Fieldbus Monitor
01.00|WSG |en
25
Bit No. Flag Name
Description
D13
SF_TEMP_WARNING
Temperature Warning
The flag is set if the gripper hardware will soon reach a
critical temperature level.
D12
SF_FAST_STOP
Fast Stop
The flag is set if the gripper has been stopped due to an
error condition. The drive is switched off and the execu-
tion of all motion commands is disabled.
You have to acknowledge the error in order to reset this
flag and to re-enable motion-related commands.
D11..10 reserved
These bits are currently unused.
D9
SF_FORCECNTL_MODE
Force Control Mode
The flag is set if the true force control is currently enabled
by using the installed force measurement finger.
If this flag is not set, the grasping force is controlled by
approximation based on the motor current.
D8
SF_OVERDRIVE_MODE
Overdrive Mode
1
.
The flag is set if the gripper is in overdrive mode. The
grasping force can be set to a value up to the overdrive
force limit.
If this bit is not set, the grasping force cannot be higher
than the gripper’s nominal grasping force value.
D7
SF_TARGET_POS_REAC
HED
Target position reached
The flag is set if the target position was reached.
This flag is not synchronized with SF_MOVING, so it is
possible that there is a delay between SF_MOVING being
reset and SF_TARGET_POS becoming active.
D6
SF_AXIS_STOPPED
Axis stopped
The flag is set if a previous motion command has been
aborted using the STOP/ACK command.
This flag is reset on the next motion command.
D5
SF_SOFT_LIMIT_PLUS
Positive direction soft limit reached
The flag is set if the fingers have reached the defined soft
limit in positive moving direction. A further movement
into this direction is not allowed any more.
This flag is cleared if the fingers are moved away from the
soft limit position.
