User Manual of iSV2-CAN Servo
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66
2
：
Write 6 to the control word 6040h
3
：
Write 7 to the control word 6040h
4
：
Write F to the control word 6040h
6.5 Profile position mode
When using network command source, the validation process for a new target position is the following:
⚫
The requested target position is sent to the motion controller.
⚫
After the new target position has been delivered to the drive, the motion controller expects a
controlword with a rising edge of the "
New set point
" bit.
⚫
Upon reception of the controlword with the rising edge of the "
New set point
" bit, the motion
controller issues a statusword with a "Set point acknowledge" bit rising edge.
⚫
To signal its ability to accept new set points, the motion controller issues a statusword with the "Set
point acknowledge" bit cleared.
If the system was not processing any position, the new position is processed and the motion starts.
Nevertheless, if there was a previous set point being processed. the behavior of the system depends on the
"
Change set immediately
" bit in the controlword:
⚫
If the "Change set immediately" bit of the controlword is 1, the target point is the new set point, and
motion is started to reach this new set point.
⚫
If the "Change set immediately" bit of the controlword is 0, the new set point is added to a buffer of
set points, and the motion to the previous set being processed is not altered.
6.5.1 Controlword in profile position mode
The profile position mode uses some bits of the controlword and the statusword for mode specific purposes.
The binary representation of the controlword(6040) in profile position mode is as follows:
Bit
15~9
8
7
6
5
4
3
2
1
0
-
Halt
Fault
reset
Abs / rel
Change set
immediately
New
set-point
Enable
operation
Quick
stop
Enable
voltage
Switch
on
If no positioning is in progress, the rising edge of bit 4 will start the positioning of the axis. In case a
positioning is in progress, the definitions given in the following table shall be used.
Change set
New
Description
