Projecting with TwinCAT System Manager V2.10
TR-Electronic GmbH 2016, All Rights Reserved
Printed in the Federal Republic of Germany
Page 132 of 153
TR-EMO-BA-GB-0022 v03
09/29/2020
10.7.5 Status bit 2
11
- Internal limit active
This bit is set in the "Profile Velocity Mode", if the absolute value of the "Target
Velocity" 0x60FF is above the "Maximum Profile Velocity" 0x607F or the "Maximum
Motor Speed" 0x6080.
This bit is set in the "Profile Position Mode", if a position ramp is started and the
"Target Position" 0x607A is beyond the "Position Range" set by 0x607B, or the
"Software Position Limits" set by 0x607D.
This bit is set in the "Profile Position Mode", if the "Profile Velocity" 0x6081 is above
the "Maximum Profile Velocity" 0x607F or the "Maximum Motor Speed" 0x6080.
This bit is set, while the "Actual Torque generating Current" 0x6078 reaches the
"Relative current Limit" 0x6073.
-
The "Relative Torque Limit" 0x6072 always has the same value as the object
0x6073.
-
The "Actual Torque" 0x6077 always has the same value as the object 0x6078.
-
The values 0x6073 and 0x6078 both refer to the "Motor rated Current in mA"
0x6075.
-
The values 0x6072 and 0x6077 both refer to the "Motor rated Torque in Nmm"
0x6076.
10.7.6 Status bit 2
12
- Set-point-acknowledge, Zero Speed
In the "Profile Position Mode" this bit is the set-point-acknowledge for the handshake
that starts new position ramps.
If the drive accepts the handshake, it is set equal to the control word bit 2
4
"New set-
point".
It is frozen,
if the DS402 state is not "Operation enabled", but anything else like "Quick stop
Active" or "Fault Reaction", or
if the drive is stopped, or
if a position ramp is already ongoing and the control word bit 2
5
"Change set point
immediately" is cleared.
In the "Profile Velocity Mode" this bit is set, while the "Actual velocity" 0x606C is close
to 0. The drive must move slower than the "Velocity Threshold" 0x606F during the
"Velocity Threshold Timeout" 0x6070.
10.7.7 Status bit 2
13
- Following error
This bit is set in the "Profile Position Mode", if a following error occurs. For details refer
to its description in the previous chapter 10.6.2 "Stop conditions: Priorities, Behavior".
The status bit "Following Error" is available in the "Profile Velocity Mode" too, instead
of the "Maximum Slippage Error". That bit can only be applied to asynchronous
motors, and the EncoTRive devices are always equipped with synchronous or PM
motors.
PM means "Permanent magnet". PM motors are much smaller and lighter than
asynchronous motors with the same output power, and can accelerate much more.
