Parameter 50-08: Motion And Input Status (0X2006) - Danfoss VLT Series Programming Manual

Servo Drive Parameter Descr...
Attribute
Default value
Table 7.258 0x5020: Control Source

7.22.12 Parameter 50-08: Motion and Input Status (0x2006)

This object contains the motion status (independent on the current mode of operation), and the state of the input switches
(independent of the configuration of the digital inputs).
Attribute
Index
LCP parameter number
Name
Object code
Data type
Sub-index
Access
PDO mapping
Value range
Default value
Table 7.259 0x2006: Motion and Input Status
15 14 13 12
tp2 tp1 hom rl
MSB
Table 7.260 0x2006: Motion and Input Status
Digital input:
di1: State of input Digital 1 input.
di2: State of input Digital 2 input.
ll: State of Left Limit input.
rl: State of Right Limit input.
hom: State of Home input.
tp1: State of Touch probe 1 input (object 0x60B9, bit 1 or 2).
tp2: State of Touch probe 2 input (object 0x60B9, bit 9 or 10).
The state is coded as 0 = inactive; 1 = active for all different kinds of inputs. If no such input is configured, the value is set
to 0.
Digital output:
do: State of the digital output
The state is coded as 0 = inactive; 1 = active. It is not possible to change the state of the digital output using this object.
Software position limits:
pLim: Positive software limit reached (see chapter 2.3.4.2 Software Position Limit)
nLim: Negative software limit reached (see chapter 2.3.4.2 Software Position Limit)
Motion status:
acc: The servo drive is accelerating (increasing the absolute value of the velocity); Is determined based on the actual value.
dec: The servo drive is decelerating (decreasing the absolute value of the velocity); Is determined based on the actual value.
con: Velocity is constant. The velocity can be 0.
st: Velocity is constant. The velocity is 0.
pos: Positive direction: The position is increasing.
neg: Negative direction: The position is decreasing.
MG36D102
Programming Guide
11 10 9 8
ll di2 di1 do
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Value
0
Value
0x2006
50-08
Motion and input status
Var
UNSIGNED16
0x00
Read only
Optional
See Table 7.260.
–
7 6 5 4
nLim pLim neg pos
3 2 1 0
st con dec acc
LSB
353
7 7