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4.5.4.3
Target position override
In case of using Control word of Change Set Immediately (Bit 5) under SET status during
position movement command, able to cancel currently operating position movement
command and immediately move to a new target position.
Figure 4-6: Change set immediately.
1. If the new target position is sufficiently ahead of the previous target position, it will move
to a new target position passing by the previous target position.
2. If the new target position is behind of previous target position, it will decelerate according
to the correspondent position and if needed, it can stop and move in the opposite direction.
If there is no previous position movement command or already completed, the command
under Change Set Immediately (Bit 5) under SET status is the same as the general position
movement command.
4.5.4.4
Push Motion (Stop Mode)
The Push Motion (Stop Mode) of STDF EC moves the motor to the Target Position while
maintaining the specified torque, and stops and finishes Push Motion when work is detected.
The motor torque during the Push Motion can be set through the Push ratio of Object
201Ah: Push Mode. Pull back distance of Object 201Ah: Push Mode allows to set the distance
to pull back the motor when the Push Motion is finished.
To do Push Motion (Stop Mode) to the new Target Position, Set Push Mode (Bit 12) and Reset
Non-stop Push (Bit 13) before changing New Set-Point (Bit 4) of Control word from RESET to
SET. Once the controller receives this request, Set-Point Acknowledge (Bit 12) and Push State
(Bit 8) of Status word become SET and the Push Motion is executed. Target position refers
to the Target position (607Ah) and the Position value can be absolute coordinates or relative
coordinates by Control word of Relative (Bit 6).
In the Push Motion (Stop Mode), the Push Motion is finished when work is detected or the
target position is reached.
