This object shows the reference position by which the G5-series Servo Drive is switched from Cyclic
synchronous velocity mode or Cyclic synchronous torque mode to Cyclic synchronous position
mode.
• The controller references this object as the first command position after switching the control mode.
• This objects shows the Following error actual value (60F4 hex) in the Cyclic synchronous position
mode.
• If you map this object to the PDO when the communications cycle is set to 250/500 µs or when the
electronic gear ratio is not 1:1, a Function Setting Error (Error No. 93.4) will occur.
• When switching to Cyclic synchronous position mode (csp), set the Target position (607A hex) so that
the difference between the 607A hex and 4020 hex values equals the operation speed.
• Switch to csp during Constant-speed driving while ensuring that the gain before and after switching is
kept at the same value.
Torque fluctuations may occur during switching in the following cases due to a large difference in the
reference position value:
• During acceleration/deceleration
• During high-speed rotation
• During transition in the operation of the first-order lag filter based on the Position Command Filter
Time Constant (3222 hex)
• During transition in the operation of the FIR filter based on the Position Command FIR Filter Time
Constant (3818 hex)
• During gain switching
• When the position gain value is small
• When the speed integral gain is disabled or retained
Note This object is supported for unit version 2.1 or later.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
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Unit
Access
Unit Command Default setting
units
Access
Default 0000 hex
RO PDO map
csp
0
RO PDO map
Appendices
All
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Attribute
Possible
csv cst
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Attribute
Possible
A-53