7.3.1.9 Statusword in Cyclic Synchronous Velocity Mode
Table 7.41 shows the structure of the Statusword.
15 14 13 12 11 10 9 0
See Table 7.23 Reserved
Servo drive follows
the commanded value
See Table 7.23
Status
toggle
See Table 7.23
MSB LSB
Table 7.41 Statusword in Cyclic Synchronous Velocity Mode
NOTICE
Bit 10: Used as status toggle information to indicate if the device provides updated input data. The bit is toggled with
every update of the input process data.
Bit 12: Is 0 if the servo drive does not follow the target value because of local reasons. Bit 12 is set if the servo drive is
in state Operation enabled and follows the target and setpoint values of the control device. In all other cases, it is 0.
7.4 Factor Group Objects
7.4.1 Parameters 55-00 and 55-01: Position Encoder Resolution (0x608F)
This object indicates the congured encoder increments and number of motor revolutions. The position encoder resolution
is calculated by the following formula:
position encoder resolution =
encoder increments
motor revolutions
All values are dimensionless.
Attribute Value
Index 0x608F
Name Position encoder resolution
Object code Array
Data type UNSIGNED32
Sub-index 0x00
Description Value of highest sub-index
Access Const
PDO mapping No
Default value 0x02
Sub-index 0x01
LCP parameter number 55-00
Description Encoder increments
Access Read only
PDO mapping Optional
Value range UNSIGNED32
Default value
2
20
Sub-index 0x02
LCP parameter number 55-01
Description Motor revolutions
Access Read only
PDO mapping Optional
Servo Drive Parameter Descr... Programming Guide
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