Applied Motion ST10-C-CE - Manual (Page 96)

96 920-0025 Rev K
3/5/2015
CANopen User Manual
Appendix K - Operation Mode Specific Control and Status Word
Control Word of Profile Position Mode
Bit # Name Value Description
4
New Set
Point
0
Toggle this bit from 0->1 to clock in a new set point
1
5
Change
Set Point
Immediately
0
Positioning shall be completed (target reached) before the next one gets
started
1 Next positioning shall be started immediately
6 Abs/Rel
0 Target position shall be an absolute value
1 Target position shall be a relative value
8 Halt
0 Positioning shall be executed or continued
1 Axis shall be stopped
9
Change of
Set Point
0
The previous set-point will be completed and the motor will come to rest
before a new set point is processed
1
The motor will continue at the speed commanded by the previous set
point until it has reached the position commanded by the previous set
point, then transition to the speed of the new set point
Status Word of Profile Position Mode
Bit # Name Value Description
10
Target
Reached
0
Halt (Bit 8 in controlword) = 0: Target position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Target position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
12 Set Point Ack
0 Previous set point already processed, waiting for new set point
1 Previous set point still in process, set point overwriting shall be accepted
13
Following
Error
0 No following error
1 Following error