FAULHABER Motion Control Systems LM-Motors ... - MicroMo

4 Functional description4.1 Device controlThe bits of the statusword have the following meaning:Bit Function State of the device control state machineNot ready toswitch onSwitch ondisabled0 Ready to switch on 0 0 1 1 1 1 1 01 Switched on 0 0 0 1 1 1 1 02 Operation enabled 0 0 0 0 1 1 1 03 Fault 0 0 0 0 0 0 1 14 Voltage enabled X X X X X X X X5 Quick stop X X 1 1 1 0 X X6 Switch on disabled 0 1 0 0 0 0 0 07 Warning8 09 Remote10 Target reached11 Internal limit active12 Set-point acknowledge /speed/ homingattained13 Deviation error14 015 0Ready toswitch onSwitched onOperationenabledQuick stopactiveFault reactionactiveFaultMeaning of the other bits in the statusword:FunctionWarningRemoteTarget reachedSet-point acknowledgeHoming attainedSpeedDeviation errorDescriptionnot usednot used0: Target position or target velocity not yet reached1: Target position or target velocity reached.(Halt = 1: Drive has reached speed 0)0: New target position not yet adopted (profile position mode)1: New target position adopted0: Homing position not yet detected1: Homing position detected0: Speed not equal to 0 (profile velocity mode)1: Speed 00: No error1: ErrorBit 10 (target reached) is set if the drive has reached its target position in profile position mode orhas reached its target velocity in profile velocity mode. Specification of a new target value deletesthe bit.Bit 11 (internal limit active) indicates that a internal range limit has been reached.Bit 12 (Setpoint acknowledge / Speed) is set after receiving a new positioning command (controlwordwith new setpoint) and is reset when the new setpoint has been reset in the controlword (handshakefor positioning command). In Profile Velocity Mode the bit is set at speed 0 and is reset if speed is notequal to 0.NOTEIn the "Fault reaction active" state the drive is stopped with the deceleration ramp set in object0x6084 and then in "Fault" state it attempts to keep the velocity at zero.39