3.1.8.2.2.2.3.2 Statusword
The mode specific bits of the statusword can be used to monitor the performance of the operation. For further
information please refer to the section on Control Supervision.
Objects related to bits 10 and 12 of the statusword:
Velocity window 0x606D
Velocity window time 0x606E
velocity threshold 0x606F
velocity threshold time 0x6070
Internal limit active:
Max. motor speed 0x6080 limits Velocity demand value 0x606B and Profile velocity 0x6081.
Max torque 0x6072 limits Torque demand 0x6074.
Target reached: The bit is set if the actual velocity stays in the window of target velocity ± velocity window
for a duration of Velocity window time.
Speedbit:The speed bit is set to 1 when the actual velocity goes below the velocity threshold (meaning the
motor is in standstill).
The bit will be 0 when the actual velocity exceeds the velocity threshold of the speedbit for a duration of
“Velocity threshold time” (meaning the motor is rotating).
Note
If the velocity window is 0xFFFF, velocity window monitoring will be switched off and the target reached
bit will always be 0.
3.1.8.2.2.2.4 Parameters related to Profile velocity mode
Target velocity 0x60FF Profile acceleration 0x6083
Profile deceleration 0x6084
Quick stop deceleration 0x6085
Polarity 0x607E
Max motor speed 0x6080
Velocity window 0x606D
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