Read-Out Of The Motor Controller Status - Festo CiA 402 Manual

5 Device Control
controlword
Bit Function
8 halt
Tab. 5.5 controlword bit 4 ... 8
5.1.4

Read-out of the motor controller status

Just as various status transitions can be triggered via the combination of several bits of the control-
word, the status of the motor controller can be read out via the combination of various bits of the
statusword.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Description
In the Profile Position Mode:
If the bit is set, the ongoing positioning is
interrupted. Braking is with the
profile_deceleration. After the process is ended,
the bit target_reached is set in the statusword.
Deletion of the bit has no effect.
In the Profile Velocity Mode:
If the bit is set, the speed is reduced to 0. Braking
is with the profile_deceleration. Deletion of the bit
causes the motor controller to accelerate again.
In the Profile Torque Mode:
If the bit is set, the torque is reduced to 0. This
occurs with the torque_slope. Deletion of the bit
causes the motor controller to accelerate again.
In the Homing Mode:
If the bit is set, the ongoing reference travel is
interrupted. Deletion of the bit has no effect.
97