34
Outputs: Process data from the product to the IO-Link master
11.4.12 StatusWord
StatusWord structure:
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
Error
ControlWord
0x0200
ControlWord
0x0100
"DataTransferOK" "Undefined
-
Position"
WorkPo-
sition
TeachPo-
sition
BasePo-
sition
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 2
Control-
lerError
Gripper-
PLCActive
JogWork-
JogBase-
Active -
Movement-
Complete
InMotion
MotorON
HomingPo-
sition OK
Bit 0: HomingPosition OK
The product has its reference. This bit is mandatory. If the bit is FALSE, a reference run must be carried out. Refer to
"Referencing by Homing" section.
Bit 1: MotorON
This bit becomes TRUE when the motor is switched on.
Bit 2: InMotion
This bit is active during the run.
Bit 3: MovementComplete
This bit is active after the movement is complete.
Bit 4: JogBaseActive -
Confirmation during the Jog run in the direction of BasePosition.
Bit 5: JogWork
Confirmation during the Jog run in the direction of WorkPosition.
Bit 6: GripperPLCActive
Active as soon as the product has booted up after the cold boot.This bit can be used to verify a “byte swap."
Bit 7: ControllerError
This bit indicates an internal error state in the product controller.
Bit 8: BasePosition
Active if the product is set to BasePosition.
Bit 9: TeachPosition
Active if the product is set to TeachPosition.
Bit 10: WorkPosition
Active if the product is set to WorkPosition.
INSTALLATION AND OPERATING INSTRUCTIONS:
LWR50L-21/LWR50L-22
DDOC01071 / b
EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
