6 Operation | LXM32M |
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6.2Operating modes
6.2.1Indicating and monitoring the operating mode
The word "mfStat" is used to indicate the current operating mode.
mfStat
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| - | CAP2 1 | CAP2 0 | CAP1 1 | CAP1 0 |
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| 2 | 1 | 0 |
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| MT |
| ME |
| DE |
| MODE | MODE |
| MODE | MODE | MODE |
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Figure 9: Structure mfStat |
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| Description |
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0 ... 4 |
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| MODE | Indicates the current operating mode |
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| Value 01h: Profile Position |
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| Value 03h: Profile Velocity |
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| Value 04h: Profile Torque |
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| Value 06h: Homing |
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| Value 1Fh: Jog |
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| Value 1Eh: Electronic Gear |
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| Value 1Dh: Motion Sequence |
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5 |
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| DE |
| The "DE" bit relates to parameters that are independent | ||||||||||
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| of "Mode Toggle" (MT). The "DE" bit is set if a data | |||||||||
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6 |
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| ME |
| The "ME" bit relates to parameters that are dependent | ||||||||||
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| on "Mode Toggle" (MT). The "ME" bit is set if a request | |||||||||
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| from a master (starting an operating mode) was rejec- | |||||||||
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7 |
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| MT |
| Handshake via "Mode Toggle" |
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8 ... 9 |
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| CAP1 |
| Bit 0 and bit 1 of parameter _Cap1Count |
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10 ... 11 |
| CAP2 |
| Bit 0 and bit 1 of parameter _Cap2Count |
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12 ... 15 |
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| Reserved |
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0198441113843, V1.01, 01.2012
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