SMC Networks LECSN-T Series - Page 539

18 - 87
18．EtherCAT COMMUNICATION
(4) pt mode operation sequence
(a) Automatic individual positioning operation
While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New
set-point)" starts the automatic positioning operation.
The following shows a timing chart.
Reverse
rotation
0 r/min
Forward
rotation
Statusword bit 12
(Set-point acknowledge)
Statusword bit 10
(Target reached)
ON
OFF
Controlw ord bit 4
(New set-point)
Target point table
Servo motor speed
ON
OFF
INP/S_INP
(In-position)
ON
OFF
Status DO 5 bit 5
(S_CPO (Rough match))
ON
OFF
ON
OFF
Status DO 5 bit 6
(S_MEND (Travel completion))
ON
OFF
Point actual value
M code actual value
Point demand value
Point table
No. 1
Point table
No. 2
1 2
1
1
2
M code of point table No. 1
2
M code of point table
No. 2
(Note)
No
te.
Switching on "Controlword bit 4 (New set-point)" is invalid while the servo motor is rotating.