Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 121)

7 Data Field
7.1.1 Status Field Specifications
7-2
7.1 Main Command Data Field
The data of each field in the main commands or subcommands is described below.
7.1.1 Status Field Specifications
The status field is used to monitor the SERVOPACK status.
The following table shows the bit allocation in the status field.
The following table explains each bit value and its status.
D7 D6 D5 D4 D3 D2 D1 D0
PSET/
V_CMP
ZPOINT – PON SVON CMDRDY WARNG ALM
D15 D14 D13 D12 D11 D10 D9 D8
– – N_SOT P_SOT
NEAR/
V_LIM
L_CMP T_LIM DEN/ZSPD
Bit Name Value Description
D0 ALM
0 No alarm
1 Alarm occurs.
D1 WARNG
0 No warning
1 Warning occurs.
D2 CMDRDY
0 Command cannot be received (busy).
1 Command can be received (ready).
D3 SVON
0 Servo OFF
1 Servo ON
D4 PON
0 Main power supply OFF
1 Main power supply ON
D5 – – –
D6 ZPOINT
0 Out of home position range
1 Within home position range
D7
PSET
(During position
control)
0 Out of positioning complete range
1
Within positioning complete range
(The output is completed (DEN = 1) and APOS is within the positioning
complete range.)
V_CMP
(During speed
control) 0 Speed does not coincide.
1 Speed coincides.
D8
DEN
(During position
control) 0 During output
1 Output completed
ZSPD
(During speed
control) 0 Zero speed not detected
1 Zero speed detected
D9 T_LIM
0 Not during torque (force) limit
1 During torque (force) limit
D10 L_CMP
0 Latch not completed
1 Latch completed