YASKAWA Sigma-7 Series Product Manual

Also see for SGD7W Series: Selection Manual

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YASKAWA Sigma-7 Series Product Manual Manual pdf 81 page image

4.5 CSTP_S in the I/O Signal Status Monitor4.5.1 SVCMD_IO (I/O Signal Status) Field4-84.5 CSTP_S in the I/O Signal Status MonitorCSTP_S (Synchronized Stopping Status) can be checked with bit 31 of the servo command I/Osignal (SVCMD_IO) command through MECHATROLINK-III communications.4.5.1 SVCMD_IO (I/O Signal Status) Field4.5.2 Details of I/O Signal Status BitsThe following table shows the details of CSTP_S.Note: IO_STS8 is allocated to bit 31 in the Σ-7W SERVOPACK with MECHATROLINK-III Communications Refer-ences (SGD7W-A20), but CSTP_S is allocated to bit 31 in this product.Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0ESTP EXT3 EXT2 EXT1 N-OT P-OT DEC Reserved(0)Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8ZPOINT PSET NEAR DEN N-SOT P-SOT BRK_ON Reserved(0)Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16Reserved (0) ZSPD V_CMP V_LIM T_LIMBit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24CSTP_S IO_STS7 IO_STS6 IO_STS5 IO_STS4 IO_STS3 IO_STS2 IO_STS1Bit Name Description Value Setting31 CSTP_S Synchronized StoppingStatus0 During normal operation1 During synchronized stoppingThe status used to judge the state of synchronized stopping.In synchronized stopping mode 3, both axes are almost simultaneously set to the servo OFFstate immediately after an alarm occurs. Therefore, CSTP_S which represents the synchro-nized stopping status will not change, but it will instead remaining as the during normal oper-ation status.Information