User Manual

Commands Reference
252 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
TABLE 15-10. Definition of Bit 10
Bit Value Definition
10
0
Halt (bit 8 in control word) = 0: Speed or Position Target not reached
Halt (bit 8 in control word) = 1: Axis decelerates
1
Halt (bit 8 in control word) = 0: Speed or Position Target reached
Halt (bit 8 in control word) = 1: Velocity of axis is 0
Profile Position Mode
TABLE 15-14. Status Word Mapping in Profile Position Mode
15 14 13 12 11 10 9 0
see Table 8 Not Used
Set-Point
Acknowledge
see Table
8
Target Reached see Table 8
MSB LSB
In Profile Position Mode the operation specific bits are mapped in Table 15-14. Status
Word Mapping in Profile Position Mode with bits 10 and 12 user can acknowledge the sta-
tus of the controller as shown in Table 10 and Table 12. Bit 13 is always 0.
TABLE 15-15. Definition of Bit 12 in Profile Position Mode
Bit Value Definition
12
0 Previous set-point already processed, waiting for new set-point
1 Previous set-point still in process, set-point overwriting shall be accepted
Profile Velocity Mode
TABLE 15-16. Status Word Mapping in Profile Velocity Mode
15 14 13 12 11 10 9 0
see Table 12 Not Used Speed
see Table
12
Target
Reached
see Table 12
MSB LSB
In Profile Velocity Mode the operation specific bits are mapped in Table 11 with bits 10 and
12 user can acknowledge the status of the controller as shown in Table 10 and Table 14.
Bit 13 is always 0.
TABLE 15-17. Definition of Bit 12 in Profile Velocity Mode
Bit Value Definition
12
0 Speed is not equal 0
1 Speed is equal 0
Syntax Serial: ?SW [cc]