Real-Time Measurement and Control

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AKD status word

Hi, this is my first time in the forum. I hope this is right!

I am trying to create a positioning system consisting of an Ic3120 and an AKD-P-00306-NBCC servo. 

Everything seems to work. Through the xml file I can configure and read pdOs. When the axis is disabled, by rotating the motor, I can read the current value through the "Inputs-Position actual internal value" variable. I can switch from Configuration to Active Mode. But when I go to read the status word the bit 0 (Ready to switch on) is set to zero and the bit 6 (Switch on disabled) to one.

Can anyone help me!!!!

Thank you

 

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