Mitsubishi Electric Q Series Programming Manual page 116

4 POSITIONING DEDICATED SIGNALS
(g) Parameter error number (#8009+20n)
The parameter number of error servo parameter is stored in hexadecimal at
the servo error occurrence.
(h) Servo status1 (#8010+20n)
This register stores the servo status read from the servo amplifier.
b15 b14 b13 b12 b11 b10
#8010+20n
• READY ON (b0)..........................Indicates the ready ON/OFF.
• Servo ON (b1).............................Indicates the servo ON/OFF.
• Control mode (b2, b3).................Indicates the control mode of servo
• Servo alarm (b7) .........................Turn ON during the servo alarm.
• In-position (b12) ..........................The dwell pulse turns ON within the servo
• Torque limit (b13)........................Turns ON when the servo amplifier is
• Absolute position lost (b14) ........Turns ON when the servo amplifier is lost
• Servo warning (b15) ...................Turn ON during the servo warning.
POINT
Servo warning (b15) turns ON during Motion controller forced stop or servo forced
stop.
H
Parameter No.
Parameter group No.
0: PA group
1: PB group
2: PC group
3: PD group
QDS
b9 b8 b7
(Note): The 0/1 is stored in the servo status 1.
4 - 77
QDS ........................... Monitor device
4: PE group B: PL group
5: PF group C: PT group
9: Po group
A :PS group
........................................... Monitor device
b6 b5 b4 b3 b2 b1
0: OFF
1: ON
amplifier.
b3 b2 Control mode
0 0 Position control mode
0 1 Speed control mode
1 0 Torque control mode
parameter "in-position".
having the torque restricted.
the absolute position.
b0
READY ON
Servo ON
Control mode
Servo alarm
In-position
Torque limit
Absolute position lost
Servo warning