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Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the PDO state (servo amplifier internal state). Refer to the following
table for details.
Statusword (bin)
x0xx xxx0 x0xx 0000
x0xx xxx0 x1xx 0000
x0xx xxx0 x01x 0001
x0xx xxx0 x01x 0011
x0xx xxx0 x01x 0111
x0xx xxx0 x00x 0111
x0xx xxx0 x0xx 1111
x0xx xxx0 x0xx 1000
*1 Statusword is not sent when in the "Not ready to switch on" state.
Bit definition of Status DO
With the communication function, the on/off state of the output device can be checked by reading the following objects.
• Status DO 1
Bit
Symbol
Description
0
The value at reading is undefined.
1
2
S_SA
Speed reached
3
S_MBR
Electromagnetic brake interlock
4
S_CDPS
Variable gain selection
5
S_CLDS
Fully closed loop control switching in progress
6
The value at reading is undefined.
7
8
9
10
11
12
S_INP
In-position
13
S_TLC
Limiting torque
14
S_ABSV
Absolute position undetermined
15
S_BWNG
Battery warning
PDS state
*1
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault
Reference
Refer to "SIGNALS AND
WIRING" in the following manual.
MR-J5 User's Manual
(Hardware)
Refer to "SIGNALS AND
WIRING" in the following manual.
MR-J5 User's Manual
(Hardware)
7 CiA 402 DRIVE PROFILE
7.3 Statusword/Status DO
7
33
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