Status Field Specifications: Status - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4.5.3

Status Field Specifications: STATUS

The status field is used to monitor the Servo status with the third to fourth byte reserved area
of the main commands.
Refer to the following table for details on bit allocation.
Status Field
Bit Name
D0 ALM Alarm occurrence
D1 WARNG Warning occurrence
D2 CMDRDY Command ready
D3 SVON Servo ON
D4 PON
Main power supply ON
D5 MLOCK Machine lock status (always released)
D6 ZPOINT
Zero point
D7 PSET Positioning completion
Output completion (DEN is set to 1) and APOS is
within the positioning complete range
V-CMP
Speed coincides.
D8 DEN Output completion
ZSPD
Zero speed
D7 D6 D5
PSET/ ZPOINT MLOCK
VCMP
D15 D14 D13
− − N_SOT
Description
4-57
D4 D3 D2
PON SVON CMDRDY
D12 D11 D10
P_SOT NEAR/ L_CMP
V_LIM
Set Details
Value
0
None
1
Alarm occurs.
0
None
1
Warning occurs.
0
Command cannot be
received (busy).
1
Command can be received
(ready).
0
Servo OFF
1
Servo ON
0
Main power supply OFF
1
Main power supply ON
0
Machine lock released
0
Out of zero point range
1
Within zero point range
0
Out of positioning complete
range
1
Within positioning complete
range
0
Speed dose not coincide.
1
Speed coincides.
0
During output
1
Output completed
0
Zero speed not detected
1
Zero speed detected
4.5 Command Data Field
D1 D0
WARNG ALM
D9 D8
T_LIM DEN/
ZSPD
Control
4
Mode
Position
control mode
Speed
control mode
Position
control mode
Speed
control mode