Orientalmotor AZX Series Operating Manual page 89

Index Sub Name
Position actual value
6064h 00h
[step]
Max torque
6072h 00h
[1=0.1 %]
Target position
607Ah 00h
[step]
Min. position limit
01h
[step]
607Dh
Max. position limit
02h
[step]
„ Controlword of Cyclic synchronous position mode
Bit 15 Bit 14
−
Bit 7 Bit 6
Fault reset
Details of Controlword
Bit Name
8 Halt
For bit 7 and bit 3 to bit 0, refer to "State transition of drive state machine" on p.86.
„ Statusword of Cyclic synchronous position mode
Bit 15 Bit 14
Manufacturer specific
TLC
Bit 7 Bit 6
Switch on
Warning
disabled
Details of Statusword
Bit Name
15 TLC
13 Following error
Type Access
INT32 RO
U16 RW
INT32 RW
INT32 RW
INT32 RW
Bit 13 Bit 12
Manufacturer specific (ms)
− −
Bit 5 Bit 4
Operation mode specific (oms)
− −
Value
0 Operation is allowed.
1 Stop operation. The stopping method is "Immediate stop."
Bit 13
Operation mode specific
Following Target position
−
error ignored
Bit 5
Quick stop Voltage enabled
Value
0 A load does not reach the upper limit of the motor output torque.
1 A load reached the upper limit of the motor output torque.
0 The position deviation error does not occur.
The position deviation error occurs.
The position deviation exceeded the value set in the Following error
1 window (6065h). The value changes to 0 if an alarm of Excessive
position deviation (alarm code 10h) or an alarm of Overload (alarm
code 30h) is reset.
PDO Save
TxPDO −
RxPDO 1 to 10,000 (Initial value: 1,000)

−2,147,483,648 to
RxPDO −
2,147,483,647 (Initial value: 0)
−2,147,483,648 to
No 2,147,483,647

(Initial value: −2,147,483,648)
−2,147,483,648 to
No 2,147,483,647

(Initial value: 2,147,483,647)
Bit 11 Bit 10
Reserved
− −
Bit 3 Bit 2
Enable
Quick stop
operation
−
Description
Bit 12 Bit 11
Internal
limit active
Bit 4 Bit 3
Operation
Fault
Description
Drive profile
Range
−
Bit 9 Bit 8
oms
Halt
−
Bit 1 Bit 0
Enable
Switch on
voltage
Bit 10 Bit 9
− Remote
Bit 2 Bit 1
Switched Ready to
enabled on switch on
Update
−
A
A
A
A
Bit 8
ms
−
Bit 0
89