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8.8 status register
The status register is a 16bit register, in which each bit describes different properties of the
amplifier or actuator. The decimal sum of all bits is the value of the status register, it can be
requested by the “stat”- command.
bit
value
description
value decimal
0
2
0
0
– actuator not connected
1 - actuator connected
0
1
2,1
2
2
, 2
1
0, 0
– actuator without position sensor
0, 1
– strain gauge sensor
1, 0
– capacitive sensor
0
2
4
3
2
3
0
– open loop mode
1
– closed loop mode
0
8
4
2
4
0
– low pass filter off
1
– low pass filter on
0
16
5
2
5
reserviert
0
6
2
6
reserviert
0
7
2
7
1
– real time signal processing (always on)
128
…
…
…
…
12
2
12
internal memory error
4096
13
2
13
I²C-error
8192
14
2
14
underload*
16384
15
2
15
overload*
32768
t
able: status register
* Definition for overload and underload:
If
it’s impossible to reach the desired position in CL mode because of too much load or defect of
the actuator (actual position is lower than desired), the overload condition is given. If the actuator
not able to contract to lower position (actual position is higher than desired), the underload
condition is given.
8.9 error messages
When user sends wrong inputs to the device, the controller responds with a message like “error,x”
The error numbers x means:
1
error not specified
2
unknown command
3
parameter missing
4
parameter range exceeded
5
parameter count exceeded
6
parameter is locked / read only