Delta EtherCAT Programming Manual page 156

EtherCAT Programming Guide
Operation Mode Specific represents by bit 12 ~ 13 are as follows. See the table below:
Profile Position
Bit
(PP) mode
New position
12 command
available
Position following
13
overrange
March, 2017
Bit
3 Fault (Servo error occurs; motor disabled)
4 Voltage Enabled (Servo on)
5
6
7
8
9
10 Target Reached (Target-reached signal)
Internal Limit Active (internal software limit; not
11
12 Operation Mode Specific (Operation mode)
13 Operation Mode Specific (Operation mode)
14
15
Homing mode
Executing homing
Homing error
occurs
Table 8.3.3 Definition of Operation Mode Specific
General Operation of Motion Axis
Name
Quick Stop
Switch On Disabled
Warning
N/A
Remote
supported)
N/A
N/A
Position
Profile Velocity
Interpolation
(PV) mode
mode
Executing
position Velocity is 0
interpolation
N/A N/A
8
Profile Torque
(PT) mode
N/A
N/A
8-15