Instruction Manual PSx3xxSE
8
Connection Control
Bit 15-12:
Counter
Bit 1:
New Data
Bit 0:
Producer ready
A run command will only accepted if this bit is set.
I/O Control
Bit15:
Output operation state
A run command will only accepted if this bit is set.
Positioning control (control word)
Bit 2-1:
Positioning modes
00: Positioning
Drive moves to the transferred target value
01: J
Drive moves to the upper limit switch
10: Jogging -
Drive moves to the lower limit switch
11: Positioning Halt
Drive brakes with the specified deceleration ramp
(can also be used in jogging mode)
Bit 0:
Toggle
Must be toggled if a run command is to be accepted.
2.6.2 PSx3xxSE to Master (AT)
Bit
Byte
Meaning
Corresponding IDN
0-15
0-1
Connection control
S-0-1050.0.08
16-31
2-3
I/O status
S-0-1500.00.02
32-47
4-5
Producer RTB word container
S-0-0144
48-63
6-7
Torque feedback value
S-0-0084
64-95
8-11
Velocity feedback value 1
S-0-0040
96-127
12-15
Position feedback value 1
S-0-0051
Connection Control
Bit 15-12:
Counter
Bit 1:
New data
Bit 0:
Producer ready
I/O status
Bit 15:
Outputs ready to operate
is set as soon as bit 15 is set in the I/O control
Bit 14:
Inputs valid
always 1
Bit 13:
Error of resource I/O (C1D)
Error code is in S-0-0390 and diagnosis text in S-0-0095
Bit 12:
Warning of resource I/O (C2D)
Error code is in S-0-0390 and diagnosis text in S-0-0095
Producer RTB word container (status word)
Bit 3:
Positioning halt
Drive was stopped (by 'positioning halt' command in the control word)
Bit 2:
In position (S-0-0336, bit 0)
Drive is within the positioning window
Bit 1:
Status command value processing (S-0-0135, bit 3)
Drive is running
Bit 0:
Takeover positioning command value (S-0-0419, bit 0)
Accept target value (is toggled)
Summary of Contents for PS*3**SE series
Page 22: ...Instruction Manual PSx3xxSE 22...
