3.1.8.2.1.3.1 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 Velocity demand value 0x606B and Profile velocity 0x6081.
Software position limit 0x607D limits Position demand value 0x6062.
Target reached: the bit is set to 1 if the actual position stays in the window of the target position ± position
window for a duration of position window time.
Target position ignored: This bit is set if Target position (0x607a) is equal to Position demand internal
value (0x60FC). It means that the user command is passed directly through as an input of the position PID
controller.
However, if the Target position is limited by Software position limits, the limited value will be used as an
input of the PID controller and the bit will be cleared.
Note
0 = Target position ignored
1 = Target position shall be used as input
3.1.8.2.1.3.2 Parameters related to Cyclic Synchronous Position
Control
0x2010 Torque Controller Values Kp, Ki and Kd for Torque Controller
0x2012 Position Controller Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position
and Velocity)
0x607A Target position Use this object to directly select a Target position
0x60B1 Velocity offset Sets a feed-forward velocity as input to the velocity controller.
0x60B2 Torque offset Sets a feed-forward torque as input to the velocity controller.
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