Applied Motion ST10-C-CE - Manual (Page 97)

97 920-0025 Rev K
3/5/2015
CANopen User Manual
Control Word of Profile Velocity Mode
Bit # Name Value Description
8 Halt
0 The motion shall be executed or continued
1 Axis shall be stopped
Status Word of Profile Velocity Mode
Bit # Name Value Description
10
Target
Reached
0
Halt (Bit 8 in controlword) = 0: Target velocity not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Target velocity reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
12 Speed
0 Speed is not equal to 0
1 Speed is equal 0
Control Word of Homing Mode
Bit # Name Value Description
4
Homing
Operation
Start
0 Do not start homing procedure
1 Start or continue homing procedure
8 Halt
0 Enable bit 4
1 Stop axis
Status Word of Homing Mode
Bit # Name Value Description
10
Target
Reached
0
Halt (Bit 8 in controlword) = 0: Home position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
1
Halt (Bit 8 in controlword) = 0: Home position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
12
Homing
Attained
0 Homing Mode not yet complete
1 Homing Mode carried out successfully
13 Homing Error
0 No homing error
1 Homing error