YASKAWA S-7 Series Command Manual page 62

Bit Name
N_SOT
The software limit forcibly stops a movable machine unit if it moves beyond the software
11
limit range in the same manner as the overtravel function, with or without using P_OT and
N_OT (overtravel signals).
This is the status used to judge if the movable machine unit is in the Reverse Software
Limit state (common parameter: 28).
DEN
12
The status used to judge if the position reference from the servo drive has been completed
This bit is valid only in the position control mode.
NEAR
13
The status used to judge if the current position is within the range of the NEAR Signal
Width (common parameter: 67)
This bit is valid only in position control mode.
PSET
The status used to judge if the current position is within the range of the Positioning Com-
14
pleted Width (common parameter: 66)
This bit is valid only in the position control mode.
Refer to the following section for details.
5.9 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a
Motion Command on page 5-15.
ZPOINT
15
The status used to judge if the current position is within the range of the Origin Detection
Range (common parameter: 8B)
T_LIM
16
The status used to judge if the torque is clamped at the Forward Toque Limit or the
Reverse Toque (force) Limit
V_LIM
17
The status used to judge if the speed is clamped at the limit value specified in the com-
mand or parameter
This bit is valid only in the torque control mode.
V_CMP
18
The status used to judge if the speed is within the Speed Match Signal Detection Range
(common parameter: 8F)
This bit is valid only in the speed control mode.
ZSPD
19
The status used to judge if the current speed is within the Zero Speed Detection Range
(common parameter: 8E)
2.6 Servo Command I/O Signal (SVCMD_IO)
2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring
Description Value
Reverse Software Limit
Distribution Completed
(Position Control Mode)
Near Position
(Position Control Mode)
Positioning Completed
(Position Control Mode)
Zero Point
Torque Limit
Speed Limit
(Torque Control Mode)
Speed Match
(Speed Control Mode)
Zero Speed
Continued from previous page.
Setting
0 Range of motion
Drive prohibited due to reverse
1
software limit
0 During distribution
1 Distribution completed
0 Outside the near-position range
1 Within the near-position range
Outside the positioning comple-
0
tion range
Within the positioning completion
1
range
Outside the zero point position
0
range
Within the zero point position
1
range
0 Not in the torque limited state
1 In the torque limited state
0 Speed limit not detected
1 Speed limit detected
0 Speed not matched
1 Speed match
0 Zero speed not detected
1 Zero speed detected
Continued on next page.
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