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Table 4-22: Status word of Bit 15.
Bit
Value Description
15
1
Safety Function was activated and the motor is disabled.
Table 4-23: Status word of Bit 8.
Bit
Value Description
8
1
Push Motion is activated.
Table 4-24: Status word of Bit 14.
Bit
Value Description
14
1
A force detected.
4.5.4 Position movement method
4.5.4.1
General movement
Movement command to new target position can be requested by changing Control word
(6040h) of New Set-Point (Bit 4) from RESET to SET. Once controller receives this request,
Set-Point Acknowledge of Status word (Bit 12) is going to be SET and position movement
command executed. Target position refers to Target position (607Ah) and Position value can
be absolute coordinates or relative coordinates by Control word of Relative (Bit 6).
Figure 4-4: New Set-Point.
Once the target position is reached, Status word of Target Reached (Bit 10) goes to SET. If it
does not reach the target position due to error or status as below, Target Reached (Bit 10)
cannot be changed as SET.
• Fault status due to Error generation.
• Out of Operation Enabled Status.
