PROFIBUS-DP interface
3–6
1070 066 091-102 (01.08) GB
.
Bits 0, 1 and 2 are high:
Power is connected. The motor is controlled.
D
PROFIBUS status word
(P-0-2801)
Bit 3:
Error has ocurred
r r r X X X X r r r r r X r r r
15
0
1
2
Bit 9:
Drive has been referenced (InRef)
Bit 10:
Target position has been reached
Bit 11:
Position limit has been exceeded
Bit 12:
Acknowledge block acceptance
X = 0 or 1
r = reserved
Bit 3: Error has ocurred.
Becomes high when the drive has recognized an error situation of
diagnostics class 1. The drive is halted in the best possible way; and
the torque is removed afterwards.
Bit 9: Drive has been referenced
When switched on, incremental encoders force axis referencing in or-
der to perform a positioning motion.
If the absolute encoder system is active (P-0-0006 = 1), bit 9 is always
high.
Bit 10:Target position has been reached.
Bit 10 becomes high as soon as the current position is within the posi-
tioning window (S-0-0057), or if bit 11 of P-0-2800 becomes high
(clear distance to go). If the distance to go is larger than the position-
ing window, or after an interruption of the motion (P-0-2800, bit 8 = 1),
bit 10 becomes low.
Bit 11:Position limit has been exceeded.
If the drive has been referenced (P-0-2801, bit 9 = 1), bit 11 of
P-0-2801 becomes high if the position limit is exceeded (S-0-0049,
S-0-0050).
The position limits can be deactivated by S-0-0055 (position polarity
parameter).
Bit 12:Acknowledge block acceptance.
Becomes high as soon as new block data have been accepted by the
interpolator (also refer to P-0-2800, bit 4, New Setpoint: Initiate block
acceptance by positive edge).
If bit 4 of P-0-2800 is reset and the interpolator is ready to accept new
block data, the drive also resets bit 12 of P-0-2801
.
This meaning of bits 10 to 12 only applies to ”Interpolation in the
drive”. In ”Velocity control” mode, the bits are interpreted differently.
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