Feedback_Status

Index.Sub

2230.18H

Data Type

Unsigned16

Access

Read Only

PDO Mappable

Unit

Range

Unsigned16

Default Value

Store Supported

Yes

Description

This object is used for Closed Loop functionality and returns the Feedback Status.

Bit	Value	Description
0	Calibration in Progress	0 = Feedback Calibration NOT in progress.
0	Calibration in Progress	1 = Feedback Calibration in progress.
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 has to 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.
4	Hall Sensor Fail	0 = Ok
4	Hall Sensor Fail	1 = The bit is set during the Calibration Procedure, if the system detected that the Hall sensors are not working well. Check if the Hall sensor wiring is correct
5	Calibration Aborted	0 = Ok
5	Calibration Aborted	1 = Calibration Procedure aborted.
6	Torque Limit Speed Reached ⁽²⁾	0 = Torque limit speed reached.
6	Torque Limit Speed Reached ⁽²⁾	1 = Torque limit speed not reached.
7	Reserved
8	Encoder Fault	0 = Ok
8	Encoder Fault	1 = Detected problem on feedback encoder. The reasons can be: - Encoder disconnected or broken. - The encoder is counting in reverse direction respect at the expected direction for a time more of TIMEOUT(encoder misalignment, check the encoder wiring or the mechanical mounting of it).
9	Following Error	0 = OK
9	Following Error	1 = Feedback Following Error (Closed Loop).
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. See Motor Stall Detection.
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	Calibration attained	0 = Calibration not attained
12	Calibration attained	1 = Calibration attained
13	Absolute Encoder Error	0 = Ok
13	Absolute Encoder Error	1 = Absolute Encoder Error
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 of Drive_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. See Motor Stall Detection.
15	Active	0 = Feedback not active
15	Active	1 = Feedback Active (the system is working in Closed Loop).

Notes

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

⁽²⁾ This bit is available only with firmware version V02r82 or superior.