E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-25
Example of setting single set-point
When bit 5 of 6040h (controlword) is 1, the new set-point is immediately validated by bit 4 of 6040h
(controlword). Thus, the set-point in progress will be interrupted.
[1] After bit 12 of 6041h (statusword) is set to 0, the master changes the value of 607Ah (target position)
and set bit 4 of 6040h 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 the new 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.
Figure 3.2.2.3
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