AXIS#.CANOPEN.STATUSEDGETIME
Description
AXIS#.CANOPEN.STATUSEDGETIME can be used to configure a time interval during which certain bits in the DS402 statusword are guaranteed to be zero after receiving a corresponding command. This can be useful when those status bits would normally only go low for less than one fieldbus cycle.
The affected bits are:
Bit 10 (Target reached) in profile position mode: After starting a motion bit 10 will be 0 for the defined time, even if the movement is finished earlier.
Bit 13 (Home attained) in homing mode: After starting a home procedure bit 13 will be 0 for the defined time, even if the homing procedure finished earlier.
Example
- With AXIS1.CANOPEN.STATUSEDGETIME set to 10ms and the DS402 statusword bit 10 (Target reached) already set, a motion task is started, that takes 5ms to reach its target position. On starting the motion task, bit 10 will be cleared. Even though the motion task’s target position has already been reached after 5ms, bit 10 will only be set again 10ms after being cleared.
- With AXIS1.CANOPEN.STATUSEDGETIME set to 10ms and the DS402 statusword bit 10 (Target reached) already set, a motion task is started, that takes 15ms to reach its target position. On starting the motion task, bit 10 will be cleared and will then be set again when the motion task target position is reached 15ms later.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-03-01-000 |
General Information
| Type | Read/Write |
| Units | ms |
| Range | 0 to 65535 ms |
| Default Value | 0 ms |
| Data Type | Integer |
| Stored in Non-Volatile Memory | Yes |
Variants Supported
CAN bus drives: AKD2G-SPC
EtherCAT Drives: AKD2G-SPE
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.CANOPEN.STATUSEDGETIME |
5003h |
08h |
Unsigned16 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.STATUSEGDETIME |
5103h |
08h |
Unsigned16 |
- |
- |
Read/Write |
No |
