20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
NETWORK DATA FORMATS
7
59
Network Input Data (Command Mode) (continued)
Status Word 1 Format
Figure 7.5 Command Mode: Status Word 1 Format
Bit 15: Mode Bit –
“1” for Configuration Mode Programming, “0” for Command Mode Programming. The
SD17060E powers up in Configuration Mode and will not switch to Command Mode until a valid
configuration is written to the drive. Power is also removed from the motor until the SD17060E has
a valid configuration written to it.
Bit 14: Controller OK Bit –
“1” when the SD17060E is operating without a fault, “0” when an internal fault
condition exists.
Bit 13: Configuration Error Bit –
“1” on power up before a valid configuration has been written to the
SD17060E or after any invalid configuration has been written to the drive. “0” when the SD17060E
has a valid configuration written to it.
Bit 12: Command Error Bit –
“1” when an invalid command has been written to the SD17060E. This bit
can only be reset by the Clear Errors bit, Control Word 1, Bit 10.
Bit 11: Input Error Bit –
“1” when:
h
Emergency Stop input has been activated.
h
Either of the End Limit Switches activates during any move operation except for homing.
h
Starting a Manual Move in the same direction as an active End Limit Switch.
h
If the opposite End Limit Switch is reached during a homing operation.
Bit 10: Position Invalid Bit –
“1” when:
h
The motor position has not been preset
h
The machine has not been homed
h
The Network Connection has been lost and re-established.
h
An Immediate or Emergency Stop has occurred
h
An End Limit Switch has been reached
h
A motor stall has been detected.
Absolute moves cannot be performed while the position is invalid.
Bit 9:
Transmit Blend Move Segment Bit –
The SD17060E sets this bit to tell the host that it is ready to
accept the data for the next segment of your blend move profile. Its use is explained in the
section of this manual starting on page 21.
Bit 8:
Blend Move Program Mode Bit –
The SD17060E sets this bit to signal the host that it is ready to
accept blend move profile programming data. Its use is explained in the
section of this manual starting on page 21.
Bit 7: Move Complete Bit –
Set to “1” when the present Absolute, Relative, or Blend Move command
completes without error. This bit is reset to “0” when the next move command is written to the
SD17060E or when the position is preset. This bit is not set at the end of Manual Moves or homing
operations.
Bit 6: Decelerating Bit –
Set to “1” when the present move is decelerating. Set to “0” at all other times.
Bit 5: Accelerating Bit –
Set to “1” when the present move is accelerating. Set to “0” at all other times.
Bit 4: Homing Complete Bit –
Set to “1” when a homing command has completed successfully, “0” at all
other times.
Status Word 1
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
MOD
E
Cr
tl
OK
C
onE
rr
Cm
d
E
rr
In
E
rr
Po
s
In
v
ld
Xm
tB
M
S
BM
_
P
M
Mv
C
m
p
De
c
e
l
Ac
c
e
l
Ho
m
e
d
S
toppe
d
Ho
ld
M
v
CCW
Mv
C
W
