Control And Status Bits; Object 607Ah - Target Position - WEG SCA06 User Manual

8.4.1

Control and Status Bits

The profile mode position uses some bits of the ControlWord and StatusWord objects to control and monitor its
operation.
For the ControlWorld object (6040h) the following bits are used:
Bit 4 – New set-point.
Bit 5 – Change set immediately.
Bit 6 – absolute/relative.
Bit 8 – Halt.
Bit 9 – Change on set-point.
Table 8.8 and table 8.9 contain the definition of the control bits.
Bit 9 Bit 5
0 0
X 1
1 0
Bit Value
0
6
1
0
8
1
For the StatusWord object (6041h), the following bits are used:
Bit 10 – Target reached.
Bit 12 – Set-point acknowledge.
Bit 13 – Following error.
Table 8.10 contains the definition of the status bits.
Bit Value
0
10
1
0
12
1
0
13
1
8.4.2 Object 607Ah – Target Position
It allows programming the position reference for the SCA06 servo drive in positioning mode. The 16 most relevant
bits inform the number of revolutions and the 16 bits least relevant ones inform the fraction of revolution. The scale
used in this object is 65536 for number of revolutions and 65536 increments for one revolution of the shaft. The value
of this object must be interpreted as absolute or relative, according to the status of Bit 6 of the ControlWord object
(6040h).
Table 8.8: Positioning Mode – definition of the bits 4, 5 and 9
Bit 4
0 → 1
Position must be completed before the next one starts.
0 → 1
Next position must start immediately.
0 → 1
Option not implemented on the SCA06.
Table 8.9: Positioning Mode – definition of bits 6 and 8
Position reference must be an absolute value.
Position reference must be a relative value.
Positioning must be executed or continued.
Shaft must be stopped according to object 605Dh.
Table 8.10: Positioning Mode – definition of bits 10, 12 and 13
Position reference not reached.
Position reference reached.
Previous position reference already processed, waiting for new position reference.
Previous position reference in process, replacement of position reference will be accepted.
No Following error.
Following error.
Definition
Definition
Definition
CiA 402 Drive Profile
SCA06 | 34