ABB FECA-01 EtherCAT, User Manual

Page: 76 / 148

76 Communication profiles
The following table describes the operation mode specific bits of
the Status word of the CiA 402 profile:
( * ) For Cyclic synchronous torque mode, Cyclic synchronous velocity mode
and Cyclic synchronous position mode, the operation of bits 10 and 13
depends on the value of CoE object 0x60DA as described in the table below:
Bit Velocity
mode
Profile
position
mode Profile
velocity
mode Profile
torque
mode Homing
mode cst,
csv,
csp (*)
10 Target
reached
Target
reached Target
reached Target
reached (*) (*)
12 Reserved Set-point
acknowledge-
ment
Speed Reserved Homing
attained
Drive
follows
the
com-
mand
value
13 Reserved Following
error
Max slip-
page
error Reserved Homing
error
(*)
Value of
object
0x60DA
bits 1...0 Status
word bit 13 Status word
bit 10 Description
00 Zero Zero Status toggle disabled
01 Zero Status toggle Status toggle enabled
10 or 11 Input cycle
counter
bit 1 Input cycle
counter bit 0 2-bit input cycle
counter enabled