BONFIGLIOLI Vectron ACTIVE CUBE Series Manual page 143

Control word
Change on
set-point
Bit 9
0
X
1
Name
Abs/rel
Bit 6
Halt
Bit 8
Status word
Name
Target reached
Bit 10
Set-point
acknowledge
Bit 12
Following error
Bit 13
07/13
Change set- New set-
point imme- point
diately
Bit 5 Bit 4
0  1
0
1 0  1
0 0  1
Value
Target position
0
Target position
1
0 Execute positioning
1 Stop axle with
profile acceleration
tion enabled"
Value
0 Halt (Control word bit 8) = 0:
Halt (Control word bit 8)= 1: axle decelerates
1 Halt (Control word bit 8)= 0:
Halt (Control word bit 8)= 1: velocity of axle is 0
0 Trajectory generator has not assumed the positioning value
(yet)
1 Trajectory generator has assumed the positioning value
0 No following error
1 Following error
CM-EtherCAT
Description
Positioning shall be completed (tar-
get reached) before the next one is
started
Next position shall be started imme-
diately
Positioning with the current profile
velocity up to the current set-point
shall be proceeded and then the next
positioning shall be applied
Description
is an absolute value
is a relative value
profile deceleration
(if not supported with
), the inverter remains in state "opera-
Description
target position
target position
not reached
reached
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