Data Sheet

Copyright © Roboteq Inc. 2018. All Rights Reserved. 15
TABLE 15 - DEFINITION OF BIT 10
Bit
Value
Definition
10
0
Halt (bit 8 in controlword) = 0: Speed or Position Target not reached
Halt (bit 8 in controlword) = 1: Axis decelerates
1
Halt (bit 8 in controlword) = 0: Speed or Position Target reached
Halt (bit 8 in controlword) = 1: Velocity of axis is 0
3.2.1 PROFILE POSITION MODE
TABLE 16 - STATUS WORD MAPPING IN PROFILE POSITION MODE
15
14
13
12
11
10
9
0
see Table
12
Not Used
Set-Point
Acknowledge
see Table
12
Target
Reached
see Table 12
MSB
LSB
In Profile Position Mode the operation specific bits are mapped in Table 16. With bits 10 and
12 user can acknowledge the status of the controller as shown in Table 15 and Table 17. Bit
13 is always 0.
TABLE 17 - DEFINITION OF BIT 12 IN PROFILE POSITION MODE
Bit
Value
Definition
12
0
Previous set-point already processed, waiting for new set-point
1
Previous set-point still in process, set-point overwriting shall be accepted
3.2.2 PROFILE VELOCITY MODE
TABLE 18 - STATUS WORD MAPPING IN PROFILE VELOCITY MODE
15
14
13
12
11
10
9
0
see Table
12
Not Used
Speed
see Table
12
Target
Reached
see Table 12
MSB
LSB
In Profile Velocity Mode the operation specific bits are mapped in Table 18. With bits 10 and
12 user can acknowledge the status of the controller as shown in Table 15 and Table 19. Bit
13 is always 0.
TABLE 19 - DEFINITION OF BIT 12 IN PROFILE VELOCITY MODE
Bit
Value
Definition
12
0
Speed is not equal 0
1
Speed is equal 0