6 Basic Control Functions
6 - 14
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The Target value can be changed while PTP positioning is in progress.
During PTP positioning, change the Target position (607A hex) or 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.
6-4-3 Controlword (6040 hex) in Profile Position Mode
Bit Name Description
4 New set-point Starts positioning at the rising edge, from 0 to 1, of the signal.
In this timing, the Target position (607A hex) and Profile velocity (6081
hex) values are obtained.
5 Change set immediately Always set to 1 (Change set immediately).
If set to 0, positioning does not occur due to a Command warning.
6 abs/rel Always set to 0 (abs).
If set to 1(rel), positioning does not occur due to a Command warning.
8 Halt When set to 0, positioning starts or continues.
When set to 1, positioning stops according to the Halt option code
(605D hex) setting.
9 Change on Set-point Unused for G5-series Servo Drives.
6-4-4 Statusword (6041 hex) in Profile Position Mode
Bit Name Value Description
10 Target reached 0 Halt bit is 0: Positioning is not completed.
Halt bit is 1: The axis is decelerating.
1 Halt bit is 0: Positioning is completed.
Halt bit is 1: The axis speed is “0.”
12 Set-point acknowledge 0 Waiting for a new Target position.
1 Ready to accept updates (overwriting) of the Target position.
13 Following error 0 No Following error occurred.
1 A Following error occurred.
Current target position
6040 hex bit 4 New set-point
607A hex Target position
6041 hex bit 12 Set-point acknowledge
6041 hex bit 10 Target reached
Velocity
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