TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2.2.1 Error / Status Readout (GAP 156)
bit
Description
0
UNDERVOLT
Set if supply voltage to low for motor operation
1
OVERTEMP
Set if overtemperature limit is exceeded
2
TEMPWARN
Set if temperature warning level is reached
3
STOPSWITCH Set if motor is stopped due to Stop switch or Stop command
4
HALTED
Set if motor has been switched off
5
HALLERR
Set upon a hall sensor error (also upon power on)
Reset upon read out of the error status
6
POSMOD
This flag is set when the module is in positioning mode
7
POS_END
This flag becomes set if the motor has been stopped at the end position
8
OVERVOLT
Set if the Motor becomes switched off due to overvoltage
9
ENCERR
Set upon an encoder failure in commutation modes 3 and 4. The module
Uses the ENC-N channel information (index pulse) to determine, if the
Encoder is working properly. If the encoder count per rotation does not
match, this flag becomes set.
Table 6: Error / Status flags
The flags ENCERR and HALLERR become automatically reset upon readout.
POS_END flag:
This flag informs the user, that the motor has reached the specified target position.
The POS_END flag becomes
set
, whenever the following conditions are fulfilled at the same time:
Distance is within range as defined by parameter 10 and the sum of target velocity and actual velocity
is within range as defined by parameter 7.
POS_END becomes
reset
by the following user actions:
•
ROL or ROR instruction
•
MST instruction
•
new MVP command
•
setting of the actual position
HALTED flag:
The halted flag becomes set, when the motor is stopped by switching off the drivers. Switching off the
drivers makes the motor powerless and it is easy to turn by hand. On the other hand, it will come to a
stop, unless it is turned by the user. The motor additionally stops to regulate to the actual target
position.
The HALTED flag becomes
set
upon the following conditions (please read out the other status flags to
find the actual cause for a halted condition):
•
Undervoltage
•
Overvoltage (if overvoltage detection is enabled)
•
Overtemperature
•
Stopswitch active (if stop function activated for motor halt)
•
MST command
As long as any one or multiple of these conditions become true, the target position becomes set
identical to the actual position, the target velocity becomes set to zero and the motor is being switched
off.
All of these events switch off the motor drivers, thus stopping the motor softly and disabling the
position regulation.
The HALTED flag becomes cleared again, as soon as all conditions triggering a halt (as listed above)
have been cleared.
