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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 7 of 153
10.7.3 Status bit 2
9
- Remote ........................................................................................... 131
10.7.4 Status bit 2
10
- Target Reached ............................................................................ 131
10.7.5 Status bit 2
11
- Internal limit active ........................................................................ 132
10.7.6 Status bit 2
12
- Set-point-acknowledge, Zero Speed ............................................ 132
10.7.7 Status bit 2
13
- Following error .............................................................................. 132
10.8 Profile Position Mode (operating mode 1) ............................................................................ 133
10.9 Profile Velocity Mode (operating mode 3) ............................................................................ 136
10.10 Cyclic synchronous modes (operating modes 8, 9, 10) ..................................................... 137
10.11 Backup-EEPROM, runtime ................................................................................................. 137
10.12 Position adjustment by Homing (operating mode 6) .......................................................... 138
10.13 Manual tuning of the position and speed regulation ........................................................... 141
10.14 Gear backlash cancellation (Opmodes -48=0xD0) ............................................................. 143
11 TwinCAT System Manager – Example program (Download) .................................................... 144
12 Troubleshooting and diagnosis options ..................................................................................... 145
12.1 SDO error codes ................................................................................................................... 145
12.2 EMCY error information ........................................................................................................ 146
12.2.1 EncoTRive RE - Emergencies .............................................................................. 146
12.2.2 Error register, object 0x1001 ................................................................................ 146
12.2.3 Error code, object 0x1003 (Bit 0-15) ..................................................................... 147
12.2.3.1 General .................................................................................................... 147
13 EncoTRive RE - Accessories, Test Setup ................................................................................... 151
13.1 Power supply cables with Solenoid Valve or M23 Connectors ............................................ 151
13.2 Test parameters for "EncoTRive RELC" .............................................................................. 151
14 EtherCAT Conformance Test Tool 1.20.80.0 .............................................................................. 152
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