Object list
COMPAX CANopen
Control byte
28
6.9.3 Control byte
Allows program start from record 1 - 15.
The record pointer is set to the corresponding program record.
The program can be started, stopped, and continued.
On record selection = "0000" and "Start", machine zero is set.
An error acknowledgment is possible.
Object Description
Index
0x2000
Symbol
STEUERBYTE
Length
1
Min
0
Object code
Variable
Max
0xFF
Data type
Unsigned8
Access rights
read/write
PDO mapping
yes
Data Description
Bit
Assignment
Meaning
7
Quit (not when P190=22)
Error acknowledge with a positive edge
6
Stop with ramp P10 without clearing
with a positive edge
5
Continue ("1") / new start ("0") with Start
Continue:
Continue program
New start:
Prog. start at selected record
4
Start / Stop
$
Start after the response defined in Bit 5
%
Stop
3
Record select (2
3
)
Note!
2
Record select (2
2
)
With the record selection = "0000" and "New start",
1
Record select (2
3
)
the machine zero point is approached
0
Record select (2
0
)
The "Quit" command is not accepted with P190=22 (Device Profile DSP402) (error confirmation in accordance with the
status diagram on page 66).
6.9.4 Status byte
The status byte shows information about the status of the device as well as messages.
Object Description
Index
0x2001
Symbol
STATUSBYTE
Length
1
Min
0
Object code
Variable
Max
0xFF
Data type
Unsigned8
Access rights
read
PDO mapping
yes
Data Description
Bit
Assignment
7
Machine zero point approached
6
Idle after stop
5
Programmed nominal position reached
4
CPX_ZSW Bit 7
3
CPX_ZSW Bit 8
2
Ready for start (see below)
1
Warning
0
Fault
Meaning of "Ready for Start"
"Ready for start" is used for program control and is set:
#
when the program is halted by a WAIT START
instruction and is waiting for the START signal.
#
after an interruption with STOP or BREAK and these
signals no longer occur.
#
after a rectified error.
#
after power on.
#
at the program end with the command END.
"Ready for Start" has no meaning when commands are input
directly.
