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6. APPLICATION FUNCTIONS
(b) Details on axis status bit
Abbreviation Signal name Remarks
PRSMO During continuous operation
to torque control
[Function]
Notifies that torque within the torque settle width of the target torque has been output
during the torque settle waiting time of continuous operation to torque control.
[Operation]
<Conditions for turning on>
Torque within the torque settle width of the target torque has been output during the
torque settle waiting time of continuous operation to torque control.
<Conditions for turning off>
Control mode was changed to position control mode.
CTLMCF Control mode switch
complete
[Function]
Notifies that switching of control mode of the servo amplifier was completed.
[Operation]
<Conditions for turning on>
The switching of the control mode of the servo amplifier was completed normally.
(Turns ON even when switching to a control mode the same as the current control
mode)
<Conditions for turning off>
The control mode switch command signal (CTLMC) was turned OFF.
CTLMCE Control mode switch error [Function]
Notifies that switching of control mode of the servo amplifier could not be performed.
[Operation]
<Conditions for turning on>
When one of the following conditions below is satisfied and the control mode switch
command is turned ON.
• Switch command is input during automatic operation during an operation other than
continuous operation to torque control points.
• A mode other than position control mode and continuous operation to torque control
mode, or a mode outside of the range is specified.
• A control mode switch command set to other than manual switch was input during
operation.
<Conditions for turning off>
The control mode switch command signal (CTLMC) was turned OFF.
API LIBRARY
• Use the sscChangeControlMode function for switching the control mode of the
servo amplifier.
• To check if the following system status bits are ON/OFF, set the status bit
numbers of the sscGetStatusBitSignalEx function or
sscWaitStatusBitSignalEx function to the following.
• During continuous operation to torque control (PRSMO):
SSC_STSBIT_AX_PRSMO