RoboteQ CANBus Series User Manual

CAN Networking on Roboteq Controllers
50 CANBus Networking Manual V2.0 July 8, 2019
commanded then bit 10 shall not alter, if bit 10 is supported(see Table 4-15). If bit 11 (in-
ternal limit active) of the statusword is 1, this shall indicate that an current limit has been
reached.
TABLE 4-14. State Coding
Status Word PDS FSA state
xxxx xxxx x0xx 0000
b
Not ready to switch on
xxxx xxxx x1xx 0000
b
Switch on disabled
xxxx xxxx x01x 0001
b
Ready to switch on
xxxx xxxx x01x 0011
b
Switched on
xxxx xxxx x01x 0111
b
Operation enabled
xxxx xxxx x00x 0111
b
Quick stop active
xxxx xxxx x0xx 1111
b
Fault reaction active
xxxx xxxx x0xx 1000
b
Fault
TABLE 4-15. Definition of bit 10
Bit Value Definition
10
0
Halt (bit 8 in controlword) = 0: Speed or Position Target not reached
Halt (bit 8 in controlword) = 1: Axis decelerates
1
Halt (bit 8 in controlword) = 0: Speed or Position Target reached
Halt (bit 8 in controlword) = 1: Velocity of axis is 0
Profile Position Mode
TABLE 4-16. Status word mapping in profile position mode
15 14 13 12 11 10 9 0
see Table 12 Not Used
Set-Point
Acknowledge
see Table 12
Target
Reached
see Table 12
MSB LSB
In Profile Position Mode the operation specific bits are mapped in Table 4-16. With bits 10
and 12 user can acknowledge the status of the controller as shown in Table 4-15 and Table
4-17. Bit 13 is always 0.
TABLE 4-17. Definition of bit 12 in Profile Position Mode
Bit Value Definition
12
0 Previous set-point already processed, waiting for new set-point
1
Previous set-point still in process, set-point overwriting shall be
accepted
Profile Velocity Mode
TABLE 4-18. Status Word Mapping in Profile Velocity Mode
15 14 13 12 11 10 9 0
see Table 12
Not
Used
Speed see Table 12
Target
Reached
see Table 12
MSB LSB

RoboteQ CANBus Series Specifications

General

Brand	RoboteQ
Model	CANBus Series
Category	Controller
Language	English