32
2 CONTROL MODE
2.1 Control mode [G]
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary or are common depending on the control mode.
The bits that vary depending on the control mode are listed in the following tables.
■Controlword OMS Bit (pp)
■Statusword OMS Bit (pp)
Bit Symbol Description
4 New set-point Obtains a new positioning servo parameter at bit rising.
5 Change set immediately 0: Set of set-points
1: Single set-point (The positioning servo parameter update is immediately accepted.)
6 abs/rel 0: Absolute position command
1: Relative position command
8 HALT 0: Drives the servo motor.
1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].
9 Change on set-point Enabled only in Set of set-points (when the bit 5 of [Obj. 6040h: 00h] is "0").
0: Shifts to the next positioning after completing the current positioning.
1: Shifts to the next positioning after performing positioning up to the current set-point with the setting of [profile
velocity (Obj. 6081h)].
Page 33 Set of set-points
Bit Symbol Description
10 Target reached 0: Halt (Bit 8) = 0: Target position not reached.
0: Halt (Bit 8) = 1: Axis decelerates.
1: Halt (Bit 8) = 0: Target position reached.
1: Halt (Bit 8) = 1: Velocity of axis is 0.
Judgment condition of Target position reached:
When the time set in [Position window time (Obj. 6068h)] elapses in a state where the difference between the
values in [Position actual value (Obj. 6064h)] and [Target position (Obj. 607Ah)] is equal to or below the value set
in [Position window (Obj. 6067h)], the state changes to "Target position reached".
12 Set-point acknowledge 0: Positioning completed (waiting for next command)
1: Positioning in progress (When Single set-point (When bit 5 of [Obj. 6040h: 00h] is "1"), setpoint can be
overwritten.)
13 Following error 0: No following error
1: Following error
To Next Page
Loading...
