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11.20
6.4.9. Control Word G1_STW1
G1_STW1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SEA PS TAR PR REL
0
0
0
0
0
0
0
0
0
0
0
Bit
Name
Function
REL
Preset Relative
If set, the encoder will perform a relative preset
operation when the PR bit is set.
PR
Preset Request
The PR bit set will make the encoder perform a preset
operation.
TAR
Transfer Absolut
Request
The TAR bit (set by PLC) requests the encoder to
transmit position data in G1_XIST2. See also TAA bit
in G1_ZSW1.
PS
Parking Sensor
The PLC is able to set the encoder inactive (“park”)
using this bit. When the encoder is parked
encoder sets bit PSA (Parking Sensor Active) in
G1_ZSW1 and
new errors are not reported anymore.
SEA
Sensor Error
Acknowledge
The IO controller requests resetting of errors. The
encoder evaluates the signal statically (no edge
detection).
Prioritization of bits
Priority
Bit
1
PS
The PS bit has the highest priority.
2
SEA
The SEA bit has the second highest priority (only if an
error state is present).
3
PR
The PR bit has the third highest priority.
4
TAR
The TAR bit has the lowest priority.
6.4.10.
Status Word ZSW2
ZSW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Slave Sign-of-Life
0
0
CR
0
0
0
0
0
0
0
0
0
Bit
Name
Function
CR
Control Requested
“Control by PLC requested”
In profile 4.1 the bit remains on set as long as no
parameter error is present.
In compatibility mode of profile V3.1 the bit remains
0.
SLS
Slave Sign-of-Life
First, the Slave Sign-of-Life (SLS) has the value 0. As
soon as the MLS being non-zero the encoder starts
monitoring the MLS continuity and outputs the slave
life sign (see also STW2). The SLS will not be zero
again.
Exception:
When the MLS does not increment as expected the
SLS will be zero (error case).
