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Type: |
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Address: |
RMC75: n/a RMC150: n/a RMC200: %MDn.142, where n = 256 + the axis number |
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System Tag: |
RMC75/150: n/a RMC200: n/a |
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How to Find: |
Axes Status Registers Pane, Basic tab, Status bits |
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Data Type: |
DINT |
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Access: |
READ ONLY |
Description
The Valve State axis status register indicates the state of an EtherCAT valve, such as whether it is faulted, not ready to turn on, or operating. The Valve State applies only to valves that conform to the CiA408 valve profile.
Normal Operation
For normal operation of the valve, the Valve State must be Active. The RMC handles changing the state of the valve when an axis is enabled and disabled. For example, if an axis is automatically enabled when the RMC enters Run mode, the Enable Controller (7) command is sent, or if the Enable/Disable Axis (97) command is sent to the axis, the RMC will try to set the valve to Active.
Disabled and Hold States
If the axis is disabled by a Disable Axis halt or by the Enable/Disable Axis (97) command, the RMC will set the valve to Disabled or Hold as configured by the Axis Disabled Valve State parameter.
Startup and EtherCAT Network Considerations
If an RMC is configured to start up in Run mode (which normally enables the controller and all the axes), the EtherCAT axes will not be enabled on startup, because it takes time for the EtherCAT network to start. The user must provide some method for enabling those axes, such as via a PLC or user program that waits for the EtherCAT network to be in Op mode.
Relationship to EtherCAT State Machine
The Valve State is separate from the EtherCAT state machine modes (Init, Safe-Op, Op, etc.) However, the EtherCAT drive must be in Op mode in order for the Valve State to become Active.
After the EtherCAT network has started up, and the valve has entered the EtherCAT state of Op mode, and the axis is not enabled, the Valve State will typically be Init. When the axis is enabled, the mode will become Active.
The Valve States are as follows:
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Valve State |
Value |
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Not Ready |
0 |
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Init |
1 |
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Disabled |
2 |
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Hold |
3 |
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Active |
4 |
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Fault Init |
5 |
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Fault Disabled |
6 |
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Fault Hold |
7 |
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Fault Reaction |
8 |
If the Valve State is not Active, enable the axis such as by sending the Enable Axis (97) command. If the Valve State does not become Active, it may be because some axis parameter settings are incorrect, or there is an error in the valve.
Advanced
The Valve State is derived from the Status Word object (0x6041) received from the valve, as defined by the CiA408 specification. The RMC controls the valve state machine with the Control Word (0x6040) object that is sent to the drive. The Status Word and Control Word must be included in the PDO Mapping. The real time values of the Status Word and Control Word can be viewed in the EtherCAT Diagnostics, on the Process Data tab.
|
Valve State |
Value |
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Not Ready |
0000 |
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Init |
1000 |
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Disabled |
1001 |
|
Hold |
1011 |
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Active |
1111 |
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Fault Init |
0000 |
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Fault Disabled |
0001 |
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Fault Hold |
0011 |
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Fault Reaction |
0xxx |
See Also
Using Valves with EtherCAT | Status Word Index | Control Word Index | Axis Disabled Valve State
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