CANopen DSP 402 Implementation Guide
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 |
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Halt | 0 |
| Execute the motion. |
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| 1 |
| Stop axle. |
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Statusword of the profiled velocity mode: | ||||||
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Bit | Function |
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0…9 | Described in Device Control |
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10 | Target reached |
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11 | Described in Device Control |
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12 | Speed |
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13 | Maximum slippage (not implemented) |
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14…15 | Described in Device Control |
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Name |
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| Value |
| Description | |
Target reached |
| 0 |
| Halt = 0: Target velocity not (yet) reached. | ||
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| Halt = 1: Axle decelerates. | |
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| 1 |
| Halt = 0: Target velocity reached. | |
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| Halt = 1: Velocity of axle is 0. | |
Set new point |
| 0 |
| Speed not equal to 0. | ||
acknowledge |
| 1 |
| Speed equals 0. | ||
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Max slippage |
| 0 |
| Not implemented. | ||
error |
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| 1 |
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