E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-27
Example of buffering set-points
E1-series drive only supports 2 set-points maximum. The handling of the set-points is shown as follows.
[1] When there is no set-point in progress, a new set-point A is immediately effective.
[2] When there is a set-point in progress, the new set-point B and C are stored in the buffers.
[3] When all set-point buffers are all in use (bit 12 of 6041h is 1), the new set-point D is discarded.
[4] When all set-point buffers are all in use (bit 12 of 6041h is 1) and bit 5 of 6040h (controlword) is set
to 1, the new set-point E is immediately processed as a single set-point. All previous setpoints are
discarded.
[5] Bit 10 of 6041h (statusword) remains 0 until all set-points are processed.
Figure 3.2.2.5
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