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The following tables show the statusword usage.

15	14	13	12	11	10	9-0
See 28868762 Statusword		Following Error	Set-point ackowledgeacknowledge	See 28868762 Statusword	Target reached	See 28868762 Statusword

Bit	Value	Definition
10	0	Halt (Bit 8 in controlword) = 0: Target position not reached Halt (Bit 8 in controlword) = 1: Axis decelerating
10	1	Halt (Bit 8 in controlword) = 0: Target position reached Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
12	0	Waiting for new setpoint
12	1	Set point has been processed.
13	0	No following error. The drive is able to follow the commanded trajectory
13	1	Following error. The drive cannot follow the commanded trajectory.

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Object	Name	Value	Unit	Description	PDO Mapped
0x6040	Controlword	-	-	See 28868762 for general usage.	Yes
0x6041	Statusword	-	-	See 28868762 for Statusword for general usage.	Yes
0x6060	Modes of operation	3	-	Sets the mode to Profile Velocity mode	Yes
0x60FF	Target speed	See 28868762	pulses/s	Sets the target speed	Yes
0x6083	Profile Acceleration	0-32767	Kpulses/s²	Profile Acceleration	No
0x6084	Profile Deceleration	0-32767	Kpulses/s²	Profile Deceleration	No

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Object	Name	Value	Unit	Description	PDO Mapped
0x6040	Controlword	-	-	See 28868762 for general usage.	Yes
0x6041	Statusword	-	-	See 28868762 for Statusword for general usage.	Yes
0x6060	Modes of operation	6	-	Sets the mode to Homing mode	Yes
0x607C	Home Offset	-3276700 to +3276700	encoder pulses (50 000 per motor revolution)	Once a home sensor or hardstop has been achieved the motor will move the distance of the offset. The final position will be set to 0. This value is written to an internal motor register which has a resolution of 100 pulses. As such the value written into 0x607C will be rounded to the nearest 100 internally.	No
0x6098	Homing Method	0 to -6	-	0: No home routine selected -1: Hardstop CW -2: Hardstop CCW -3: Input 2 sensor CW -4: Input 2 sensor CCW -5: Input 3 sensor CW -6: Input 3 sensor CCW See Homing Methods for additional information	No
0x6099:01	Homing Speed	1000 - 500000	pulses/s	The homing speed is written to an internal register which has a unit of 100 pulses/s. The value written into 0x6099 will be rounded to the closest 100.	No
0x609A	Homing Acceleration	1000-5000000	pulse/s²	The homing acceleration is written to an internal register which has a unit of 1000 pulses/s. The value written into 0x609A will be rounded to the closest 1000.	No
0x60F6:1B	Homing Torque	10-100	% rated torque	Set the torque during the home routine. When homing to a hardstop this value will indicate the limit at which the hardstop is reached When homing to a switch this value will limit the torque during the home routine.	No

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The following tables show the statusword usage.

15-14		13	12	11	10	9-0
See 28868762 Statusword		Homing Error	Homing attained	See 28868762 Statusword	Target reached	See 28868762 Statusword

Bit	Value	Definition
10	0	Homing procedure is in progress
10	1	The motor has reached its target position or is currently disabled via the controlword
12	0	Homing not attained. This value will by default start at 0. This value will be reset to 0 when a new home routine is started.
12	1	Homing attained This value will be set to 1 when a home has been achieved. I.e. a hardstop has been hit or a sensor has been triggered This value will be reset to 0 when a new home routine is started This value will be reset to 0 if there is a home routine error or the home routine is aborted before the motor reaches target position
13	0	No home routine error
13	1	Home routine error

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Object	Value	Unit	Description	PDO Mapped
0x6040	-	-	See 28868762	Yes
0x6041	-	-	See 28868762 Statusword	Yes
0x607A	-2³² to +2³¹	pulses	Target position	Yes
0x6064	-2³² to +2³¹	pulses	Position actual value	Yes
0x6060	8	-	CSP mode set	Yes

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Object	Value	Unit	Description	PDO Mapped
0x6040	-	-	See 28868762 Controlword	Yes
0x6041	-	-	See 28868762 Statusword	Yes
0x60FF	See 28868762 Peak Speeds	pulses/ms	Target velocity	Yes
0x606C	See 28868762 Peak Speeds	pulses/ms	Velocity actual value	Yes
0x6060	9	-	CSV mode set	Yes

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