Omron OMNUC G5 Series User Manual page 219

Statusword 1
4000 hex
Range 0000 to FFFF hex
Size 2 bytes (U16)
This object gives the present state of the Servo Drive.
Bit Descriptions
Bit
0 Origin Position
1 Distribution Completed
2 Zero Speed Detected*
3 Torque Limit Applied
4 Speed Limit
5 Forward Software Limit
6 Reverse Software Limit
7 Speed Agreement
8 Positioning Completed 2
9 Servo Ready
10 to 15 Reserved
*1. Not supported in Cyclic synchronous position mode (csp).
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
−
Unit
Access
Name Symbol
ZPOINT
DEN
*1
ZSP
TLIMT
*1
VLIMT
PSOT
NSOT
*1
VCMP
INP2
*2
CMDRDY
−
6-7 Object Dictionary
Default 0000 hex
RO PDO map
Code Description
0 Outside origin range
1 Within origin range
0 Distributing
1 Distribution Completed
0 Zero speed not detected
1 Zero speed detected
0 Torque limit not applied
1 Torque Limit Applied
Speed limit not detected during
0
torque control
Speed limit detected during torque
1
control
0 Outside limit range
1 Within limit range
0 Outside limit range
1 Within limit range
No speed agreement during speed
0
control
Speed agreement during speed
1
control
Outside positioning proximity range
0
during positioning control
Within positioning proximity range
1
during positioning control
Commands cannot be accepted
0
during processing
1 Commands can be accepted
− −
All
−
Attribute
Possible
6
6-34