User manual of EL8-EC***F AC Servo
186
5012-04
Actual Positive Position Limit
Actual Negative Position Limit
Bit2 Bit3
0
0
607D-02 + 607C
607D-01 + 607C
0
1
607D-02 - 607C
607D-01 - 607C
1
X
607D-02
607D-01
EL8-EC Software position limits valid conditions:
1. It can only be set in the pre-operational state of ESM. It is recommended to configure it
by SDO when the system starts.
2. Only in the absolute mode of CSP and PP, in CSP mode, it is recommended to use
the software limit function of the master station to achieve the fastest limit performance.
3. The incremental encoder motor is not effective until the homing process
completed.
4. The setting rule is 607d-01h < 607d-02h, that is, the negative position limit value
is less than the positive position limit value.
5.4.7 Control Word
Bit definition of Control Word 6040h.
Bit
15~1
1
10~9
8
7
6~4
3
2
1
0
Definition
-
-
Halt
Fault
reset
Related
to modes
Operatio
n enable
Quick
stop
Voltage
output
Switch
on
Command
Bit7 and Bit0 to Bit3
6040
Value
402 State
machine
*1)
7
：
Fault
reset
3
：
Operation
enable
2
：
Quick
stop
1
：
Voltage
output
0
：
Start
Power off
0
×
1
1
0
0006h
2;6;8
Switch on
0
0
1
1
1
0007h
3*
Switch on
0
1
1
1
1
000Fh
3**
No voltage
output
0
×
×
0
×
0000h
7;9;10;12
Quick stop
0
×
0
1
×
0002h
7;10;11
Operation
enable
0
0
1
1
1
0007h
5
enable
0
1
1
1
1
000Fh
4;16
Fault reset
Rising
edge
×
×
×
×
0080h
15
× is not affected by this bit state
* indicates that this transition is performed in the device start state
** indicates that it has no effect on the start state and remains in the start state
*1) The state machine switch corresponds to figure 7.1
