AMCI NR60E2, User Manual

Page: 85 / 98

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PROFINET Protocol
PROFINET C
YCLIC
D
ATA
F
ORMATS
85
Sensor Status Word (G1_ZSW) (continued)
Bit 14: Parking sensor active – When this bit is set to “1”, the NR60E2 is in its parked state. The NR60E2
enters this state for one of two reasons. First, the NR60E2 is initializing and not yet ready to transmit
valid data. Second, the controller has commanded a switch to the parked state by setting the
Activate
parking sensor bit, G1_STW.14, and the NR60E2 is responding to this command.
Bit 15: Sensor error –
This bit is set by the NR60E2 as long as there is a sensor error. The error code is
available in G1_XIST2.
Encoder Status Word 2 (ZSW2_ENC)
ZSW2_ENC is one of two control words cyclically written from the NR60E2 to the controller. Only bits 15
through 12, 9, 7, and 3 are used by the NR60E2.
Figure R7.4 G1_ZSW Format
Bit 3: Fault Present / No Fault – This bit is set to ‘1’ when at least one fault is present or active in the
Encoder Object. This bit is set to ‘0’ when the NR60E2 is operating without a fault. Faults are
reported in P65001[2]. (See
P65001[2,3] - Supported Faults on page 82 for a list of the supported
faults.) During a fault condition, actual values reported by the NR60E2 should be considered invalid.
Bit 7: Warning Present / No Warning – The NR60E2 does not support warnings, because errors in the
device must be considered Faults. (Errors in the NR60E2 potentially leave reported values in an
invalid state, therefore errors must be considered Faults.) Therefore, this bit will always equal ‘0’.
Bit 9: Control Requested –
When set to ‘1’, the NR60E2 is requesting that the automation system assume
control of the device. When set to ‘0’, control of the NR60E2 by the automation system is not possi-
ble.
Bits 12-15: Encoder Sign-of-Life – These bits are not implemented by the NR60E2. These bits are manda-
tory only for Class 4 of the PROFINET Profile 4.1 (PROFIDRIVE Requirements), and the NR60E2
does not fully support Class 4.
Bit
15
Bit
14
Bit
13
Bit
12
Bit
11
Bit
10
Bit
9
Bit
8
Bit
7
Bit
6
Bit
5
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
Fault Present / No Fault
Warning Present / No Warning
Control Requested
Encoder Sign-of-Life
0 0 0 0 0 0 0 0 0