E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-24 HIWIN MIKROSYSTEM Corp.
Example of setting basic set-point
[1] The master sets 607Ah (target position), and then sets bit 4 of 6040h (controlword) from 0 to 1 (edge
trigger).
[2] The drive acknowledges the new set-point by setting bit 12 of 6041h (statusword) to 1. Then, the
drive starts to move toward target position from 607Ah (target position).
[3] The master sets bit 4 of 6040h (controlword) to 0 after bit 12 of 6041h (statusword) is set to 1.
[4] The drive sets bit 12 of 6041h (statusword) to 0 after bit 4 of 6040h (controlword) is set to 0.
[5] When the motor reachs the target position, the drive sets bit 10 of 6041h (statusword) to 1.
Figure 3.2.2.2
Note: The velocity of the motion is from 6081h (profile velocity), which is limited by 607Fh (max profile
velocity).
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