5.2.3.3 PNU 1002: Manufacturer specific status register
The bit assignment can be seen in the following table:
Bit Description
0 Warning 1: I²t threshold exceeded (set, as long as Irms is above the threshold)
1 Warning 2: Regen power exceeded (set, as long as the set regen power is exceeded)
2 Warning 3: Following error
3 Warning 4: Threshold monitoring (field bus) active
4 Warning 5: Mains supply phase missing
5 Warning 6: Software limit-switch 1 has been activated
6 Warning 7: Software limit-switch 2 has been activated
7 Warning 8: Faulty motion task has been started
8 Warning 9: No reference point was set at the start of the motion task
9 Warning 10: PSTOP active
10 Warning 11: NSTOP active
11 Warning 12: Motor default values were loaded (HIPERFACE® or EnDat® feedback)
12 Warning 13: Expansion card is not working properly
13 Warning 14: Sine encoder commutation not carried out
14 Warning 15: Speed current table error INxMODE 35
15 Warning 16: Reserve
16 Motion task active (is set as long as a position control task is active motion task, jogging,
homing).
17 Reference point set (is set after a homing run, or when an absolute position (multi-turn)
encoder is used. This is canceled when the amplifier is switched on, or when a homing
run is started.
18 Actual position = home position (is set as long as the reference switch is activated).
19
InPosition (is set as long as the difference between the target position for a motion task
and the actual position is smaller than PEINPOS. The InPosition signal is suppressed if
a following task is started at the target position.
20
Position latch set (positive edge) – this is set if a rising edge is detected on the INPUT2
(IN2MODE=26) that is configured as a latch. This is canceled if the latched position is
read out (LATCH16/LATCH32)
21 —
22
Position 1 reached (is set if the configured condition for this signal (SWCNFG, SWE1,
SWE1N) is met. Depending on the configuration, this bit is set on exceeding SWE1, or
going below SWE1, on reaching the InPosition window SWE1...SWE1N or on leaving
the InPosition window SWE1...SWE1N.
23 Position 2 reached (see above)
24 Position 3 reached (see above)
25 Position 4 reached (see above)
26 Initialization completed (is set if the internal initialization of the amplifier is completed).
27 —
28 Speed = 0 (is set as long as the motor speed is below the standstill threshold VEL0).
29 Safety relay has been triggered (is set as long as the safety relay is open AS)
30 Output stage enabled (is set when software and hardware enables are set).
31 Error present (is canceled when the amplifier is switched on, or if the function “Cancel
error” is called.
In the process data, Bits 16 to 31 of the manufacturer-specific status register are given out.
Warnings 3 and 4 can be reset through Bit 13 in the control word.
S300-S400-S600-S700 PROFIBUS | 5 Parameter channel (PKW)
Kollmorgen | kdn.kollmorgen.com | December 2019 29
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