IL•1F CANopen DS301 | 3 Basics |
Structure of T_PDO4:
Byte 1
2 | 3 | 4 | 5 |
6 
7
8
actual position (pact), 32 bits IO_act, 8 bits
modeStat, 8 bits
driveStat, 16 bits
| driveStat |
|
| |
Bit | 15 | 14 | 13 | 12 |
| x err | x_end | x_info | 0 0 0 0 0 |
7 | 6 | 5 | 4 | 3 |
warn | Sig_SR | FltSig | 0 | cos |
modeStat
Bit 7 6 5 4 3 2 
1 0
MT ME ref_ok 0 0 | mode |
actual operation mode
drive referenced Mode Error
Mode Toggle
| IO_act |
|
|
|
|
|
|
|
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| 0 | 0 | STO_B STO_A | IO3 | IO2 | IO1 | IO0 | |
STO_A / STO_B
(PWRR_A / PWRR_B)
Figure 3.20 Structure of T_PDO4
Status word driveStat The information in the status word driveStat corresponds to bits 0
...15 of object Status.driveStat, 28:2. Contents of information:
•State of state machine
•Warning and error bits
•Status of the current operating mode
0198441113586, V2.01, 11.2008
Fieldbus interface | 39 |
