![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799204.webp)
6 Basic Control Functions
6-14
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-4-3
Controlword (6040 hex) in Profile Position Mode
Bit
Name
Description
4
New set-point
Starts positioning at the rising edge, from 0 to 1, of the signal.
In this timing, the Target position (607A hex) and Profile velocity
(6081 hex) values are obtained.
5
Change set immediately
Always set to 1 (Change set immediately).
If set to 0, positioning does not occur due to a Command warning.
6
abs/rel
Always set to 0 (abs).
If set to 1 (rel), positioning does not occur due to a Command
warning.
8
Halt
When set to 0, positioning starts or continues.
When set to 1, positioning stops according to the Halt option code
(605D hex) setting.
9
Change on Set-point
Unused for G5-series Servo Drives.
6-4-4
Statusword (6041 hex) in Profile Position Mode
Bit
Name
Value
Description
10
Target reached
0
Halt bit is 0:Positioning is not completed.
Halt bit is 1:The axis is decelerating.
1
Halt bit is 0:Positioning is completed.
Halt bit is 1:The axis speed is
“
0.
”
12
Set-point acknowledge
0
Waiting for a new Target position.
1
Ready to accept updates (overwriting) of the Target position.
13
Following error
0
No Following error occurred.
1
A Following error occurred.