Instruction Manual PSx3xxPL
27
If bit 2 is not set, the target value of the PDO will not be taken over, instead
there might be commanded positioning runs with the help of SDOs (also in the
state “operational”).
In the state “pre-operational” the bit is without meaning.
Bit 3
:
Enable manual movement in jog mode
In jog mode (movement by keys if bit 5 is set; or with bit 8 or 9 set in the
control word if bits 4 and 5 are not set), manual movement is only activated if
bit is set, when the key is pressed for a long time (or a jog movement bit is
activated for a long time). If the bit is cleared, only single steps are possible in
jog mode.
Bit 4
:
Release:
Run commands will only be executed if this bit is set.
This bit must be set for positioning runs and manual runs.
If this bit is cleared during a run, the run will be aborted and status bit 5 will be
set (‘positioning run aborted’).
Bit 5
:
Enable jog mode with keys
If the bus connection is active, jog mode via keys is only possible if this bit is
set and bit 4 is not set. For jog operation via bus (bits 8 or 9 in the control
word), this bit must not be set.
Bit 6
:
Driving without a loop
If this bit is set, all destinations are approached directly during positioning
movements (regardless of the current value of
SDO #201F
) without any loop.
Bit 7
:
Execute switch-on loop
5/8 turns against loop direction and then 5/8 in loop direction with manual
speed (for default value of loop length
SDO #201F
). The control word is
ignored during a switch-on loop movement until it changes. Thus a switch-on
loop can be aborted with control word = 0.
Bit 8
:
Jog to larger values
Corresponds functionally to a pressed key forward (bit 3 in status). Bits 4 must
be set in this operating mode!
Bit 9
:
Jog to smaller values
Functionally corresponds to a pressed key backwards (bit 2 in status). Bits 4
must be set in this operating mode!
Bit 14:
Acknowledgement bit
Is cleared (low):
- Bit 4 and 13 of the status register are latches to 0 in the case of a failure,
and if the positioning system is moving or a run command is transmitted (if
the system is not moving, and no running command is transmitted Bit 4 and
13 of the status register shows the actual state)
Is set (high):
- Bit 4 and 13 of the status register shows the actual state
Rising edge (low
high)
- Bit 5, 10, 11 and 12 of the status register are cleared.
Bits 10-13, 15
: reserved, must be programmed to 0
