RA 58-P with CAN-Bus (Layer 2)
10 of 32
Item No. 2 542 052; Release 3140799hu
3.9 Current Encoder Status
This parameter is not a value that can be transmitted from another bus participant to the
encoder. It is the current status of the encoder that the encoder transmits as acknowledgement
to every other parameter transfer, as well as that with which it answers the "Status Request"
command.
Prefixed identifier: transmission identifier for encoder status
The encoder status contains the following information:
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
29
D
ERR
MODE
TYP
VER_NK
VER_VK
Byte 0: Subindex "29" contains the status transfer.
Byte 1: Current operating status, 0 = no error, <> 0 is the error number
Error numbers:
128
D
: Alarm from multiturn (hardware error)
64
D
:
Alarm from single-turn
(hardware error)
3
D
:
Memory error
2
D
:
Cycle duration too short (10 KBaud < 10 ms;
20 KBaud < 5 ms; 50 KBaud = 1 ms)
1
D
:
Inadmissible parameter (protocol error)
Byte 2: Current operating mode, 0 = polling mode, 1 = auto mode
Byte 3: Count bits of the encoder in single-turn range
Byte 4: Post decimal position of the software version number
Byte 5: Pre decimal position of the software version number
The reception of a command is acknowledged by the encoder with the current encoder status.