Mitsubishi Electric MELSEC Q Series Programming Manual page 111

3 POSITIONING DEDICATED SIGNALS
#8010+20n
(h) Servo status1 (#8010+20n)
This register stores the servo status read from the servo amplifier.
b15 b14 b13 b12 b11 b10
• 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 the servo
• Gain changing (b4) ..................... Turns ON when the servo amplifier is gain
• Fully closed control
changing (b5) .............................. Turns ON when the servo amplifier is
• 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 has
• Servo warning (b15) ................... Turn ON during the servo warning.
POINT
Servo warning (b15) turns ON during Motion controller forced stop or servo forced
stop.
QDS ........................................... Monitor device
b9 b8 b7 b6 b5 b4
(Note): The 0/1 is stored in the servo status 1.
0: OFF
1: ON
amplifier.
b3
0
0
1
changing.
using fully closed loop control.
parameter "in-position".
having the torque restricted.
lost the absolute position.
3 - 62
b3 b2 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
b2 Control mode
0 Position control mode
1 Speed control mode
0 Torque control mode