AXIS#.CANOPEN.TARPOSMODE

Description

AXIS#.CANOPEN.TARPOSMODE allows configuring the behavior of the DS402 statusword bit 10 (target reached) in Profile Position Mode.

Value Description
0 Statusword bit 10 will be set when bit 11 of AXIS#.MOTIONSTAT is set (motion task has finished its “trajectory” and the actual position is within the motion task target position window [AXIS#.SETTLE.P])
1 Statusword bit 10 will be set when bit 15 of AXIS#.MOTIONSTAT is set (actual position is within the motion task target position window [AXIS#.SETTLE.P])

Versions

Action Version Notes
Implemented 02-05-04-000

 

General Information

Type

Read/Write

Units

N/A

Range

0 to 1

Default Value

0

Data Type

Integer

Stored in Non-Volatile Memory

Yes

Variants Supported

Fieldbus variants: AKD2G-SPE, AKD2G-SPC

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.CANOPEN.TARPOSMODE

5003h

09h

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.TARPOSMODE

5103h

09h

Unsigned8

-

-

Read/Write

No