Omron R88M-1M Series User Manual page 483

Precautions for Correct Use
Depending on the positional relationship between the position actual value and target position,
operation is performed in the direction with a shorter travel distance.
Position [Command unit]
7FFF FFFF Hex
Target position
8000 0000 Hex
Controlword (6040 hex) in Profile Position Mode
The bits in Controlword used in the Profile position mode are explained below.
For the bits that are common to all modes, refer to A-1 CiA 402 Drive Profile on page A-2.
Bit
4 New set-point
5 Change set immediately
6 Absolute/relative (abs/rel)
8 Halt
9 Change on Set-point
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Position
actual value
Name
Starts positioning at the rising edge, from 0 to 1, of the signal.
In this timing, the values of Target position (607A hex) and Profile
velocity (6081 hex) 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 Warn-
ing.
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 1S-series Servo Drives.
6 Basic Control Functions
Operation in the direction with a
shorter travel distance
Description
6
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