X20 system modules • Motor controllers • X20SM1426
X20 system User's Manual 3.10
2013
Current position (cyclic)
Name:
AbsPos01ActVal
This cyclic register contains the current position.
Default: Value of the internal position counter, can be changed to ABR counter
Data type
Value
DINT
-2,147,483,648 to 2,147,483,647
Status word
Name:
MpGenStatus01
The bits in this register reflect the state of the state machine. For a more detailed description, see 4.25.6.13.7.2
"Status word" and 4.25.6.13.7.3 "State machine".
Data type
Value
UINT
See bit structure.
Bit structure:
Bit
Description
Value
Information
0
Ready to switch on
x
1
Switched on
x
2
Operation enabled
x
3
Fault (error bit)
x
4
Voltage enabled
x
5
Quick stop
x
6
Switch on disabled
x
7
Warning
x
8
Reserved
0
9
Remote
1
Always 1 because there is no local mode for the SM module
10
Target reached
x
0
No limit violation
11
Internal limit active
1
Internal limit is active (upper/lower software limit violated)
12
Mode-specific
x
0
Always 0 when bit 7 in the Mixed decay / Stall detection config-
13 - 15
Reserved / Motor load value
x
Returned motor load value
Input status
Name:
InputStatus
This register indicates the logical states of digital inputs.
Data type
Value
USINT
See bit structure.
Bit structure:
Bit
Description
Value
Information
0
Digital input 1
0 or 1
Input state - Digital input 1
...
...
3
Digital input 4
0 or 1
Input state - Digital input 4
4 - 15
Reserved
0
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