Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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5.2.1.7 Object 0x6010: Status Code
This Object contains a single DINT value (at subindex 0), with the following bitmap:
Table 5.8—
Object Index (hex) 0x6010:
Status Code
Bit
Number
Description
Indicates
an Error?
0
Internal Temperature Out of Range: This bit is active (high) if the
temperature is outside the range -5 to 70°C.
Yes
1
Supply Voltage Out of Range: This bit is active (high) if the input
voltage is outside the range of 12 V to 30 V.
Yes
2
Broken Gage: This bit is active whenever any gage reads positive
full scale and indicates that the electrical connection to the gage is
open or disconnected. This bit stays high for 32 samples, after the
last such sample, to allow time for the sample’s effect on the data to
abate.
Yes
3
Busy Bit. The sensor is performing (1) or more of the following
activities that may temporarily affect the F/T data:
•
Committing a change to Object 0x2021.
•
Changing the filter time constant.
•
Changing the calibration in use.
•
Changing the ADC sampling rate.
•
Writing to flash memory.
•
Any ADC ISR overrun.
Yes
4
Reserved.
No
5
Hardware or stack error.
Yes
6-25
Reserved.
No
26
Gage Out of Range Warning: This bit is active if a strain gage
warning range (gageMinRangeWam to gageMaxRangeWam) has
been exceeded in any of the past holdTime (normally 32) samples.
Yes
27
Gage Out of Range: The bit is active if a strain gage output
operating range has been exceeded in any of the past 32 samples.
Yes
28
Simulated Error. This bit mirrors the “Simulated Error Control” bit in
Section 5.2.1.11—Object 0x7010: Control Codes
test user error handling.
Yes
29
Calibration checksum error: This bit is set if the active calibration
has an invalid checksum.
Yes
30
Sensing Range Exceeded
1
: This bit is set whenever a F/T reading
exceeds the calibrated range. This check occurs before digital
filtering.
Yes
31
Error: This bit is set whenever any status code bit that indicates an
error is set.
Yes
Note:
1.
Sensing Range Exceeded is comparable to what previous F/T sensor manuals identified as
saturation.