ElmoMC CANopen DSP 402 Implementation Guide User Manual
Page 101
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Controlword of the profiled velocity mode:
Bit Function
0…3
Described in Device Control
4… Reserved
7
Described in Device Control
8 Halt
9…15
Described in Device Control
14..15
Described in Device Control
Name Value
Description
0
Execute the motion.
Halt
1 Stop
axle.
Statusword of the profiled velocity mode:
Bit Function
0…9
Described in Device Control
10 Target
reached
11
Described in Device Control
12 Speed
13
Maximum slippage (not implemented)
14…15
Described in Device Control
Name Value
Description
0
Halt = 0: Target velocity not (yet) reached.
Halt = 1: Axle decelerates.
Target reached
1
Halt = 0: Target velocity reached.
Halt = 1: Velocity of axle is 0.
0
Speed not equal to 0.
Set new point
acknowledge
1
Speed equals 0.
0
Max slippage
error
1
Not implemented.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
95