Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 55)

Bit assignment in the status word

Bit Name Bit Name

0 Ready to switch on 8 Manufacturer-specific (reserved)

1 Switched on 9 Remote (not supported)

2 Operation enable 10 Target reached

3 Fault (in preparation) 11 Internal limit active

4 Disable voltage 12 Operation mode specific (reserved)

5 Quick stop 13 Operation mode specific (reserved)

6 Switch on disabled 14 Manufacturer-specific (reserved)

7 Warning 15 Manufacturer-specific (reserved)

States of the status machine

State

Bit 6

switch on

disable

Bit 5

quick stop

Bit 3

fault

Bit 2

operation

enable

Bit 1

switched on

Bit 0

ready to

switch on

Not ready to switch on 0 X 0000

Switch on disabled 1 X 0000

Ready to switch on 010001

Switched on 010011

Operation enabled 010111

Fault not supported at present

Fault reaction active

not suppor-

ted at pre-

sent

XXXX15

Quick stop active 000111

Bits marked by X are irrelevant

Description of the remaining bits in the status word

Bit 4: voltage_disable The DC-link voltage is present if this bit is canceled.

Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produ-

ced. The reason for this warning can be revealed by using the Object 1002

manufacturer-specific

status register.(Þ 4.2.1.3)

Bit 8: Toggle–bit mode Jogging, Homing ,Position, Positioning (pp), Homing (hm)

The toggle-bit is always changed (i.e. set or reset) when a motion block has been successfully exe-

cuted (incrementally precise in the target position!). The bit is not toggled if a motion block is cance-

led (e.g. through the STOP command or a lag/following error). The evaluation of the toggle-bit can

be performed in combination with Bit 10 target reached (Object 6041

) and Bit 16 motion block

active (Object 1002

). Evaluation of this bit makes sense if no change in Bit 10 or 16 would be visi-

ble, because of the motion block data (very short or identical motion blocks).

Bit 9: remote is not supported at present

Bit 10: target_reached This is set when the drive has reached the target position.

Bit 11: internal_limit_active If bit 20 is set in parameter DRVCNFG, it will be set in the event of

the following warnings:

- Response Monitoring (n04)

- SW Limit Switch 1 (n06)

- SW Limit Switch 2 (n07)

- no reference point set (n09)

- P-STOP (n10)

- N-STOP (n11)

- Slot Warning (n13)

Bit 12: profile position mode setpoint acknowledge

digital speed modes velocity 0 detection (1 = speed = 0)

CANopen for AX2000/2500 55

BECKHOFF 07/2007 CANopen Drive Profile

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 55

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