ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 77)

Name Value Description
0 Does not assume target position. New set-point
1 Assumes target position.
0 Finish actual positioning and then start next positioning. Change set
immediately
1 Interrupt actual positioning and start next positioning.
0 Target position is an absolute value. abs\rel
1 Target position is a relative value.
0 Execute positioning. Halt
1 Stop axle with profile acceleration.
0 New set point is not buffered. New buffered
point
1 New set point is buffered.
Statusword of the profiled position mode:
Bit Function
0…9 Described in Device Control
10 Target reached
11 Described in Device Control
12 Set new point acknowledge
13 Following error
12…15 Described in Device Control
Name Value Description
0 Halt = 0: Target position not reached.
Halt = 1: Axle decelerates. Target reached
1 Halt = 0: Target position reached.
Halt = 1: Velocity of axle is 0.
0 Trajectory generator has not assumed the
positioning values (yet). Set new point
acknowledge
1 Trajectory generator has assumed the
positioning values.
0 Following error
1 Following error.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
71