YASKAWA SGD7S-xxxDA0 series Product Manual page 481

15.6 Device Control
 Details on Bits 10, 12, and 13
• Bits 10, 12, and 13: Profile Position Mode
Bit
10
12
13
• Bits 10, 12, and 13: Homing Mode
Bit 13
Homing
error
0
0
0
0
1
1
• Bits 10, 12, and 13: Cyclic Synchronous Position, Velocity, or Torque Mode
Bit
10
12
13
• Bits 10, 12, and 13: Interpolated Position Mode
Bit
10
12
13
15-24
Meaning Value
0
Target reached
1
0
Set-point
acknowledge
1
0
Following error
1
Bit 12 Bit 10
Homing Target
attained reached
0 0
0 1
1 0
1 1
0 0
0 1
State Value
0
Target reached
1
0
Target value
ignored
1
0
Following error
1
State Value
0
Target reached
1
0
Ip mode
active
1
−
0
Halt (bit 8 in controlword) = 0: The target position has not been
Halt (bit 8 in controlword) = 1: The axis is decelerating.
Halt (bit 8 in controlword) = 0: The target position was reached.
Halt (bit 8 in controlword) = 1: The axis is stopped.
Processing of previous set point (reference) was completed and Servo
Drive is waiting for a new set point.
Processing the previous set point is still in process or a set point was
acknowledged.
No following error has occurred.
A following error occurred.
Homing is in progress.
Homing was interrupted or has not yet started.
Home has been defined, but the operation is still in progress.
Homing was completed normally.
A homing error occurred and the speed is not 0.
A homing error occurred and the speed is 0.
The target (position, speed, or torque) has not been reached.
The target (position, speed, or torque) was reached.
The target value (position, speed, or torque) was disabled.
Target value (position, speed, or torque) was enabled.
There is no following error (always 0 in Cyclic Velocity or Torque
Mode).
A following error occurred.
Halt (bit 8 in controlword) = 0: The target position has not been
Halt (bit 8 in controlword) = 1: The axis is decelerating.
Halt (bit 8 in controlword) = 0: The target position was reached.
Halt (bit 8 in controlword) = 1: The axis is stopped.
Interpolation is disabled.
Interpolation is enabled.
Reserved.
Description
reached.
Description
Description
Description
reached.