Siko AG25 - Page 72

EtherCAT®
AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 72 of 109
The table below informs about the meaning of the individual bits of the system status word:
Bit
State
Description
Bit 0
‘0‘
Irrelevant
Bit 1
‘0‘
Irrelevant
Bit 2
‘0‘
Irrelevant
Bit 3
‘1‘
‘0‘
Positioning mode: In Position
Actual position is within the positioning window of the programmed
target value.
Actual position is outside the positioning window of the programmed
target value.
‘1‘
‘0‘
Speed mode: In Position
Actual speed is inside the specified tolerance window of target speed
Actual speed is outside the specified tolerance window.
Bit 4
‘1‘
‘0‘
Actuator travels:
Actuator travels
Actuator stands still (rotational speed < 2 rpm)
Bit 5
‘1‘
‘0‘
Positioning mode: upper limit
Actual position is above the programmed limiting value. Traveling is
possible only in negative direction in inching mode.
Actual position is below the programmed limiting value.
‘0‘
Speed mode: irrelevant
Bit 6
‘1‘
‘0‘
Positioning mode: lower limit
Actual position is below the programmed limiting value. Traveling is
possible only in positive direction in inching mode.
Actual position is above the programmed limiting value.
‘0‘
Speed mode: irrelevant
Bit 7
‘1‘
‘0‘
Driver state
Motor is enabled
Motor in control
Bit 8
‘1‘
‘0‘
Error:
Actuator has switched to error. The cause of the error must be
removed and acknowledged.
No error present
Bit 9
‘1‘
‘0‘
Positioning mode: Loop travel
If travel direction unequal start direction (with loop travel )
If travel direction equal start direction
‘0‘
Speed mode: irrelevant
Bit 10
‘1‘
‘0‘
Output stage supply voltage
No voltage, no traveling possible
Voltage applied
Bit 11
‘1‘
‘0‘
Ready for travel:
Not ready for travel
Ready for travel:
Actuator not in error state
No active positioning
Supply voltage of the output stage is applied
Actual position within limits (only positioning mode)