JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 209
8.4 FSP Drive profile
The requested mode is setup in S-0-0032 before shifting to operating level (CP4), or in
parameterization level if sub-device state machine is used.
8.4.3.1 Controlling the motor.
The motor are controlled with the S-0-0134 Drive control word and the motor status
is shown in S-0-0135 Drive status word. These IDN’s should always be mapped to the
cyclic communication MDT and AT.
Drive status word
The JVL Sercos
®
implementation supports the following bits/features of the drive status
word:
Drive control word:
The actual use of S-0-0134 and S-0-0135 follows the Sercos
®
standard version 1.1.2
and is not described in detail here.
Bit Description Comments Supported
15-14
Ready to operate
00 - Drive not ready
01 - Drive ready for main power on
10 - Drive ready and main power applied
11 - Drive enabled
PL is active
OL is active, main power off
OL is active, main power on, no torque
OL is active, torque on
Yes
13 Drive shut-down error in C1D (S-0-0011) 1 = Drive is shut-down due to error Yes
12 Warning in C2D (S-0-0012) When a warning occurs this bit is set to 1 Yes
11 Reserved - -
10-8 Current operation mode
= 000. Only supported primary operation
mode, where mode is in S-0-0032
No
7 Emergency stop Emergency stop is active No
6 Reserved - -
5 Position feedback value status
1 = Position feedback is referenced to
machine zero point
Yes
4 Drive halt 1 = Drive halt is active Yes
3 Status command value processing
0 = Motor do not follow the commands
1 = Motor follows the commands
Yes
2-0 Reserved - -
Bit Description Comments Supported
15 Drive ON/OFF
0 = Motor OFF
1 = Motor ON
Yes
14 Drive enable
0 = Motor disable
1 = Motor enable
Yes
13 Drive start
0 = Motor halt
1 = Motor start
Yes
12-11 Reserved - -
10-8 Selection of Operation mode Should always be 000 No
7-0 Reserved - -
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