AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.36.8 WS.STATE
General Information
Type R/O Parameter
Description Reads wake and shake status
Units N/A
Range N/A
Default
Value
Only valid before the first enable occurs.
11 - for feedback types that do not require wake and
shake
1 - for feedback types that require wake and shake
Data Type U8
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3494h/5 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 906 No 8 bit No M_01-03-00-000
Description
WS switches different current vectors and records position feedback in order to establish com-
mutation alignment.
WS.STATE 0 = wake and shake successful (DONE).
WS.STATE 1 = wake and shake configured and will be done at next enable (ARMED).
WS.STATE 2 = wake and shake running. (ACTIVE)
WS.STATE 10 = error occurred during wake and shake (ERROR).
WS.STATE 11 = wake and shake not required (IDLE).
499 Kollmorgenâ„¢ | March 30, 2012
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