1STEP 5V/204kHz
2.8 Feedback and Control Interface
ET 200S Positioning
46 Operating Instructions, 05/2007, A5E00124871-04
Notes on the Feedback Bits
Feedback Bits Notes
DIS_NEG Shows whether the residual distance is negative when the positioning job is stopped during
acceleration. More pulses were emitted during this positioning job than were defined.
ERR_JOB This bit is set if the job is not clear or not possible.
Possible causes of error during a positioning job are as follows:
• More than one control bit is set (DIR_P, DIR_M, C_PAR)
• Start incremental mode, relative with DIR_P set at LIMIT_P
• Start incremental mode, relative with DIR_M set at LIMIT_M
• Start, although the STOP bit is set
• Start, although external STOP is present
• Start, although pulse enable is missing
• Start, although multiplier G for velocity = 0
• Start with STOP_REF_EN set, if REF digital input is set
• Start with diagnostic error present
• The mode is not known
• The distance is 0 or larger than 1 048 575 (only for incremental mode)
• A requested start was interrupted by CPU-Master-STOP
Possible causes of error during a parameter assignment request are as follows:
• More than one control bit is set (DIR_P, DIR_M, C_PAR)
• The multiplier n = 0 for the start-stop frequency
• The multiplier i = 0 for acceleration/delay
ERR_PARA Incorrect parameter assignment for the ET 200S station.
Cause: Multiplier n of the start-stop frequency = 0 or the multiplier i for acceleration/delay = 0.
The parameter error bit is deleted when a correct parameter assignment is transmitted.
ERR_24V The sensor supply was short-circuited and is now switched off. ERR_24V is reset if it was
acknowledged with the EXTF_ACK control bit. After the short circuit has been eliminated, the sensor
supply is switched on again and ERR_24V remains deleted.
POS Positioning is in operation: This bit is set during incremental mode or a search for reference.
POS_RCD POS_RCD is deleted at the start of an incremental run or a search for reference. After a correct run,
the residual distance = 0, that is, the defined position is reached and POS_RCD is thus set.
If the run was interrupted (if the stepping motor stops or the pulse enable is deleted), POS_RCD
remains deleted.
Residual distance A 20-bit value that contains the pulses that still have to be traversed (without signs).
STOP_EXT Cause of STOP: External STOP
STOP_LIMIT_M Cause of STOP: Limit switch reached LIMIT_M
STOP_LIMIT_P Cause of STOP: Limit switch reached LIMIT_P
STOP_REF Cause of STOP: Reference cam reached
STS_DI The bit displays the status of the DI 3 digital input.
STS_DRV_EN This bit is set when one of the following occurs, depending on the assigned parameter function of the
digital input:
• The external pulse enable is set.
• The DRV_EN control bit is set for the pulse enable.
STS_JOB This bit is set as a feedback message when a job request for a positioning or parameter assignment
job is detected and then reset when the job has been executed.
STS_REF The bit displays the status of the REF digital input.
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