SD710 Series Servo Drive User Manal Chapter 11 Communication
23
edge)
Positioning complete
11
6041h Bit10 set to 1
0x0637
Trigger bit cleared for next use
12
6040h Bit4 cleared
0x0637
When running the profile position mode, there are two ways to update the Commands, namely immediate and non-
immediate updates. The specific process of implementing these two ways is described below.
(1) Relative position command, immediate update
Control word Bit4
New Set Point
Control word Bit5
Set Point Immediately
Control word Bit6
Absolute relative selection
Status Word Bit12
Set Point Acknowledge
Status word Bit10
Target Reach
Position command value
New Position
Speed
T
a
b
c
d
e
f
g
S
1
S
2
Figure 11.11 Timing sequence diagram for immediate update mode of relative position command value
The timing sequence diagram shown in Figure 11.11 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=1 (given an immediate update position command).
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.
4
Second segment position
command assignment
Assign a new position command value to 607Ah if the first position
command does not run to completion.
5
New position command
Give Bit4 of 6040h a rising edge to trigger new position command