Page History
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(1) Set the home search parameters with K parameters K42-K48
Statusword
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The Statusword returns information on the status of the motor.
Scroll Table Layout | ||||||||||||||||||
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Unit | Description | ||
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CML Registers | Modbus Registers | TCP/UPD Bytes | Ethernet/IP O2T Bytes | |||
Statusword | Query ?99 | 40009 | 16-17 | 16-17 | N/A | See below |
Bit Descriptions:
BIT | Name |
---|---|
B0 | Position overflow alarm |
B1 | Overspeed alarm |
B2 | Overload alarm |
B3 | Inposition |
B4 | Disable |
B5 | Pushmode limit |
B6 | Communication error alarm |
B7 | Over temperature alarm |
B8 | Pushmode Timeout warning |
B9 | E-Stop active |
B10 | N/A |
B11 | N/A |
B12 | N/A |
B13 | N/A |
B14 | New start required |
B15 | Home achieved |
TargetPosition
The TargetPosition sets a new target position for the motor.
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
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CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) | ||
TargetPosition | P1 | 41029 | 4-7 | 0-3 | The target position the motor will move to.
(1) See the Controlword for switching to speed or relative control. |
TargetSpeed | S1 | 41031 | 8-11 | 4-7 | The maximum speed of the profile trajectory.
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TargetTorque | N1 | 41033 | 12-13 | 8-9 | The maximum torque the motor will use. |
TargetAcceleration | A1 | 41035 | 14-15 | 10-11 | Acceleration is used when the profile is accelerating to the target speed. |
TargetDeceleration | A2 | 41037 | 16-17 | 12-13 | Deceleration is used when the profile is decelerating to the target position. |
Controlword | R1 | 41039 | 18-19 | 14-15 | Bits in the Controlword dictate profile execution. A more detailed description can be found below. |
ModeOfOperation | Set with "_mop" | 41041 | 20 | 16 | Sets the mode of operation see 51511389Setting Mode of Operation |
DigitalOUT | N/A | 41043 | 21 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
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BIT | Name | Value | Description |
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B0 | Start/New Set Point | 0 |
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0 → 1 |
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1 | Execute any changes in any of the profile registers immediately. | ||
B1 | Halt | 0 | Do nothing |
1 |
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B2 | Relative mode | 0 | TargetPosition is an absolute position |
1 | TargetPosition is a relative incremental position | ||
B3 | Speed control | 0 | Position control mode |
1 | Speed control mode | ||
B7-B4 | See Controlword |
Profile Mode Examples
The following example uses the standard registers to run an absolute move. This could be run from a Control Room CML script.
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
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CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) | ||
TargetPosition | P1 | 41029 | 4-7 | 0-3 | The target position the motor will move to.
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TargetTorque | N1 | 41033 | 12-13 | 8-9 | The maximum torque the motor will use. |
Filter Gain | A1 | 41035 | 14-15 | 10-11 | The A1 register is used to store the filter gain. |
Controlword | R1 | 41039 | 18-19 | 14-15 | Bits in the Controlword dictate the execution. A more detailed description can be found below. |
ModeOfOperation | Set with "_mop" | 41041 | 20 | 16 | Sets the mode of operation see 51511389Setting Mode of Operation |
DigitalOUT | N/A | 41043 | 21 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
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BIT | Name | Value | Description |
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B0 | Start/New Set Point | 0 |
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0 → 1 |
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1 | Execute any changes in any of the profile registers immediately. | ||
B1 | Halt | 0 | Do nothing |
1 |
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B3-B2 | N/A | ||
B7-B4 | See Controlword |
Dynamic Position Mode Example
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Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
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CML Registers | Modbus Registers(1) | TCP/UPD Bytes(2) | Ethernet/IP O2T Bytes(3) | ||
TargetSpeed | S1 | 41031 | 8-11 | 4-7 | The maximum speed of the profile |
TargetTorque | N1 | 41033 | 12-13 | 8-9 | The maximum torque the motor will use while moving.
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Controlword | R1 | 41039 | 18-19 | 14-15 | Bits in the Controlword dictate torque execution. A more detailed description can be found below. |
ModeOfOperation | Set with "mop" | 41041 | 20 | 16 | Sets the mode of operation see 51511389Setting Mode of Operation |
DigitalOUT | N/A | 41043 | 21 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.
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BIT | Name | Value | Description |
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B0 | Start/New Set Point | 0 |
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0 → 1 |
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1 | Following N1 target torque | ||
B1 | Halt | 0 | Do nothing |
1 |
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B3-B2 | N/A | ||
B7-B4 | See Controlword |
The interaction of the halt bit and the new set point (nsp) bit is quite specific. See the table below for additional important interaction.
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