B&R Industries X20 System, User Manual

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X20 system modules • Motor controllers • X20SM1436
X20 system User's Manual 3.10 2061
Current position (acyclic)
Name:
AbsPos1ActValAcyclic
This acyclic register contains the current position.
Default: Value of the ABR counter, can be changed to internal position counter
Data type Value
DINT -2,147,483,648 to 2,147,483,647
Reads the extended control word
Name:
ControlReadback01
This register can be used to read the content of the Control word register.
Data type Value
UINT 0 to 65,535
Read back mode
Name:
ModeReadback01
This register can be used to read the content of the Mode register.
Data type Value
SINT -128 to 127
Error code
Name:
ErrorCode01
The cause of an error or warning can be read in this register.
Data type Error code Error type Priority Description
0x0000 - - No error
0x3000 Error Voltage
0x4200 Error Overtemperature
0xFF20 Warning Negative limit switch
0xFF21 Warning Positive limit switch
0x2300 Warning Overcurrent
0xFF00 Warning Current error
1)
UINT
0xFF01 Warning
High
:
:
:
:
:
:
Low
Stall
2)
1) A current error is only detected if bit 13 = 1 in the control word (current error detection enabled).
2) Stall is only detected if bit 15 = 1 in the control word (stall detection enabled).
Information regarding the handling of errors and warnings:
•
Bit 3 (Fault) and bit 8 (Warning) in the status word can be used to query whether an error or a warning
was reported in the error code register.
•
Bit 7 (Fault Reset) and bit 8 (Warning Reset) in the control word are used to acknowledge pending errors
and warnings.
•
If two or more errors/warnings are pending, the one with the highest priority (the order in the table above)
will be displayed in the error code register.