User Manual

DS402 Runtime Queries
Advanced Digital Motor Controller User Manual 251
Where:
ee =
1: Min amount for channel 1
2: Max amount for channel 1
3: Min amount for channel 2
4: Max amount for channel 2
…
2 × (m - 1) + 1: Min amount for channel m.
2 × (m - 1) + 1: Max amount for channel m.
nn = Velocity max/min amount
SW – Status Word (DS402)
Alias: SW HexCode: 61 CANOpen id: 0x6041
Description:
Read the status of the PDS FSA.
TABLE 15-12. Status Word Mapping
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
NU OMS ILA TR RM MS W SOD QS VE F OE SO RTSO
MSB LSB
NU  Not Used, OMS  Operation mode specific, ILA  Internal limit active
TR  Target reached, RM  Remote, W  Warning, SOD  Switch on disabled,
QS  Quick stop, VE  Voltage enabled, F  Fault, OE  Operation Enabled,
SO  Switch on RTSO  Ready to switch on.
If bit 4 (voltage enabled) of the status word is always 1. If bit 5 (quick stop) of the status
word is 0, this shall indicate that the PDS is reacting on a quick stop request (quick stop
mode is always 2). Bit 7 (warning) is always 0. Bit 9 (remote) of the status word is al-
ways 1. If bit 10 (target reached) of the status word is 1, this shall indicate that the PDS
has reached the set-point. Bit 10 shall also be set to 1, if the operation mode has been
changed. The change of a target value by software shall alter this bit. If halt occurred and
the PDS has halted then bit 10 shall be set to 1, too. If the same internal value is com-
manded then bit 10 shall not alter, if bit 10 is supported (see Table 10). If bit 11 (internal
limit active) of the status word is 1, this shall indicate that current limit has been reached.
TABLE 15-13. State Coding
Status Word PDS FSA state
xxxx xxxx x0xx 0000
b
Not ready to switch on
xxxx xxxx x1xx 0000
b
Switch on disabled
xxxx xxxx x01x 0001
b
Ready to switch on
xxxx xxxx x01x 0011
b
Switched on
xxxx xxxx x01x 0111
b
Operation enabled
xxxx xxxx x00x 0111
b
Quick stop active
xxxx xxxx x0xx 1111
b
Fault reaction active
xxxx xxxx x0xx 1000
b
Fault