LS ELECTRIC L7NHF Series, User Manual

Page: 79 / 409

4. CiA402 Drive Profile
4-11
You can use the following three position commands in Profile Position Mode:

Single set point
After reaching the target position, the drive sends a completion signal to the upper level controller
and receives a new command.

Change immediately
When it receives a new position command while driving to the target position, it drives to the new
position regardless of the existing target position.

Set of Set point
When it receives a new position command while driving to the target position, it subsequently drives
to the new target position after driving to the existing target position.
The three methods mentioned above can be set by the combination of the New set point bit
(Controlword, 0x6040.4), the Change set immediately bit (Controlword, 0x6040.5), and the Change set
point bit (Controlword, 0x6040.9).

Single Set Point Driving Procedure
Velocity
New
Set-point
Change
immediately
t
t
t
t
Change of
Set-point
(1) Specify the target position (0x607A).
(2) Set the New set point bit to 1 and the Change set immediately bit to 0 to request the position
operation.
(3) The drive notifies the operator of its arrival at the target position with the Target reached bit
(Statusword, 0x6041.10). The drive can suspend where it is or perform a new position operation if
it receives the New set point bit.