ABB EtherCAT FECA-01 Manual Del Usuario página 19

Bit Name
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 Drive-specific
9 Remote
10 Operation mode
specific
11 Internal limit active
12...13 Operation mode
specific
14...15 Drive specific
The following table describes the operation mode specific bits of the Status word of the CiA 402
profile:
Bit Velocity Profile
mode position
mode
10 Target Target
reached reached
12 Reserved Set-point
acknowledge-
ment
13 Reserved Following
error
(*) For Cyclic synchronous torque mode, Cyclic synchronous velocity mode and Cyclic synchronous position
mode, the operation of bits 10 and 13 depends on the value of CoE object 0x60DA as described in the table
below:
Value of object Status word bit 13 Status word bit 10
0x60DA bits 1...0
00 Zero
01 Zero
10 or 11 Input cycle counter
bit 1
Value Description
0 No high voltage applied to the
drive
1 High voltage applied to the drive
0 Quick stop is active
1 Normal operation
0 Switch on enabled
1 Switch on disabled
0 No warning/alarms
1 Warning/Alarm is active
0 Controlword is not processed
1 Controlword is processed
See the table describing operation mode
specific bits on page 15.
0 Internal limit not active
1 Internal limit active
See the table describing operation mode
specific bits on page 15.
Profile Profile
velocity torque
mode mode
Target Target
reached reached
Speed Reserved Homing
Max slip- Reserved Homing
page
error
Zero
Status toggle
Input cycle counter bit 0
Homing cst,
mode csv,
csp (*)
(*) (*)
Drive
attained follows
the
com-
mand
value
(*)
error
Description
Status toggle disabled
Status toggle enabled
2-bit input cycle counter enabled
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