BECKHOFF EL7037 - Manual (Page 164)

Configuration by means of the TwinCAT System Manager
Index 9020 POS Info data Ch.1
Index Name Meaning Data type Flags Default value
9020:0 POS Info data
Ch.1 Maximum subindex UINT8 RO 0x04 (4
dec
)
9020:01 Status word Status word UINT16 RO 0x0000 (0
dec
)
9020:03 State (drive con-
troller) permitted values: UINT16 RO 0x0000 (0
dec
)
0: Init
1: Idle
272: Go cam
273: On cam
16: Start
17: Acceleration
18: Constant
19: Deceleration
288: Go sync impulse
289: Leave cam
4096: Pre target
4097: In target
32: Emergency Stop
33: Normal stop
304: Calibration stop
8192: Drive end
8193: Wait for init
320: Is calibrated
321: Not calibrated
16384: Drive warning
32768: Error
65535: Undefined
256: Calibration start
9020:04 Actual position lag Current step error INT32 RO 0x00000000 (0
dec
)
Index A010 STM Diag data Ch.1
Index Name Meaning Data type Flags Default value
A010:0 STM Diag data
Ch.1 Maximum subindex UINT8 RO 0x11 (17
dec
)
A010:01 Saturated Driver stage operates with maximum duty cycle BOOLEAN RO 0x00 (0
dec
)
A010:02 Over temperature Internal terminal temperature is greater than 80 °C BOOLEAN RO 0x00 (0
dec
)
A010:03 Torque overload Duty cycle output at 100% BOOLEAN RO 0x00 (0
dec
)
A010:04 Under voltage Supply voltage less than 7 V BOOLEAN RO 0x00 (0
dec
)
A010:05 Over voltage Supply voltage 10 % higher than the nominal voltage
(see 8010:03 [
} 156])
BOOLEAN RO 0x00 (0
dec
)
A010:06 Short circuit Short circuit of motor coil BOOLEAN RO 0x00 (0
dec
)
A010:08 No control power No power supply to driver stage BOOLEAN RO 0x00 (0
dec
)
A010:09 Misc error • Initialization failed or
• Internal terminal temperature is higher than 100
°C (see F80F:05 [ } 165])
BOOLEAN RO 0x00 (0
dec
)
A010:0A Configuration CoE change has not yet been adopted into the current
configuration BOOLEAN RO 0x00 (0
dec
)
A010:0B Motor stall A loss of step has occurred BOOLEAN RO 0x00 (0
dec
)
A010:11 Actual operation
mode permitted values: BIT4 RO 0x00 (0
dec
)
0: Automatic
1: Velocity direct
2: Velocity controller
3: Position controller
4: Ext. Velocity mode
5: Ext. Position mode
6: Velocity sensorless
EL70x7 164 Version 1.0