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40 Fieldbus interface
3 Basics IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
Operating mode modeStat This field corresponds to bits 0 ... 2 of the object Status.xMode_act.
Bits 6 and 7 provide additional information that can be used for synchro-
nized operating mode control via the PDOs.
The field contains the following information:
3.4.2.4 Handshake with Mode Toggle Bit
Mode Toggle Synchronized processing is possible with the transmit data modeCtrl,
bit 7 (MT) and the receive data modeStat, bits 6 (ME) and 7 (MT). Syn-
chronized processing means that the master waits for feedback mes-
sages from the slave so it can respond appropriately.
Example of positioning The master starts a positioning movement at point in time t
0
. At points in
time t
1
, t
2
..., the master checks the responses from the slave. It waits
for the end of the positioning movement by checking the Input Assembly
for bit x_end = 1 (end of positioning).
Figure 3.21 Mode Toggle Handshake
(1) Master starts positioning with MT = 1 in byte modeCtrl
(2) Slave signals that positioning is active with MT = 1 in
modeStat and simultaneously with x_end = 0 in driveStat
(4) Slave signals end of positioning with x_end = 1 in
driveStat
Bit Name Description
0...2 mode currently set operating mode as in R_PDO4
5 ref_ok Is set if homing of the product by means of a reference movement or position setting was
successful.
6 ME, ModeError Set if a request of the master via R_PDO4 data was rejected by the product.
7 MT, ModeToggle Mirrors bit 7 (Mode Toggle) of R_PDO4
1
2
3
t
0
t
2
t
1
Master Slave
Mode Toggle
Mode Toggle
x_end
t
3