AMCI SMD17K, User Manual

Page: 73 / 98

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SMD17K User Manual
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OMMAND
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ORMAT
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Input Data Format (continued)
STATUS_word0 Format (continued)
Bit 10: Position_Invalid –
“1” when:

The motor position has not been preset or the machine has not been homed

The network connection has been lost and re-established

An Immediate or Emergency Stop has occurred

An End Limit Switch has been reached

A motor stall has been detected.

A configuration change is written to the unit through the CoE SDO interface.
Absolute moves cannot be performed while the position is invalid.
Bit 9: Waiting_For_Assembled_Segment –
The SMD17K sets this bit to tell the host that it is ready to
accept the data for the next segment of your assembled move profile. Its use is explained in the
Assembled Move Programming section of this manual starting on page 36.
Bit 8: In_Assembled_Mode –
The SMD17K sets this bit to signal the host that it is ready to accept assem-
bled move profile programming data. Its use is explained in the Assembled Move Programming sec-
tion of this manual starting on page 36.
Bit 7: Move_Complete –
Set to “1” when the present Absolute, Relative, Jog, Registration, or Assembled
Move command completes without error. This bit is reset to “0” when the next move command is
written to the SMD17K, when the position is preset, or a Reset Errors command is issued to the unit.
This bit is also set along with the
Command_Error bit (Bit 12 of this word), when any Jog Move or
Registration Move parameters are outside of their valid ranges. This bit is not set on a command
error for any other type of command. Finally, this bit is not set at the end of a homing operation.
Bit 6: Decelerating –
Set to “1” when the present move is decelerating. Set to “0” at all other times.
Bit 5: Accelerating –
Set to “1” when the present move is accelerating. Set to “0” at all other times.
Bit 4: At_Home –
Set to “1” when a homing command has completed successfully, “0” at all other times.
Bit 3: Stopped –
Set to “1” when the motor is not in motion. Note that this is stopped for any reason, not
just a completed move. For example, an Immediate Stop command during a move will set this bit to
“1”, but the
Move_Complete bit, (bit 7 above) will not be set.
Bit 2: In_Hold_State –
Set to “1” when a move command has been successfully brought into a Hold State.
Hold States are explained is the Controlling Moves In Progress section starting on page 22.
Bit 1: Moving_CCW –
Set to “1” when the motor is rotating in a counter-clockwise direction.
Bit 0: Moving_CW –
Set to “1” when the motor is rotating in a clockwise direction.