Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 104

[Md.1027] Servo amplifier Vendor ID (R: D32031+48n/Q: #8016+20n)
This register stores the servo amplifier vendor ID for each axis when the control circuit power supply of the servo amplifier is
turned ON.
The contents are not cleared when the control circuit power supply of the servo amplifier is turned OFF.
Monitor value
0
3
8
10
[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)
This register stores the servo status read from the servo amplifier.
[Md.108] Servo status 1
(R: D32032+48n/Q: #8010+20n)
Item
READY ON (b0)
Servo ON (b1)
*1
Control mode (b2, b3)
Gain changing (b4)
Fully closed control changing (b5)
Servo alarm (b7)
In-position (b12)
Torque limit (b13)
Absolute position lost (b14)
Servo warning (b15)
*1 The status of control mode (b2, b3) are as follows.
b3 b2 Control mode
0 0 Position control mode
0 1 Speed control mode
1 0 Torque control mode
Servo warning (b15) turns ON during Motion controller forced stop or servo forced stop.
2 POSITIONING DEDICATED SIGNALS
102
2.2 Data Registers
Description
Mitsubishi Electric Corporation
ORIENTAL MOTOR Co., Ltd.
CKD Nikki Denso Co., Ltd.
IAI Corporation
b15 b14 b13 b12 b11 b10 b9
Description
Indicates the ready ON/OFF.
Indicates the servo ON/OFF.
Indicates the control mode of servo amplifier.
Turns ON when servo amplifier is gain changing.
Turns ON when servo amplifier is fully closed control changing.
Turn ON during the servo alarm.
The dwell pulse turns ON within the servo parameter "in-position".
Turns ON when the servo amplifier is having the torque restricted.
Turns ON when the servo amplifier is lost the absolute position.
Turn ON during the servo warning.
b8 b7 b6 b5 b4 b3 b2
*: The 0/1 is stored in the servo status 1.
0: OFF
1: ON
b1 b0
READY ON
Servo ON
Control mode
Gain changing
Fully closed control changing
Servo alarm
In-position
Torque limit
Absolute position lost
Servo warning