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6 Basic Control Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-4 Profile Position Mode
6
6-4-2 Description of Function
The G5-series Servo Drove can perform PTP positioning operation.
Set the Controlword (6040 hex) bit 5 (Change set immediately) to 1.
Setting the Target position (607A hex) and the Profile velocity (6081 hex) and then 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 and
then 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
Velocity
Set-point acknowledge
Target reached
Target position
New set-point
Set-point acknowledge
Current target position
Target reached
Target position
Velocity
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