SD710 Series Servo Drive User Manal Chapter 11 Communication
24
trigger
execution
6
Servo drive receives new
position command
Bit5 of 6040h is detected high
→
Immediately plan the next section of
position command value from the current speed
The pulse values that are not executed in the first position command
are accumulated in the second position command execution
7
Status word display
After the 2nd position command is executed, the status word bit10
positioning completion flag is set to 1
(2) Relative position command, not immediate update
Control word Bit4
New Set Point
Control word Bit5
Set Point Immediately
Control word Bit6
Absolute relative selection
Statusl word Bit12
Set Point Acknowledge
Status word Bit10
Target Reach
Position command value
New Position
Speed
T
a
b
c
d
e
f
g
h
S
1
S
2
Figure 11.12 Timing sequence diagram for
non-immediate update
mode of relative position command value
The timing sequence diagram shown in Figure 11.12 corresponds to the operational steps shown in the following table.
Steps
Item
Operations
1
Position command
assignment
Assign a value to 607Ah (given the target position).
2
Position command trigger
6040h.
Bit5=0 (position command not immediately updated).
Bit6=1 (selected as relative position).
Bit4=1 (rising edge triggered operation).
3
New position command
received
Bit4 of 6040h is detected as rising edge
→
planning position curve
→
Bit10 of 6041h = 0 (positioning not completed), Bit12 = 1.
