Applied Motion ST10-C-CE - Manual (Page 18)

18 920-0025 Rev K
3/5/2015
CANopen User Manual
Global Control Word and Status Word
Byte
#
Bit
#
Control Word Status Word
Homing Position Velocity Torque Q Homing Position Velocity Torque Q
1
15
Reserved
Reserved
14
13
Homing
Error
Following
Error
Reserved Reserved Reserved
12
Homing
Attained
Set Point
Ack
Speed Reserved Reserved
11 Internal Limit Active
10 Target Reached
9 Reserved
Change of
Set Point
Reserved Reserved Reserved Remote
8 Halt Reserved
2
7 Fault Reset Warning
6 Reserved Abs/Rel Reserved Reserved Reserved Switch On Disabled
5 Reserved
Change
Set Point
Immediately
Reserved Reserved Reserved Quick Stop
4
Homing
Operation
Start
New Set
Point
Reserved Reserved
Q
Program
Start
Voltage Enabled
3 Enable Operation Fault
2 Quick Stop Operation Enabled
1 Enable Voltage Switched On
0 Switch On Ready to Switch On
Figure 5: Global Control Word and Status Word