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In PP mode, the definition of the control object 0x6040 (Control Word) is as follows:
1. Bit4 = New Set-point, the function is to inform the drive that it needs to receive a new command.
2. Bit8 = Halt, the function is to request the motor to stop running.
Control Word (6041h) bit Name Value Description
10 Target reached
0 Target position not reached
1 Target position has reached
12
Set-point
acknowledge
0 Current travel not completed
1 Current travel has completed
13 following error
0 Position command no following error
1 Position command following error
Under PP mode, the definition of the status object 0x6041 (Status Word) is as follows
Bit10 = Target reached, under Halt status, when the speed is 0, this bit is 1.
Description on the command clearing function of PP mode
The command clearing process of PP mode can be explained using the 5 points ABCDE in the figure
above.
A point: Controller issues the Halt instruction, and the motor starts to stop.
B point: When the motor is static, the driver will set the 10th bit of the status object to 1 (Target
point
B point
C point
D point
E point
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