Feedback_Status

Address:

10274 (2822H)

Type:

Unsigned16

Access:

Read Only

Unit:

N/A

Range:

Unsigned16

Default Value:

N/A

Store Supported:

Description:

This object returns some important information about the Feedback status. This object is managed at bit and the following tables show the meaning of each bits.

Bit	Value	Description
0	Calibration in Progress	0 = Feedback Calibration NOT in progress
0	Calibration in Progress	1 = Feedback Calibration in progress. See the object Feedback_Calibration_Phase and the Closed Loop Calibration.
1	Calibration_Error	0 = Ok
1	Calibration_Error	1 = Feedback Calibration Procedure failed
2	Encoder Direction Error	0 = Ok
2	Encoder Direction Error	1 = The bit is set during the Calibration Procedure, if the system detected that the encoder is counting in the wrong sense. The Encoder Phases must be exchanged.
3	Encoder Not Present	0 = Ok
3	Encoder Not Present	1 = The bit is set during the Calibration Procedure, if the system detected that the encoder is not present. Check if the encoder wiring is correct.
5	Calibration Aborted	0 = Ok
5	Calibration Aborted	1 = The bit is set if the Calibration Procedure was aborted before the conclusion.
6	Full_Calibration_Done	0 = Strong Calibration must be done. The bit is cleared at switch-on or when happen one alarm that require a new Strong Calibration.
6	Full_Calibration_Done	1 = Strong Calibration is done least once from switch-on. The bit is set at the end of Strong_Calibration executed with success.
8	Encoder Fault	0 = Ok
8	Encoder Fault	1 = Detected problem on feedback encoder. The reasons can be: The drive is supplying the max currentNominal_Current) but the encoder is not counting from time more than TIMEOUT (encoder disconnected or broken) The encoder is counting in opposite direction of the expected direction for a time more than TIMEOUT (encoder misalignment, check the encoder wiring or the mechanical mounting of it)
9	Following Error	0 = Ok
9	Following Error	1 = Following Error The bit is set if the system detects the following Error in particular: In Mode 0, 1, 2 is set if \|Fbd_Actual_Poition_Error\| >= Fdb_Position_Error_Limit In Mode 3, 4 is set if \|Fbd_Actual_Velocity_Error\| >= Fdb_Velocity_Error_Limit
10	Motor Stall detected ⁽¹⁾	0 = Ok
10	Motor Stall detected ⁽¹⁾	1 = Motor Stall detected. This error can be issued when ‘Motor Stall’ feature is enabled (bit 13 of Drive_Working_Settings_Extended object) and motor stall is detected. The bit 5 (Feedback_Error) of Error_Register object is also set. See Motor Stall Detection for more details about ‘Motor Stall detection' feature.
11	GAIN out of range	0 = Ok
11	GAIN out of range	1 = GAIN out of range. The bit is set if the system detected that the set Feedback GAIN sent the PID regulator out of control
12	Not used
13	Not used
14	Motor Stall Conflict ⁽¹⁾	0 = Ok
14	Motor Stall Conflict ⁽¹⁾	1 = Error: tried to enable ‘Feedback’ feature with ‘Motor Stall detection’ feature already enabled or vice versa. The ‘Feedback’ feature (bit 4 ofDrive_Working_Settings object) and the ‘Motor Stall detection’ feature (bit 13 of Drive_Working_Settings_Extended object) cannot be both active at the same time. The bit5 (Feedback_Error) of Error_Register object is also set. SeeMotor Stall Detection for more details about ‘Motor Stall detection' feature.
15	Active	0 = Feedback not active
15	Active	1 = Feedback Active (the system is working in closed loop)

Notes:

See Closed Loop Modality for details.

⁽¹⁾ This bit is available only with firmware version V02r74 or superior.