Bit
Value
Definition
10
0
Target position not reached
1
Target position reached
12
0
Previous setpoint already processed
1
Previous setpoint still in process, setpoint can be overwritten
13
0
No following error
1
Following error
Table 5-4 Statusword bits 10, 12, 13 in pp mode
5.3
Profile velocity mode (pv)
5.3.1 Overview
When the drive is in pv mode, the position control loop is closed on the drive side. The control
device can manage the positioning by acting on the objects shown in Figure 5-5 below.
Figure 5-5 Profile velocity mode
The profile velocity mode doesn’t have handshake mechanism (contrary to the profile position
mode), every time a parameter is changed, the new value is updated immediately.
HT7 Ethercat User Guide
8
Содержание EtherCAT HT7
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