Response Type 0X05 - Actual Torque; Response Type 0X14 - Command/Response Error - Kollmorgen AKD Series Manual

Enable State: This bit reflects the enable state of the amplifier.
Homed: This bit is set when the drive has been successfully homed.
Current Direction: This bit reflects the actual direction of motion.
General Fault: This bit indicates whether or not a fault has occurred.
In Position: This bit indicates whether or not the motor is on the last targeted position
(1=On Target).
Block in Execution: When set, indicates the amplifier is running a motion task.
Executing Block # (Byte 1 in Response Assembly): Indicates the index of the currently executing Motion
Task when the Block in Execution bit is set.
In Motion: This bit indicates whether a trajectory is in progress (1) or has completed (0).
This bit is set immediately when motion begins and remains set for the entire motion.
6.2.3.3 Status Word 2
Byte Bit 7 Bit 6
2 Load Com- Reserved Reserved Neg SW
plete
Load Complete: This bit indicates that the command data contained in the command message has been
successfully loaded into the device. Used for handshaking between
the controller and amplifier – see Data Handshaking.
Negative SW Limit: This bit indicates when the position is less than or equal to the Negative Software Limit
Position.
Positive SW Limit: This bit indicates when the position is greater than or equal to the Positive Software
Limit Position.
Negative HW Limit: This bit indicates the state of the Negative Hardware Limit Input.
Positive HW Limit: This bit indicates the state of the Positive Hardware Limit Input.

6.2.3.4 Response Type 0x05 - Actual Torque

This I/O response assembly is used to return the actual torque (current) of the motor in milliarms. Data will be
received in the Data field, bits 4-7. Set Response Type = 0x05 in the command assembly to read this value.

6.2.3.5 Response Type 0x14 - Command/Response Error

This I/O response identifies an error that has occurred. This response will always be returned in response to
an invalid Command Assembly. The Response Type field of the response assembly usually echoes the
matching field from the previous command assembly. But in the case of an invalid command assembly, the
Response Assembly Type field of the response assembly will be set to 0x14 and error codes will be returned
in the Data field.
Error Code (hex) Additional Code (hex) EtherNet IP Error
0 FF
2 FF
5 FF
5 1
5 2
8 FF
8 1
8 2
9 FF
Ethernet/IP Communications | 6 Communication Profile
Bit 5 Bit 4 Bit 3
Pos SW
Limit Limit
NO ERROR
RESOURCE_UNAVAILABLE
PATH_UNKNOWN
COMMAND_AXIS_INVALID
RESPONSE_AXIS_INVALID
SERVICE_NOT_SUPP
COMMAND_NOT_SUPPORTED
RESPONSE_NOT_SUPPORTED
INVALID_ATTRIBUTE_VALUE
Bit 2 Bit 1
Neg HW Pos HW
Limit Limit
Kollmorgen | December 2014
Bit 0
Reserved
15