SHENZHEN ECON TECHNOLOGY CO.,LTD
User Manual For CANopen Hybrid Servo Driv
11.3 Operation mode and control parameters list
CANopen ID
Parameter
Property
Description
6040+00
Control word
R/W
0x06:motor power off
0x0F:motor power on
0x0B:fast stop, load stop-voltage off
0x2F-3F: absolute positioning
0x4F-5F:relative positioning
0x103F:enter the absolute positioning immediately according to
the target position changes
0x0F-1F:home positioning
0x80:clear internal fault
6041+00
Status word
R
display drive status
6060+00
Mode setting
RW
Operation mode
：
1—PP mode
3—PV mode
6—Home mode
6061+00
Mode display
R
display drive operation status
607A+00
Target position
R/W
The target position of PP mode
，
if control word set as start
movement, turn to effective command position
6063+00
Actual position
R
display motor actual position
6081+00
Trapezoid
Velocity
R/W
The Max Trapezoid Velocity curve of PP mode
60FF+00
Target Velocity
R/W
The Max Velocity at home mode
606C+00
Actual speed
R/W
Display motor actual speed, unit
：
RPM
6083+00
Trapezoid
acceleration
R/W
Ladder curve acceleration
6084+00
Trapezoid
deceleration
R/W
Ladder curve deceleration
6098+00
Home mode
R/W
Find home mode
6099+01
Home mode speed
R/W
Find limit switch speed
6099+02
Home mode speed
R/W
Find home signal speed
609A+00
Home mode speed
R/W
Find home acceleration
607C+00
Home offset
R/W
Home offset
T2-CAN HS68D supports :PP
（
position mode
）、
PV
（
speed mode
）
and Homing mode
12 Frequently Asked Questions
In the event that your drive doesn’t operate properly, the first step is to identify whether the problem is electrical or
mechanical in nature. The next step is to isolate the system component that is causing the problem.As part of this
process you may have to disconnect the individual components that make up your system and verify that they
operate independently. It is important to document each step in the troubleshooting process. You may need this
