Control and status word

CW.15

-

0_bin

reserved

CW.14

Set position in ProcData

1_bin

Switches the process data from set velocity to set position (see function Specifying the set position)

CW.13

ClearPosition

1_bin

Position value is deleted (rising edge)

ATTENTION: higher priority than CW.10

CW.12

Reduced current (drive)

1_bin

Reduced coil current (specified through R45) is active, with rotating motor

CW.11

ReducedCurrent (same function as bit CB.3)

1_bin

Reduced coil current (when the motor is at standstill) is active (specified via R45)

CW.10

SetPos

1_bin

Position value is set with registers R2 and R3 (rising edge)
NOTE: only active if CW.13=0

CW.9

disMixedDecay

0_bin

Motor control via 2 pulsed transistors per half-wave

1_bin

Motor control via 1 pulsed and one switched-through transistor per half-wave

CW.8

GetEncoder position^1, 2)

1_bin

Show the current encoder position in the process data

CW.7

GetPosition error¹

0_bin

Show the current position in byte2,3 of the input process data

1_bin

Show the relative position error in byte2.3 of the input process data

CW.6

ToggleLatch data

0_bin

If this bit is changed, the saved latch values - up to 20 - (R37) can be retrieved if the latch array (R32.9) is activated and CW.5 is set

1_bin

CW.5

GetLatchData

0_bin

Show the current position in byte2,3 of the input process data

1_bin

Show the current latch value in byte2,3 of the input process data

CW.4

enLatchFallEdge (external)

1_bin

External latch event is enabled (for latch inputs with falling edge, the terminal saves the current position)
ATTENTION: higher priority than CW.1 and CW.2!

CW.3

enLatchRiseEdge (external)

1_bin

External latch event is enabled (for latch inputs with rising edge, the terminal saves the current position)
ATTENTION: higher priority than CW.1, CW.2 and CW.24!

CW.2

enLatchInput2

1_bin

External latch event is enabled (the terminal saves the current position when a rising edge of digital input E2 is encountered)

CW.1

enLatchInput1

1_bin

External latch event is enabled (the terminal saves the current position when a rising edge of digital input E1 is encountered)
ATTENTION: higher priority than CW.2!

CW.0

enLatchC (internal)

1_bin

Internal latch event is enabled (for C inputs with rising edge, the terminal saves the current position)
ATTENTION: higher priority than CW.1, CW.2, CW.3 and CW.4!

SW.15

ConfigError

1_bin

Configuration error (LED Error A flashes). Cause:

• Value for motor full steps is 0 (RP0.R33), only KL2541
• Value for encoder increments is 0 (RP0.R34), only KL2541
• Value for min. velocity v_min is 0 (RP0.R38)
• Value for max. velocity v_max is 0 (RP0.R39)
• Value for max. acceleration a_max is too small (RP0.R40)
• Value for coil current I_S at a > a_th is 0 (RP0.R42)
• Value for coil current I_S at a ≤ a_th is 0 (RP0.R43)
• Value for max. emergency acceleration a_e is 0 (RP0.R50)

The fault indication will automatically be deleted when correct data are written to the incorrectly configured registers.

SW.14

NoControlPower

1_bin

Outage of the 24 V control voltage (the LED Error B flashes, and the terminal switches the motor off automatically). The terminal is automatically re-Initialized once the voltage has been re-established.

ATTENTION: the user must acknowledge these error messages by setting bit CB.6 of control byte!

SW.13

OverCurrent Br B

1_bin

Overcurrent, bridge B (error B LED flashes, and the terminal switches the motor off automatically).

SW.12

OverCurrent Br A

1_bin

Overcurrent, bridge A (error B LED flashes, and the terminal switches the motor off automatically).

SW.11

OpenLoad Br B

1_bin

Open load, bridge B (error B LED flashes, and the terminal switches the motor off automatically).

SW.10

OpenLoad Br A

1_bin

Open load, bridge B (error B LED flashes, and the terminal switches the motor off automatically).

SW.9

UnderVoltage

1_bin

Supply voltage too low (error B LED flashes, and the terminal switches the motor off automatically).

SW.8

OverTemperature

1_bin

Overtemperature (see SB.5) - the stepper controller chip temperature is above 125 °C (the LED Error B flashes, and the terminal switches the motor off automatically).

SW.7

EncoderDisabled

0_bin

The encoder is enabled

1_bin

the encoder is locked (feature bit R32.12=1 and latch input=0 or R32.13=1 and latch input=1)

SW.6

LatchDataToggled

0_bin

A new latch value is entered in byte2,3 of the input process data if bit CW.6 was modified and SW.6 has taken on the new state (acknowledgement for ToggleLatchData)

1_bin

SW.5

LatchDataInByte2,3

0_bin

The current position is shown in byte2,3 of the input process data

1_bin

The last latch value is shown in byte2,3 of the input process data (acknowledgement for GetLatchData)

SW.4

LatchValid

1_bin

a latch event has occurred (at CW.0=1, CW.3=1 or CW.4=1); if the latch array is enabled (R32.9) this bit set once the number of latch values specified in R37 has been stored

SW.3

TargetReached³

1_bin

Target position is reached

SW.2

SetPosReady

1_bin

the current position was deleted (for CW.13=1) or set (for CW.10=1) (acknowledgement for ClearPos and SetPos)

SW.1

Input 2

Status of digital input 2. The evaluation of digital input 2 can be inverted with bit RP0.R52.15 of feature register 2.

SW.0

Input 1

Status of digital input 1. The evaluation of digital input 2 can be inverted with bit RP0.R52.14 of feature register 1.