Drive User Guide
27
(4)
Master station sets the next target position (0x607A). It is an absolute coordinate and the
unit is count.
(5)
Master station sets the bit4 of ControlWord(0x6040) to 1 and initiates the movement of
target position.
(6)
Drive will set the bit12 of StatusWord(0x6041) to 1 and clear bit10 to 0. Inform master
station that the new target position has been received and starts to move the motor.
(7)
When master station reads the bit12 of StatusWord(0x6041) being set to 1, clear the bit4
of ControlWord to 0.
(8)
After motor moving to the target position, drive sets the bit10 of StatusWord(0x6041) to 1.
Inform the motor of master station that the positioning has been completed.
(9)
After master station confirming the positioning of motor, if the different velocity or
acceleration/deceleration is required to move the motor to the new position, repeat step
(2)~(7).
B.
Set of set-point moving mode:
During the process of moving the motor to the previous target position of set point, initiate the
movement of next target position of new set point. The operational sequence is shown as the figure
below.
The controller of master station sets the bit5 of ControlWord(0x6040) to 1. Select set of
set-point moving mode.
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