actual value.
All values are in rpm by default and can be converted to user defined velocity units if needed.
3.1.8.2.1.2.1 Operation Mode dependent Bits of the Statusword
This mode uses some bits of the statusword for mode specific purposes which are indicated in yellow. The
figure shows the structure of the statusword. For the general structure and usage, please refer to our
Application note on Status- and Controlword.
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.
Internal limit active:
Max. motor speed 0x6080 limits Target Velocity 0x60FF and Velocity Offset 0x60B1.
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.
Target velocity ignored: This bit is set if Target velocity 0x60FF is equal to Velocity demand value 0x606B. It
means that the user command is passed directly through as an input of the velocity PID controller.
However, if Target velocity is limited by Max. motor speed, the limited value will be used as an input of the
PID controller and the bit will be cleared.
Note
0 = Target velocity ignored
1 = Target velocity shall be used as input
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