Controlword (6040 Hex) In Profile Position Mode; Statusword (6041 Hex) In Profile Position Mode - Omron R88M-K User Manual

6 Basic Control Functions
6-4-3

Controlword (6040 hex) in Profile Position Mode

Bit
4 New set-point
5 Change set immediately
6 abs/rel
8 Halt
9 Change on Set-point
6-4-4

Statusword (6041 hex) in Profile Position Mode

Bit
10 Target reached
12 Set-point acknowledge
13 Following error
6-14
Name
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.
Always set to 1 (Change set immediately).
If set to 0, positioning does not occur due to a Command warning.
Always set to 0 (abs).
If set to 1 (rel), positioning does not occur due to a Command
warning.
When set to 0, positioning starts or continues.
When set to 1, positioning stops according to the Halt option code
(605D hex) setting.
Unused for G5-series Servo Drives.
Name Value
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
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 zero.
0 Waiting for a new Target position.
1 Ready to accept updates (overwriting) of the Target position.
0 No Following error occurred.
1 A Following error occurred.
Description