AKD EtherCAT | 5 Appendix
States of the state machine
State
Bit 6
switch on
disabled
Bit 5
quick stop
Bit 3
fault
Bit 2
operation
enabled
Bit 1
switched
on
Bit 0
ready to
switch on
Not ready to switch on
0
X
0
0
0
0
Switch on disabled
1
X
0
0
0
0
Ready to switch on
0
1
0
0
0
1
Switched on
0
1
0
0
1
1
Operation enabled
0
1
0
1
1
1
Fault
0
X
1
0
0
0
Fault reaction active
0
X
1
1
1
1
Quick stop active
0
0
0
1
1
1
Bits marked by X are irrelevant
Description of the remaining bits in the status word
Bit 4:
voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7:
warning There are several possible reasons for Bit 7 being set and this warning being
produced. The reason of a warning can be seen by the Error code of the Emergency mes-
sage, which is sent on the bus caused by this warning.
Bit 9:
The remote-bit is set by the telnet command FBUS.REMOTE. The default state is 1
indicating that the power stage shall be only controlled by the DS402 control word. For spe-
cial actions via telnet like tuning or commutation finding, FBUS.REMOTEshall be set to 0 via
telnet to inform the fieldbus master.
Bit 10:
target_reached This is set when the drive has reached the target position. In profile
position mode the position window is set via MT.TPOSWND, in homing mode via
HOME.TPOSWND.
Bit 11
: internal_limit_active This bit specifies that a movement was or is limited. In different
modes, different warnings cause the bit to be set. The following assignments exist:
Mode of operation
Warnings which set Bit 11
all
n04, n06, n07, n10, n11, n14
0x1 (PP), 0x88
n03, n08, n09, n20
Mode-dependent bits in the status word
The following table shows the mode-dependent bits in the status word. The individual modes
are set by " Object 6060h: Modes of Operation (DS402)" (
Operation mode
No.
Bit 12
Bit 13
Profile Position Mode (pp)
01h
setpoint acknowledge
following error
Homing Mode (hm)
06h
homing attained
homing error
Interpolated Position Mode (ip)
07h
ip mode active
following error
Cyclic sync position Mode (csp) 08h
This bit stays on 1 as long as
the drive is following the pos-
ition set-points.
following error
Cyclic sync velocity mode (csv) 09h
This bit stays on 1 as long as
the drive is following the pos-
ition set-points.
reserved
Cyclic sync torque mode (cst)
0ah
This bit stays on 1 as long as
the drive is following the pos-
ition set-points.
reserved
134
Kollmorgen | kdn.kollmorgen.com | October 2017
