Xinje DF3E Series

75
Bit4-6 (operation mode specific):
Bit
Name
Value
Definition
4
new set-point
0 -> 1
Trigger the positioning action start and setting value
update.
Get a new position decision task (607Ah (Target
position), 6081h (Profile velocity)
5
change set immediately
0
Complete the currently running positioning action.
1
Interrupt the current positioning action and start the
downward positioning action immediately
6
absolute/ relative
0
607Ah (Target position) is processed as absolute
position.
1
607Ah (Target position) is processed as relative
position.
Please do not change the acceleration and deceleration (*) during motor operation.
If you change the acceleration and deceleration, please change bit4 (new set point) from 0 - > 1 after the motor
stops.
6083h (Profile acceleration)
6084h (Profile deceleration)
60C5h (Max acceleration)
60C6h (Max deceleration)
3. Status word (6041h) <PP control mode function>
Index
Sub-
Index
Name/Description
Range
Date
Type
Access
PDO
Op-
mode
6041h
00h
Statusword
0~65535
U16
ro
TxPDO
All
Indicates the servo driver status.
Bit information
15
14
13
12
11
10
9
8
r
oms
ila
oms
rm
r
set- point
acknowledge
Target
Reached
7
6
5
4
3
2
1
0
w
sod
qs
ve
f
oe
so
rsto
r = reserved (Not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit12, 10 (operation mode specific):
Bit
Name
Value
Definition
10
target reached
0
halt=0 (normal): positioning not completed
halt=1 (stop as halt): axis is decelerating
1
halt=0 (normal): positioning completed
halt=1 (stop as halt): axis stop (axis speed is 0)
12
set-point
acknowledge
0
new-setpoint is 0 and the buffer is empty after executing the
action of the current target position
1
The new location task data is put into the buffer. The buffer
is not empty