Omron R88D-KN series, Руководство пользователя

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6-13
6 Basic Control Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-4 Pr
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6-4-2 De
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The G5-series Servo Drove can perform PTP positioning operation.
Set the Controlword (6040 hex) bit 5 (Change set immediately) to 1.
Set the Target position (607A hex) and the Profile velocity (6081 hex).
Changing the Controlword (6040 hex) bit 4 (New set point) from 0 to 1 starts positioning to the set target
position.
The Target value can be changed while PTP positioning is in progress.
During PTP positioning, changing the Target position (607A hex)/Profile velocity (6081 hex) value.
Changing the Controlword (6040 hex) bit 4 (New set point) from 0 to 1 causes the G5-series Servo
Drive to execute positioning with the changed value.
6-4-2 Description of Function
New set-point
6040 hex Bit 4
Velocity
Set-point acknowledge
6041 hex Bit 12
Target reached
6041 hex Bit 10
Target position
607A hex
New set-point
Set-point acknowledge
Current target position
Target reached
Target position
Velocity
6040 hex Bit 4
607A hex
6041 hex Bit 12
6041 hex Bit 10