Configuration Attributes

• Address-- SERCOS address of the Node.
• Motor-- Motor number assigned to the SERCOS Node.
• Filter-- Filter number assigned to the SERCOS Node.
• Mode-- Operating mode for control loop. A Node may be in one of the following modes:

Openloop, Position dual

Openloop, Position external

Openloop, Position motor

Openloop, Torque

Openloop, Velocity

Position, Torque external

Position, Torque motor

Position, Velocity external

Position, Velocity motor

For Openloop and Position motor, feedback is provided by the motor; for Openloop and Torque, there is NO feedback.

Status Attributes

Node status attributes display the current state of bits in the Node's status word.

Amplifier-- Handshake bit. Service transport and handshake for Node.

Busy-- If set (1), Node is processing service channel data.

Service Error-- If set (1), error ocurred processing service channel data.

Procedure-- If set (1), a procedure has finished in the Node.

Real Time 1-- State of real-time status bits. See IDNs for mapping.

Real Time 2-- State of real-time status bits. See IDNs for mapping.

Diag. Class 3-- If set (1), see IDN S-0-0013.

Diag. Class 2-- If set (1), see IDN S-0-0012.

Shutdown-- If set (1), see IDN S-0-0011. This will cause an Amp Fault to occur in the XMP.

Ready-- Indicates ready state of Node:

• 0 = 0x00 -> not ready
• 1 = 0x01 -> ready for main power
• 2 = 0x10 -> ready; main power applied; servo not active.
• 3 = 0x11 -> ready; main power applied; servo active.