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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 6 Operation
Fieldbus interface 73
Example: External monitoring triggers a fault message; positive limit switch "LIMP"
was hit.
Table 6.9 Asynchronous error, triggering of an external
Note: When the limit switch is detected, the motor is decelerated with the
EMERGENCY STOP ramp until it comes to a standstill and the bit
x_err is set. After the motor has come to a standstill, bit x_end is set.
Master <---> Slave
Positioning running xerr=0,
xend=0
T_PDO4 <--- driveStat
0006
h
modeStat
03
h
p_act
XXXXXXXX
h
Limit switch detected xerr=1,
xend=0
T_PDO4 <--- driveStat
8047
h
modeStat
03
h
p_act
XXXXXXXX
h
Motor stopped xerr=1, xend=1 T_PDO4 <--- driveStat
C047
h
modeStat
03
h
p_act
XXXXXXXX
h