Festo CiA 402 Manual page 102

5 Device Control
statusword
Bit Function
13 Dependent on modes_of_operation.
following_error
homing_error
14 manufacturer_statusbit
15 Drive referenced
Tab. 5.9 statusword bit 5 ... 15
Object 1002 _00 : manufacturer_status_register
h h
Through the object manufacturer_status_register, the current status of the controller can be read.
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
102
00
h
manufacturer_status_register
UINT32
ro
no
–
0 ... FFFFFFFF
h
–
Description
In the Profile Position Mode:
This bit is set when the current actual position
(position_actual_value) differs from the setpoint
position (position_demand_value) so much that the
difference lies outside the parametrised tolerance
window (following_error_window,
following_error_time_out).
In the Homing Mode:
This bit is set when the homing process has been
interrupted (Halt bit), both limit switches respond
simultaneously or the limit switch search run that has
already been performed is greater than the specified
positioning space (min_position_limit,
max_position_limit).
This bit is not supported by CMMS; fest = 0
The bit is set when the controller is referenced.
This is the case if either homing has been successfully
performed or no homing is needed due to the
connected encoder system (e.g. with an absolute
encoder).
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English