Intelligent Motion Systems MDrive DSP-402, Application Manual

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38 MDrivePlus CANopen R020507
Statusword (6041
h
) of Profile Position Mode
9 14 13 12 11 10 9 0
See 1.4 Following Error Set-Point Acknowledge See 1.4 Target Reached See 1.4
MSB LSB
Bit Name Value Description
10 Target Reached
0 Halt=0: Target position not reached
Halt=1: Axis decelerating
1 Halt=0: Target position reached
Halt=1: Axis velocity is 0
12
Set-Point
Acknowledge
0 Trajectory generator has not assumed the positioning values yet
1 Trajectory generator has assumed the positioning values
13 Following Error
0 No following error
1 Following error
Table 6.2: Profile Position Mode Bits of Statusword
Object 607A
h
— Target Position
The Target Position is the position that the drive should move to in position profile mode using the MDrivePlus CANopen
parameters such as velocity, acceleration, deceleration, motion profile type etc. The target position is given in terms of 51,200
units per motor shaft revolution. The target position will be interpreted as absolute or relative depending on the absolute
relative flag (bit 6) in the controlword.
Object Description
Index
607A
h
Name
Target Position
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
rw
PDO Mapping
Possible
Range
Integer 32
Default
n/a
Object 6081
h
— Profile Velocity
The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for
both directions of motion. The profile velocity is given in steps per second..
Object Description
Index
6081
h
Name
Profile Velocity
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
rw
PDO Mapping
Possible
Range
Integer 32
Default
n/a