NP5 CANopen Online Manual

3701h Limit Switch Error Option Code

Function

If a limit switch is passed over, bit 7 ( Warning) is set in 6041h ( statusword) and the action that is stored in this object executed.

Object description

Index 3701h
Object name Limit Switch Error Option Code
Object Code VARIABLE
Data type INTEGER16
Savable yes, category: application
Access read / write
PDO mapping no
Allowed values
Preset value FFFFh
Firmware version FIR-v1748-B538662
Change history

Description

Value in object 3701h Description
-1 No reaction (e. g., to execute a homing operation)
1 Braking with slow down ramp (deceleration ramp depending on operating mode) and subsequent state change to Switch on disabled
2 Braking with quick stop ramp and subsequent state change to Switch on disabled
5 Braking with slow down ramp (deceleration ramp depending on operating mode) and subsequent state change to Quick stop active; control does not switch off and the motor remains energized. You can switch back to the Operation enabled state.
6 Braking with quick stop ramp and subsequent state change to Quick Stop Active; control does not switch off and the motor remains energized. You can switch back to the Operation enabled state.
Note:
  • The quick-stop bit (bit 2) in 6040h is not automatically set to "0" when the state changes to Quick stop active.
  • ► If you want to change the state machine back to the Operation enabled state, you must set the bit to "0" and then to "1" again.
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