Servosila-Device-Reference-0xA020192

Telemetry Parameters
Telemetry - System Status
# Parameter Units Description CANopen
1
Fault Bits bits • 0: No fault
• 1: Driver Chip Fault
• 2: Driver Chip Overheating
• 4: Overheating Protection
• 8: Overcurrent Protection
• 16: Thermistor Overheating
• 32: Hall Sensors Fault
• 64: Quadrature Encoder Fault
• 128: SSI Encoder Fault
• 256: SPI Encoder Fault
• 512: PWM Encoder Fault
• 16384: Emergency Stop
• 32768: Activation Key is Missing
Whenever a fault is detected, the controller powers off the motor, raises one or
more "Fault Bits" flags, and starts waiting for a "Reset" command to come from
a parent control system. Until a "Reset" command comes, the motor ignores all
other commands received from the parent control system. Note that all
configuration management functions (CANopen SDO functionality) keep
working as usual.
The parent control system is expected to continuously monitor the "Fault Bits"
parameter delivered to it via CANopen TPDO mechanism. If the "Fault Bits"
parameter is 0 (all bits are clear), then nothing needs to be done. Whenever one
or more bits of the "Fault Bits" value indicate a fault, the parent control system
is supposed to issue a "Reset" command. The "Reset" command needs to be
issued once the fault is corrected, and the drive is ready to re-start operation.
UINT16,
0x4000,
0x03,
ro
2 Operation
mode
- • 0: Idle
• 1: Off
• 2: Fault
• 3: Autoconfiguration
• 4: Field Oriented Control
• 6: Electronic Speed Control (Hz)
• 8: Servo Control
• 9: Kickstart
• 10: Brake
• 11: Direct Field Control - Rotation
• 12: Direct Field Control - Electrical Position
• 13: Stepper
• 15: Testing - FOC Wave
• 16: Testing - Speed Wave
UINT16,
0x4000,
0x02,
ro
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