X20 system modules • Motor controllers • X20SM1426
X20 system User's Manual 3.10
2015
Current position (acyclic)
Name:
AbsPos1ActValAcyclic
This acyclic register contains the current position.
Default: Value of the ABR counter, can be changed to internal position counter
Data type
Value
DINT
-2,147,483,648 to 2,147,483,647
Reads the extended control word
Name:
ControlReadback01
This register can be used to read the content of the Control word register.
Data type
Value
UINT
0 to 65,535
Read back mode
Name:
ModeReadback01
This register can be used to read the content of the Mode register.
Data type
Value
SINT
-128 to 127
Error code
Name:
ErrorCode01
The cause of an error or warning can be read in this register.
Data type
Error code
Error type
Priority
Description
0x0000
-
-
No error
0x3000
Error
Voltage
0x4200
Error
Overtemperature
0xFF20
Warning
Negative limit switch
0xFF21
Warning
Positive limit switch
0x2300
Warning
Overcurrent
0xFF00
Warning
Current error
1)
UINT
0xFF01
Warning
High
:
:
:
:
:
:
Low
Stall
2)
1)
2)
Stall is only detected if bit 15 = 1 in the control word (stall detection enabled).
Information regarding the handling of errors and warnings:
•
Bit 3 (Fault) and bit 7 (Warning) in the status word can be used to query whether an error or a warning
was reported in the error code register.
•
Bit 7 (Fault Reset) and bit 12 (Warning Reset) in the control word are used to acknowledge pending errors
and warnings.
•
If two or more errors/warnings are pending, the one with the highest priority (the order in the table above)
will be displayed in the error code register.
4.25.6.13.7 Ramp function model operation
Control for this model has been based on the CANopen communication profile DS402.
Commands for controlling the modules are written to the "Control word". The current module state is returned to
the "Status word" register. The function mode (absolute position, constant speed, homing, etc.) is set in the "Mode"
register.
