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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 39
Structure of T_PDO4:
Figure 3.20 Structure of T_PDO4
Status word driveStat The information in the status word driveStat corresponds to bits 0
...15 of object Status.driveStat, 28:2.
Contents of information:
• State of state machine
• Warning and error bits
• Status of the current operating mode
actual position (pact), 32 bits
IO_act, 8 bits
modeStat, 8 bits
driveStat, 16 bits
21 43 65 87
Byte
67 45
MEMT 0ref_ok
23 01
0 mode
actual operation mode
drive referenced
Mode Toggle
Mode Error
modeStat
Bit
driveStat
Bit
x err x_end x_info 0 0 0 0 0 warn Sig_SR FltSig cos0
15 14 13 12 --- 8 7 6 5 3 --- 04
67 45 23 01
IO_act
Bit
IO1IO2IO30
STO_ASTO_B
IO00
STO_A / STO_B
(PWRR_A / PWRR_B)