7.3.1.1 Statusword in Profile Position ModeThe Profile Position mode uses some bits of the Statusword for operation mode-specific purposes. Table 7.26 shows thestructure of the Statusword. Table 7.27 defines the values for bits 10, 12, and 13.15 14 13 12 11 10 9 0See Table 7.23 Following error Setpointacknowledge See Table 7.23 Target reached See Table 7.23MSB LSBTable 7.26 Statusword in Profile Position ModeBit Value Definition13 0 No following error.1 Following error.12 0 Previous setpoint already processed, waiting for new setpoint.1 Previous setpoint still in process, setpoint overwriting is accepted.10 0 Halt (bit 8 in Controlword) = 0: Target position not reached.Halt (bit 8 in Controlword) = 1: Axis decelerates.1 Halt (bit 8 in Controlword) = 0: Target position reached.Halt (bit 8 in Controlword) = 1: Velocity of axis is 0.Table 7.27 Definition of Bits 10, 12, and 13NOTICEBit 10: Refer to Target reached option code (see chapter 7.20.2 Parameter 50-42: Target Reached Option Code (0x2054)) toinfluence the behavior of this bit. Also refer to Illustration 2.17 in chapter 2.4.1 Profile Position Mode for the functionaldescription.Bit 13: Refer to chapter 2.7.3 Following Error Detection for more information about the following error detection.7.3.1.2 Statusword in Profile Velocity ModeThe Profile Velocity mode uses some bits of the Statusword for operation mode-specific purposes. Table 7.28 shows thestructure of the Statusword. Table 7.29 defines the values for bits 10 and 12.15 14 13 12 11 10 9 0See Table 7.23. Reserved (0) Speed See Table 7.23. Target reached See Table 7.23.MSB LSBTable 7.28 Statusword in Profile Velocity ModeBit Value Definition10 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 reached.Halt (bit 8 in Controlword) = 1: Velocity of axis is 0.12 0 Speed is not equal to 0.1 Speed is equal to 0.Table 7.29 Definition of Bits 10 and 12Servo Drive Parameter Descr... Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 2397 7
