Information and diagnostic data

Via the information and diagnostic data, the user can obtain a more exact statement about which error occurred during a travel command.

POS Info data:

Status word:
The "Status word" reflects the status bits used in Index 0xA020 in a data word, in order to be able to process them more simply in the PLC. The positions of the bits correspond to the number of the subindex-1.

Bit 0: Command rejected
Bit 1: Command aborded
Bit 2: Target overrun

State (drive controller):
The current status of the internal state machine is displayed here (see below).

POS Diag data:

Command rejected:
A dynamic change of the target position is not accepted each time by the terminal, since this is then not possible. The new command is rejected in this case and indicated by the setting of this bit.
These 3 diagnostic bits are transmitted synchronously to the controller by setting “Warning” in the PDO.

Command aborted:
The current travel command was prematurely aborted due to an internal error or by an "Emergency stop".

Target overrun:
In the case of a dynamic change of the target position, the change may take place at a relatively late point in time. The consequence of this may be that a change in the direction of rotation is necessary and that the new target position may be overrun. “Target overrun” is set if this occurs.