Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
67
3 E
therC
AT c
ommunica
tion
Details of Controlword
Bit Name Value Description
8 Halt
0 Operation is allowed.
1
Stops the operation. The stopping method is in accordance with the setting
of the Halt option code (605Dh).
4
Homing
operation start
0 to 1
Start of return-to-home operation
If the "Homing operation start" is set to 0 during return-to-home operation,
the motor decelerates to a stop.
When the state is any of the followings, the command is not received, and
the operation is not started.
• During operation
• The Halt (6040h: Bit 8) has been set to 1.
• The STOP input is being ON.
• The drive state machine is other than "Operation enabled."
• The motor is in a non-excitation state.
For Bit 7 and Bit 3 to Bit 0, refer to “State transition of drive state machine” on p.46.
„
Statusword of Homing mode
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific Operation mode specific
Internal
limit active
Target
reached
Remote
ms
TLC −
Homing
error
Homing
attained
−
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Warning
Switch on
disabled
Quick stop
Voltage
enabled
Fault
Operation
enabled
Switched
on
Ready to
switch on
z
Details of Statusword
Bit Name Value Description
15 TLC
0 A load does not reach the upper limit of the motor output torque.
1 A load reached the upper limit of the motor output torque.
13 Homing error 0/1
Outputs the status of the motor based on a combination of values in the
Homing error, Homing attained (6041h: Bit 12), and Target reached (6041h:
Bit 10). Refer to the next table for details.
12
Homing
attained
0/1
Outputs the status of the motor based on a combination of values in the
Homing error (6041h: Bit 13), Homing attained, and Target reached (6041h:
Bit 10). Refer to the next table for details.
11
Internal limit
active
0 The function limitation by the internal limit is not in an active state.
1
The function limitation by the internal limit became an active state.
The value changes to 1 when any of the following internal limit functions is
being activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
•
Software limit
• Mechanism limit
10 Target reached 0/1
Outputs the status of the motor based on a combination of values in the
Homing error (6041h: Bit 13), Homing attained (6041h: Bit 12), and Target
reached. Refer to the next table for details.
9 Remote 1 The value changes to 1 when the initialization is completed.
7 Warning
0
Information is not generated.
When the cause of information is cleared, the Warning is automatically
cleared to 0.
1 Information is being generated.
For Bit 6 to Bit 0, refer to “Status output of drive state machine” on p.47.