Hiwin D1NCOE User Manual page 25

Drive User Guide
to drive the motor to complete the positioning purpose. The profile position mode is shown as the block
diagram below.
There are two motion modes under the profile position mode: Single set-point move mode and set
of set-point move mode. Through set up ControlWord(0x6040), the master station initiates the
movement of target position and read the content of StatusWord(0x6041) to know the movement status
of motor. Describe separately as follows:
0x6040
Bit4
Bit5 Update Immediately
Bit8
0x6041
Bit10
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Definition Value
New Set Up Point
Halt
Definition Value
Motor in position
Description
Not initiate the movement of next target
0
position.
Initiate the movement of next target
1
position.
0 Movement of single target position.
1 Movement of multiple target position.
0 Not stop the movement of motor.
1 Stop the movement of motor.
Description
Motor has not been in-position in the target
0
position.
﹣Motor has been in-position to the target
1
position.
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