15.6 Device Control
15-22
Details on Bits 4 to 9
•
Bits 4, 5, and 9: Profile Position Mode
•
Bits 6 and 8: Profile Position Mode
•
Bits 4, 5, 6, 8, and 9: Homing Mode
•
Bits 4, 5, 6, 8, and 9: Cyclic Synchronous Position, Velocity, or Torque Mode
•
Bits 4, 5, 6, 8, and 9: Interpolated Position Mode
•
Bits 4, 5, 6, 8, and 9: Profile Velocity/Torque Mode
Bit 9
Bit 5
Bit 4
Description
0
0
0
→
1
Starts the next positioning operation after the current positioning operation is
completed (i.e., after the target is reached).
X
1
0
→
1
Starts the next positioning operation immediately.
1
0
0
→
1
Continues positioning with the current profile speed up to the current target
position and then start the next positioning operation.
Bit
Function
Value
Description
6
Abs/rel
0
Treats the target position as an absolute value.
1
Treats the target position as a relative value. (Treats it as the move-
ment distance from the current target position.)
8
Halt
0
Executes or continues positioning.
1
Stops axis according to
halt option code
(605Dh).
Bit
Function
Value
Description
4
Homing
operation
start
0
Does not start homing.
1
Starts or continues homing.
5
−
0
Reserved.
6
−
0
Reserved.
8
Halt
0
Enables bit 4.
1
Stops the axis according to
halt option code
(605Dh).
9
−
0
Reserved.
Bit
Function
Value
Description
4
−
0
Reserved.
5
−
0
Reserved.
6
−
0
Reserved.
8
Halt
0
Executes or continues operation.
1
Stops axis according to
halt option code
(605Dh).
9
−
0
Reserved.
Bit
Function
Value
Description
4
Enable
interpolation
0
Disables interpolation.
1
Enables interpolation.
5
−
0
Reserved.
6
−
0
Reserved.
8
Halt
0
Executes specification for bit 4.
1
Stops the axis according to
halt option code
(605Dh).
9
−
0
Reserved.
Bit
Function
Value
Description
4
−
0
Reserved.
5
−
0
Reserved.
6
−
0
Reserved.
8
Halt
0
Executes or continues operation.
1
Stops the axis according to
halt option code
(605Dh).
9
−
0
Reserved.
