SI-Ethernet User Guide
173
Issue: 3
Sa
fe
In
Me
ch
E
Get
ting s
ta
P
K
an
PC T
Sec
Di
G
Ind
ex
Speed feedback (
SpeedActual
)
The speed feedback word utilises 2 bytes (16 bits) as shown below.
For more information on the speed feedback see section 7-31
Torque feedback (
TorqueActual
)
The torque feedback word utilises 2 bytes (16 bits) as shown below.
For more information on the torque feedback see section 7-31
7.5.16
Extended speed and torque feedback
Input assembly object 0x49 (73
10
)
The PLC or scanner must be configured for 6 input bytes (or 3 input words) if this assembly object
is to be used.
Extended status word
The extended status word consists of 2 bytes (16 bits), with the bits having functions as shown
below.
The DriveState byte returns a code to indicate the operating state of the drive as shown in Table 7-
19.
b15
b14
b13
b12
b11
b10
b9
b8
SpeedActual (high byte)
b7
b6
b5
b4
b3
b2
b1
b0
SpeedActual (low byte)
b15
b14
b13
b12
b11
b10
b9
b8
TorqueActual (high byte)
b7
b6
b5
b4
b3
b2
b1
b0
TorqueActual (low byte)
Table 7-18 Basic speed and torque feedback
Data word
Function
Word 0
Extended status word.
Word 1
Speed feedback (
SpeedActual
).
Word 2
Torque feedback (
TorqueActual
).
b15
b14
b13
b12
b11
b10
b9
b8
DriveState
b7
b6
b5
b4
b3
b2
b1
b0
At
Reference
RefFrom
Net
CtrlFrom
Net
Ready
Running2
(Rev)
Running1
(Fwd)
Warning Faulted
Содержание Unidrive M600
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