Ewellix CAHB-2 Series, Installation, Operation And Maintenance Manual

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6.0 In s ta llation an d fir st o p eration
7.3 Feedback message
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
(Send first) (Send last)
Position LSB Position MSB Force LSB Force MSB Speed Lifetime Status Flags Error Code
Byte(s) Name Description Resolution Range
Position feedback
Byte 0 – Byte 1 Position
1)
0 – 64255 Position of actuator
0.1 mm 0.0 – 6425.5 mm
64256 – 65535 Reserved
Measured drive force
Byte 2 – Byte 3 Force
0 – 100 Linear speed (ratio with max. speed)
1 N 0 – 15000 N
101 – 255 Reserved
Measured linear speed
Byte 4 Speed
0 – 100 Linear speed (ratio with max. speed)
1 % 0 – 100 %
101 – 255 Reserved
Life time monitoring
Byte 5 Lifetime
0 – 100 Measured lifetime
1 % 0 – 100 %
101 – 255 Reserved
Independent status bit-indicator
Byte 6 Status Flags
bit0 = Detect end stop position in retraction (1->valid, 0->invalid)
Not
Applicable
Not
Applicable
bit1 = Detect end stop position in extension (1->valid, 0->invalid)
bit2 = Running in retract direction (1->valid, 0->invalid)
bit3 = Running in extend direction (1->valid, 0->invalid)
bit4 – bit7 = Reserved
Byte 7 Error Code See 7.3.1
Error Code Description Eliminate error
0 No error
1 Communication error with IC Release by power OFF/ON
2 Reserved
3 Over voltage Release by new command from CAN or IO (Extend/Retract)
4 Reserved
5 Reserved
6 Over heat Release by new command from CAN or IO (Extend/Retract)
7 Over current Release by new command from CAN or IO (Extend/Retract)
8 – 13 Reserved
14 Motor auto referencing
2)
Release by new command from CAN or IO (Extend/Retract)
15 Reserved
16 Motor block Release by new command from CAN or IO (Extend/Retract) for opposite direction
17 Motor unwanted move Release by new command from CAN or IO (Extend/Retract)
18 Reserved
19 Motor wrong direction Release by new command from CAN or IO (Extend/Retract)
20 – 127 Reserved
1)
Position definition: Hole centre distance between Front Attachment and Rear Attachment.
i.e. Position = Retracted Extension length
2)
This error will be triggered if the calibration process times out.
7.3.1 Error code