Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 30)

4.2.1.3 Object 1002h: Manufacturer Status Register (DS301)

This Object contains the manufacturer-specific status register, which also contains AX2xxx war

nings (see also ASCII Object DRVSTAT).

Index

1002

Name

Manufacturer Status Register

Object code

VAR

Data type

UNSIGNED8

Category

Access

PDO mapping

not possible

Value range

UNSIGNED8

Default value

The following table shows the bit assignment for the status register:

Bit Description

0 Warning 1: I²t-threshold exceeded

1 Warning 2: full regen power reached

2 Warning 3: lag/following error

3 Warning 4: response monitoring activated

4 Warning 5: power supply phase missing

5 Warning 6: software limit-switch 1 has been activated

6 Warning 7: software limit-switch 2 has been activated

7 Warning 8: faulty motion task started

8 Warning 9: no reference point set at start of motion task

9 Warning 10: PSTOP activated

10 Warning 11: NSTOP activated

11 Warning 12: motor default values were loaded

12 Warning 13: expansion board not functioning correctly

13 Warning 14: motor phase

14 Warning 15: erroneous VCT entry selected

15 Warning 16: reserve

16 motion task active

17 reference point set

18 actual position = home position

19 In Position

20 position latch made (positive edge)

21 reached Position 0

22 reached Position 1

23 reached Position 2

24 reached Position 3

25 reached Position 4

26 finished initialization

27 reached Position 5

28 speed = 0

29 safety relay has been activated

30 output stage enabled

31 error present

30 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

1 2 ... 25 26 27 28 29 30 31 32 33 34 35 ... 136 137

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