TR-Electronic MP-200 - Status Word; Table 15: Status Word (Object 0 X6041), Homing Operating Mode; Table 16: Definition of the Homing Status Bits 10, 12, 13

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 45 of 153
5.4.2 Status word
Bit
STATUS WORD
0
Value 1: Ready to switch on
1
Value 1: Ready for operation
2
Value 1: Operating mode activated
3
Value 1: Error present
4
Value 1: Voltage switched on
5
Value 0: Quick stop active
6
Value 1: Not ready for operation
7
Value 1: Warning present
8
not used
9
Manual operation
0
No parameter access
via CAN bus
1
Parameter access
via CAN bus
10
Target reached
11
Value 1: Exit working range
Position value outside the preset range.
Definition via object 0x607D.
12
Homing attained
13
Homing error
14-15
not used
Table 15: Status word (object 0x6041), “Homing” operating mode
Bit 13
Bit 12
Bit 10
Definition
0
0
0
Homing procedure is in progress
0
0
1
Homing procedure is interrupted or not started
0
1
0
Homing is attained, but target is not reached
0
1
1
Homing procedure is completed successfully
1
0
0
F Homing error occurred, velocity is not 0
1
0
1
Homing error occurred, velocity is 0
1
1
x
not used
Table 16: Definition of the homing status bits 10, 12, 13