Halt: When the bit is activated, the drive will use the profile deceleration to put the motor’s shaft into a
standstill position.
Note
The Halt bit is used to toggle the motion. When it is set to 1, the profile deceleration ramp will be used
to reach 0 velocity. If it is set to 0 again, the demanded operation will be continued and the drive will
accelerate using the profile acceleration ramp until the desired position has been reached.
3.1.8.2.2.1.5.2 Statusword
The mode specific bits of the statusword can be used to monitor the performance of the operation. For
further information please refer to the section on
.
Objects related to bits 12 and 13 of the statusword:
Following error timeout 0x6066
15-14
15-14
13
13
12
12
11
11
10
10
9-8
9-8
7-0
7-0
N/A
Following error
Set-point acknowledge
Internal limit active
Target reached
N/A
basic
Internal limit active:
and
.
Software position limit 0x607D
.
.
Target reached: the bit is set to 1 if the actual position stays in the window of the target position ±
position window for a duration of position window time.
Set-point acknowledge: Is set to 1 when the drive acknowledges the rising edge on the new-set point bit of
the controlword.
Following error: the bit is set to 1 If the actual position stays in the window of position demand value ±
following error window for a duration of following error time out.
For more details check the object
Following error actual value 0x60F4
.
Note
If the position window is 0xFFFFFFFF position window monitoring will be switched off and the target
reached bit will always be 0.
Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01
640/1031
