14.3 Position Control Modes
14.3.1 Profile Position Mode
14-7
14
CiA402 Drive Pr
ofile
In the Profile Position Mode, the following two methods can be used to start positioning.
Single Set Point (When Change Set Immediately Bit in
Controlword
Is 1)
When a new command is input to the New Set Point bit (bit 4) in
controlword
during position-
ing, positioning for the new command is started immediately.
Set of Set Points (When Change Set Immediately Bit in
Controlword
Is 0)
When a new command is input in the New Set Point bit (bit 4) in
controlword
during position-
ing, positioning for the new command is started as soon as the current positioning operation is
completed. The dotted line in the following figure shows the actual speed if the Change of Set
Point bit (bit 9) is set to 1.
Motor speed
New Set Point
(bit 4)
Set Point
Acknowledge
(bit 12)
Target Reached
(bit 10)
Target Position
(set-point)
Current Target
Position Processed
t
t
t
t
t
t
t
t
t
t
t
t
Motor speed
New Set Point
(bit 4)
Set Point
Acknowledge
(bit 12)
Target Reached
(bit 10)
Target Position
(set-point)
Current Target
Position Processed
