Lust ServoOne - Functional Description; Mode-Specific Bits in the Control Word; Mode-Specific Bits in the Status Word

User Manual CANopen/EtherCAT
58
9.4.1 Mode-specific bits in the control word
Bit 4 - New setpoint
Bit 5 - Change set immediately
Bit 6 - abs/rel
Bit 8 - Stop
Bit Name Value Description
4 New setpoint
0 Does not assume target position
1 Assume target position
5
Change set
immediately
0
Finish the current positioning and then start the next
positioning
1
Interrupt the actual positioning and start the next
positioning
6 abs/rel
0 Target position is an absolute value
1 Target position is a relative value
8 Stop
0 Execute positioning
1
Stop axle with profile deceleration (if not supported
with profile acceleration)
Table Profile position mode bits of the control word
9.4.2 Mode-specific bits in the status word
Bit 10 - Target reached
Bit 12 - Set-point acknowledge
Bit 13 - Following error
Bit 14 - ROT_0
Bit Name Value Description
10
Target
reached
0
Stop = 0: Target position not reached
Stop = 1: Axle decelerates
1
Stop = 0: Target position reached
Stop = 1: Velocity of axle is 0
12
Setpoint
acknowledge
0
Trajectory generator has not assumed
the positioning values (yet)
1
Trajectory generator has assumed the positioning
values
13
Following error
0 No following error
1 Following error
14
ROT_0 1
Axle at standstill speed is much lower
than parameter 745 MON_REFWINDOW
Table Profile Position Mode bits of the status word
9.4.3 Functional description
In this OPERATION MODE two different options for target position input are supported.
SET OF SETPOINTS:
When the target position is reached, the drive directly approaches the next target
position; the axle is not stopped when the first target position is reached.