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6.2 Operating modes
6.2.1 Indicating and monitoring the operating mode
The word "mfStat" is used to indicate the current operating mode.
15
-
14
-
13
-
12
-
11
CAP2 1
10
CAP2 0
9
CAP1 1
8
CAP1 0
7
MT
6
ME
5
DE
4
MODE
3
MODE
2
MODE
1
MODE
0
MODE
mfStat
Figure 9: Structure mfStat
Bit Name Description
0 ... 4 MODE Indicates the current operating mode
Value 01
h
: Profile Position
Value 03
h
: Profile Velocity
Value 04
h
: Profile Torque
Value 06
h
: Homing
Value 1F
h
: Jog
Value 1E
h
: Electronic Gear
Value 1D
h
: Motion Sequence
5 DE The "DE" bit relates to parameters that are independent
of "Mode Toggle" (MT). The "DE" bit is set if a data
value in the process data channel is invalid.
6 ME The "ME" bit relates to parameters that are dependent
on "Mode Toggle" (MT). The "ME" bit is set if a request
from a master (starting an operating mode) was rejec-
ted.
7 MT Handshake via "Mode Toggle"
8 ... 9 CAP1 Bit 0 and bit 1 of parameter _Cap1Count
10 ... 11 CAP2 Bit 0 and bit 1 of parameter _Cap2Count
12 ... 15 - Reserved
6 Operation
LXM32M
54
Modbus-TCP module
0198441113843, V1.01, 01.2012