Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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6.5 Status word bits (ZSW1)
All status word1 bits are implemented according to the PROFIdrive standard.
For application class 1 (speed control) and 3 (position mode) all mandatory bits are imple-
mented.
The status word (ZSW1) defines the following functions:
General Status Word Bits
Bit Number Description
Comment
0 ZSW1 drive ready to switch on Ready To Switch On /Not Ready To
Switch On.
1 ZSW1 drive ready to operate Ready To Operate / Not Ready To Oper-
ate.
2 ZSW1 operation enabled Operation Enabled (drive follows velocity
set point) / Operation Disabled.
3 Fault present A fault is present in the drive.
4 Coast stop not activated No coast stop is executed.
5 Quick stop not activated No quick stop is executed.
6 Switching on inhibited
7 Warning present
9 Control requested by the master
In velocity mode:
ZSW1 Special bits (Velocity mode)
Bit Number Description
Comment
8 Velocity error within range
10 Target velocity reached
11-15 Device specific Not Implemented.
In position mode:
ZSW1 Special bits (Position mode)
Bit Number Name
Description
8 Following error in range Error window (PL.ERR and
PL.ERRWTHRESH).
10 Target position reached DRV.MOTIONSTAT Bit 11( Motion task
target position has been reached).
11 Home position set DRV.MOTIONSTAT Bit 1 & 2 (Homing fin-
ished).
12 Traversing Task acknow-
ledgment On positive edge, traversing task acknow-
ledged or set point accepted.
13 Drive stopped Axis is not moving
14 Motion task active DRV.MOTIONSTAT Bit 0 (Motion task
active/inactive)
15 Device specific Not implemented
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 33