ASCII - Command O1MODE    
Syntax Transmit O1MODE [Data]    
Syntax Receive O1MODE <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer8   CANBus Object Number 35AF (hex)
DIM -   PROFIBUS PNU 1775 (dec) IND = 1 (dec)
Range 0 .. 100   DPR 175 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.0    
Configuration Yes   Last Change of this Object 2.12
Function Group digital I/O   EEPROM Yes
Short Description Function of Digital Output 1

Description

The O1 command returns the state of the digital output 1 (0 = Low,1 = High).
If no function is assigned to digital output 1 (O1MODE=0), then the High/Low state can be given out at output 1 by using the command “O1 1” or “O1 0”.
Status Function Description
O1MODE=0 Off
(S700: signal X3-6 is configured as default to input)
S300:
The state of the digital output 1 can be set/cleared by RS232/Fieldbus or Slot board with O1


S700:
The Pin X3-6 could configure both to input or output. The default is input for this signal.

By using a digital output e.g. for a macro program, the function OxMODE=23 "DPR output" must configurate
O1MODE=1 v_act<O1TRIG As long as the absolute value for the motor velocity is lower than a preset value (O1TRIG), a HIGH-signal will be output. After the function has been selected you can enter the velocity in rpm in O1TRIG. The ouput is high, if V < O1TRIG and becomes low, if V > O1TRIG + 0.01 * MSPEED.
O1MODE=2 v_act>O1TRIG As long as the absolute value for the motor velocity is higher than a preset value (O1TRIG), a HIGH-signal will be output. After the function has been selected you can enter the velocity in rpm in O1TRIG. The ouput is high, if V > O1TRIG and becomes low, if V < O1TRIG + 0.01 * MSPEED.
O1MODE=3 Mains-RTO This signals the operational readiness of the drive power output stage. After switching on the mains supply, a HIGH-signal is output until the DC-link circuit is fully charged up. A LOW-signal is output when the charging of the DC-link circuit is finished. If the DC-link voltage falls
below VBUSMIN value, then a HIGH-signal will be output. The “Undervoltage” monitoring is inactive.
O1MODE=4 Regen off Signals if the preset regen power (screen page “Basic Setup”) is exceeded.
O1MODE=5 Sw_limit This produces a HIGH-signal if a software limit-switch is reached (a preset function of the
corresponding position register, set to “SW limit-switch 1” or “SW limit-switch 2” – the function is
defined in the screen page “Position”).
A motion task in the opposite direction resets the output.
O1MODE=6 Pos.>x If the position (angular position of the motor shaft) exceeds a preset value (O1TRIG),
a HIGH-signal will be output. After the function has been selected, you can enter the signaling posi-tion
in increment (a number or fraction of motor turns N) as O1TRIG.
Make the calculation according to the following equation:
x = 1048576 *N *Inkr.
Maximum possible entry value:x =2 31 = 2147483648, this corresponds to N = 2048
O1MODE=7 InPos When the target position for a motion task has been reached (the InPosition window PEINPOS), this is
signaled by the output of a HIGH-signal. A cable break will not be detected.
The width of the InPosition window for all the valid motion tasks is entered in the “Position data”
screen page.
If a sequence of motion tasks is performed one after another, then the signal for reaching the final
position of the motion-task sequence will be output (target position of the last motion task).
Signaling that the target position of each motion task has been reached, in a sequence of motion
tasks, can be achieved with the function “16, Next_InPos”.
O1MODE=8 I_act<O1TRIG The output is a HIGH-signal, as long as the absolute r.m.s. value of the actual current is lower than
a defined value in mA (O1TRIG).
After the function has been selected, you can enter the current value as O1TRIG in mA.
O1MODE=9 I_act>O1TRIG The output is a HIGH-signal, as long as the absolute r.m.s. value of the actual current is higher than
a defined value in mA (O1TRIG).
After the function has been selected, you can enter the current value as O1TRIG in mA.
O1MODE=10 Ferror If the position goes outside the preset contouring-error window, this is indicated by a LOW-signal.
The width of the contouring-error window (PEMAX) is entered in the screen page “Position” for all the valid motion tasks.
O1MODE=11 I2T The reaching of the set I2t signaling threshold (I2TLIM, warning n01) or the failure of a mains phase (warning n05) is signaled with a high signal.
O1MODE=12 .. 15 reserved -
O1MODE=16 Next-InPos The start of each motion task in an automatically executed sequence of motion tasks is signalled by
an inversion of the output signal. The output produces a Low signal at the start of the first motion
task of the motion task sequence. The type of message can be set by IN2PM
O1MODE=17 Error/Warn The output produces a HIGH-signal if an error or a warning message is signaled by the servo
amplifier. A list of the error messages can be found under ERRCODE.
n32 has no effect to the output.
O1MODE=18 Error The output produces a HIGH-signal if an error is signaled by the servo amplifier. A list of the error
messages can be found under ERRCODE
O1MODE=19 DC_Link>O1TRIG A HIGH-signal is output if the actual value of the DC-link voltage is higher than a defined value in
volts (O1TRIG).
After the function has been selected, you can enter the voltage value as O1TRIG in Volt..
O1MODE=20 DC_Link < O1TRIG A HIGH-signal is output if the actual value of the DC-link voltage is lower than a defined value in
volts (O1TRIG).
After the function has been selected, you can enter the voltage value in O1TRIG in Volt.
O1MODE=21 ENABLE A HIGH-signal is output if the servo amplifier is enabled.
To obtain the enable, the external Hardware Enable signal must be present, the Enable
status must be set in the setup software (or via the fieldbus interface) and no errors must be present that would cause an automatic internal disabling of the servo amplifier.
If function OxMODE = is selected, the enable signal is high, if the line voltage is applied and the charging of the link capacitors is finished. The drive is disabled, if the DC-link voltage wents under the threshold VBUSMIN.
O1MODE=22 Zero_pulse The zero mark/pulse (HIGH-signal) is indicated by the encoder-emulation. This function is only use-ful
at very low velocities.

Vmax = 15000 / ENCOUT
e.g.
ENCOUT=256 Pulses/Rev
Vmax = 58 rpm

O1TRIG can be used to stretch the zero pulse length in positive direction.
Important: The used LSB have to be set to 1, allowed O1TRIG values are only 2^n-1 (n=1....32) example O1TRIG=1,3,7,15,31...).
The calculation is done by formula O1TRIG / 2^32 * 360°.
Example 1:
O1TRIG=1073741823 = 0x3FFFFFFF.
1073741823 * 360°/ 2^32 = 90° -> A HIGH signal is monitored on 0 - 90°
Example 2:
O1TRIG = 134217727 = 0x7FFFFFF
134217727 * 360° / 2^32 = 11,25° -> A HIGH signal is monitored on 0 - 11,25°
O1MODE=23 Slot-DPR
(S700: signal X3-6 to output)
S300:
This configuration enables the possibility to output a state from the Slot board (mem DPR Slot Board Offset 0x3E4). If no Slot board is available, this configuration is equal to OxMODE=0.

S700:
The Pin X3-6 could configure both to input or output. The default is input for this signal.
By using a digital output e.g. for a macro program, the function OxMODE=23 "DPR output" must configurate
O1MODE=24 Ref_OK The output signals High, if a reference point is available. Reference traverse (homing) has been
carried out, or a reference point has been set. (see NREF)
O1MODE=25 .. 29 - reserved
O1MODE=30 Postion register(s) state For OxMODE = 30 the output OUTPUTx is set to 1 if a cam is "active". The output is set to 0 if no cam is signaled.

To use this function, a cam (or several) must be defined first.
This is done using the position registers P1..P16. The position registers should
Can be used in pairs.

Cam 1: P1 and P2
Cam 2: P5 and P6
Cam 3: P11 and P12

With the help of the OxTRIG variable, the cams to be monitored are defined.
The mask for the above example would look like this:

OxTRIG = 3123 (hex representation 0x0C33, the associated bit is set for each position register)

As soon as one of the three cams is exceeded, the output OUTPUTx is set to 1.

Example 2:
O1MODE = 30 O1TRIG = 3 (Hex 0x0003)
O2MODE = 30 O2TRIG = 3120 (Hex 0x0C30)
Output 1 is set when cam 1 is active (P1 and P2).
Output 2 is set when cam 2 (P5, P6) or cam 3 (P11, P12) is active.
O1MODE=31 Analog In 1< O1TRIG The output is high, if the Analog In voltage at Analog In 1 is lower than the threshold O1TRIG. The auxiliary variable O1TRIG is given in mV (with sign).
O1MODE=32 Analog In 1> O1TRIG The output is high, if the Analog In voltage at Analog In 1 is higher than the threshold O1TRIG. The auxiliary variable O1TRIG is given in mV (with sign).
O1MODE=33 Analog In 2 < O1TRIG The output is high, if the Analog In voltage at Analog In 2 is lower than the threshold O1TRIG. The auxiliary variable O1TRIG is given in mV (with sign).
O1MODE=34 Analog In 2 > O1TRIG The output is high, if the Analog In voltage at Analog In 2 is higher than the threshold O1TRIG. The auxiliary variable O1TRIG is given in mV (with sign).
O1MODE=35 Internal Enable The state of the internal ENABLE signal is mirrored on the digital output. If the setiings are:
MBRAKE=0, STOPMODE=0 and ACTFAULT=0, the function is similar to O1MODE=21.
If one of the three variables is "1", the output changes to low, when the drives starts to dec to "0".
If O1MODE=21, the output is low, if the drive has stopped and has disabled the output stage.
O1MODE=36 Logical OR: DRVSTAT - O1TRIG This function makes a OR operation between the Bit-variable DRVSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=37 Logical AND: DRVSTAT -O1TRIG This function makes a AND operation between the Bit-variable DRVSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=38 Logical OR: TRJSTAT - O1TRIG This function makes a OR operation between the Bit-variable TRJSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=39 Logical AND: TRJSTAT - O1TRIG This function makes a AND operation between the Bit-variable TRJSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=40 Logical OR: POSRSTAT - O1TRIG This function makes a OR operation between the Bit-variable POSRSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=41 Logical AND: POSRSTAT - O1TRIG This function makes a AND operation between the Bit-variable POSRSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=42 Internal temperature warning This function enables a temperature warning.
If one of the three internal measured temperatures reaches the trip level, the digital output ist set to high. After the selected delay time given in O1TRIG the drive generates a error message and disables the output stage.

The delay time has the range 0...30000 msec and effects following temperatures:

Motor temperature TEMPM, threshold MAXTEMPM
Heatsink temperature TEMPH, Threshold MAXTEMPH
Ambient temperature TEMPE, threshold MAXTEMPE
O1MODE=43 The sign of the actual velocity OUTPUT1 = 1 V < -VEL0
OUTPUT1 = 0 V > -VEL0
O1MODE=44 Target Speed deviation: abs(Target Speed - Actual Speed) < x The OUTPUT1 is set, if the absolute of the difference between the internal velocity command (bevore the rampgenerator) and the actual velocity is smaller than O1TRIG. The size of the window (O1TRIG) is given in valid velocity units (VUNIT).
O1MODE=45 Target Speed deviation: abs(Target Speed - Actual Speed) > x The output 1 is set, if the absolute of the difference between the internal velocity command bevore the rampgenerator) and the actual velocity is bigger than O1TRIG. The size of the window (O1TRIG) is given in valid velocity units (VUNIT).
O1MODE=46 Current in Window (low active) The digital output 1 is set, if the absolute of the difference between current command and actual value is smaller than the window, defined by O1TRIG. The window is given in mA.
O1MODE=47 Current not in Window (low active) The digital output 1 is set, if the absolute of the difference between current command and actual value is greater than the window, defined by O1TRIG. The window is given in mA.
O1MODE=48 Logical NOR: DRVSTAT - O1TRIG This function makes a inverted OR operation between the Bit-variable DRVSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=49 Logical NAND: DRVSTAT -O1TRIG This function makes a inverted AND operation between the Bit-variable DRVSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=50 Logical NOR: TRJSTAT - O1TRIG This function makes a inverted OR operation between the Bit-variable TRJSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=51 Logical NAND: TRJSTAT - O1TRIG This function makes a AND operation between the Bit-variable TRJSTAT and a Bit mask given by O1TRIG. The result is present at output 1.
O1MODE=52 Logical AND: POSRSTAT - O1TRIG same as O1MODE = 41 but the output is for PTBASE * 250 us on high level
O1MODE=53 Master/Slave synchron Master/Slave synchron
O1MODE=54 prepared for moving version > =1.21
The output is high if all following conditions are true

software-enable set

no error

DC link loaded (VBUS > VBUSMIN)

no contouring error (Warnung n03)
O1MODE=55 Actual master-slave status Version >=2.13

Output=1
The slave is in master/slave modus. This can be:
1. synchroize up to the master speed
2. following the master-position
3. Declutch the master slave mode

Ausgang=0 -
None of the master slave modes is active. The master pulses are ignored.1

see also function INxMODE=42,43
O1MODE=56 Actual master-slave status Output 1 will be set, if the following conditions are complied with:

OPMODE=4 AND within 16 ms no new master command value AND the absolute value of the following error PE smaller than value PEINPOS
O1MODE=57 - reserved
O1MODE=58 activation of the extern brake output O1 = 1 – breake open
output O1 = 0 – breake closed

The output O1 signals the state of the internal brake control again and can be used as a status output or for the activation of a second brake. This function is only available if a brake (MBRAKE > 0) has been configured.
O1MODE=59 activation of the extern brake (inverted) output O1 = 1 – breake closed
output O1 = 0 – breake open

The output O1 signals the state of the internal brake control again and can be used as a status output or for the activation of a second brake. This function is only available if a brake (MBRAKE > 0) has been configured.
O1MODE=60 Error present (Low-active) Error present (Low-active)
O1MODE=61 MT Target Velocity reached (High-active) MT Target Velocity reached (High-active)
O1MODE=62 MT Target Velocity reached (Low-active) MT Target Velocity reached (Low-active)
O1MODE=69 Master/ Slave synchronous; Slave Speed > 0 Master/ Slave synchronous; Slave Speed > 0
O1MODE=70 STO-Status STO-Status
O1MODE=71 Actual Speed within Window The output 1 is set, if the absolute of the difference between the internal velocity command (after the rampgenerator) and the actual velocity is smaller than O1TRIG. The size of the window (O1TRIG) is given in valid velocity units (VUNIT).
O1MODE=72 Actual Spped not within Window The output 1 is set, if the absolute of the difference between the internal velocity command (after the rampgenerator) and the actual velocity is bigger than O1TRIG. The size of the window (O1TRIG) is given in valid velocity units (VUNIT).
O1MODE=73 logical OR between ERRCODE an O1TRIG Using these functions, the result of an OR link between the bit variable ERRCODE and a bit mask of the auxiliary variable O1TRIG to the digital output 1 can be issued.
O1MODE=74 logical NOR between ERRCODE an O1TRIG Using these functions, the result of an inverted OR operation between the Bit-variable ERRCODE and a bit mask of the auxiliary variable O1TRIG can be issued to the digital output 1.