Xinje DF3E Series, Руководство пользователя, Страница: 83 / 189

75
Bit4-6 (operation mode specific):
Bit Name Value Definition
4 new set-point 0 -> 1 Trigger the positioning action start and setting value
update.
Get a new position decision task (607Ah (Target
position), 6081h (Profile velocity)
5 change set immediately 0 Complete the currently running positioning action.
1 Interrupt the current positioning action and start the
downward positioning action immediately
6 absolute/ relative 0 607Ah (Target position) is processed as absolute
position.
1 607Ah (Target position) is processed as relative
position.
Please do not change the acceleration and deceleration (*) during motor operation.
If you change the acceleration and deceleration, please change bit4 (new set point) from 0 - > 1 after the motor
stops.
6083h (Profile acceleration)
6084h (Profile deceleration)
60C5h (Max acceleration)
60C6h (Max deceleration)
3. Status word (6041h) <PP control mode function>
Index Sub-
Index
Name/Description Range Date
Type
Access PDO Op-
mode
6041
h 00h Statusword 0~65535 U16 ro TxPDO All
Indicates the servo driver status.
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
set- point
acknowledge
Target
Reached
7 6 5 4 3 2 1 0
w sod qs ve f oe so rsto
r = reserved (Not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit12, 10 (operation mode specific):
Bit Name Value Definition
10 target reached 0 halt=0 (normal): positioning not completed
halt=1 (stop as halt): axis is decelerating
1 halt=0 (normal): positioning completed
halt=1 (stop as halt): axis stop (axis speed is 0)
12 set-point
acknowledge 0 new-setpoint is 0 and the buffer is empty after executing the
action of the current target position
1 The new location task data is put into the buffer. The buffer
is not empty