LSIS XDL-L7NH Series, User Manual, Page: 79 / 348

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
After receiving 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
After receiving 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 a combination of the New setpoint bit (Controlword,
0x6040.4), the Change set immediately bit (Controlword, 0x6040.5), and the Change setpoint bit
(Controlword, 0x6040.9).
 Single Set Point Driving Procedure
(1) Specify the target position (0x607A).
(2) Set the New setpoint 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.