E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-26 HIWIN MIKROSYSTEM Corp.
Example of setting set of set-points (change target during motion)
[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 (controlword) from 0 to 1 (edge trigger).
[2] The drive acknowledges the new set-point by setting bit 12 of 6041h (statusword) to 1. The drive
buffers 607Ah (target position) as a new target position and continues the ongoing 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 starts to move to the new target position after the ongoing set-point is completed. Then, the
buffer becomes empty, and bit 12 of 6041h (statusword) is set to 0.
Figure 3.2.2.4
Note: If the new target position is in the opposite direction, the motor will stop at the previous target
position, and a reverse operation will be performed.
To Next Page
Loading...
