Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x6041 Statusword
Index
0x6041
Object type
VAR
Name
Statusword
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
TXPDO
ro
UINT16
-
Status word
The status word shows the status of the system state machine, and each bit indicates a different meaning.
Bit0: Pre-charge relay is ready for closure
Bit1: Pre-charge relay closed
Bit2: Operation enabled
Bit3: Fault
Bit4: Main power flag bit (1: main power on, 0: main power off)
Bit5: Quick stop
Bit6: Pre-charge relay closure disabled (1: alarm occurred, 0: no alarm)
Bit7: Warning bit
Bit8: Motor power flag bit (1: motor is working 0: motor is not working)
Bit9: Remote (1: control word processed 0: control word not processed)
Bit10: Target completed flag bit (1: target completed 0: target not completed)
Bit11: Instruction internal limit flag bit (1: limits in instruction 0: no limit in instruction)
Bit12~Bit13 are depending on the current mode (see Table 7.3-2)
Bit14: Motor rotation flag bit (1: motor is rotating 0: motor is at rest)
Bit15: Reserved
Table 7.3-2.
Meanings of Bit12 and Bit13 under different control modes
CSP mode
Bit13: Position tracking error bit
1: Position following error occurred
0: No position following error
Bit12: Position target valid bit
1: Position target value valid
0: Position target value invalid
CSV mode
Bit13: Reserved
Bit12: Velocity target value valid bit
1: Velocity target value valid
0: Velocity target value invalid
CST mode
Bit13: Reserved
Bit12: Torque target valid bit
1: Torque target value valid
0: Torque target value invalid
HM mode
Bit13: Homing error bit
1: Homing error occurred
0: No homing error
Bit12: Home located flag bit
1: Home located 0: Home not located
PV mode
Bit13: Velocity following error bit
1: Velocity following error occurred
0: No velocity following error
Bit12: Motor stop bit
1: Motor is at rest 0: Motor is rotating
49
Содержание EtherCAT CoolDrive RC Series
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