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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9
-2 Co
mm
on
Con
trol Obj
ect
s
9
9-
2-1
3000 hex: Basi
c
Funct
ions
• Gives the failure cause when the motor does not rotate.
• If the value of a bit is
1
, the motor stop cause which corresponds to the bit is present.
z
Description of Set Values
• Gives the present mode of operation.
• Mirror object of 6061 hex
z
Description of Set Values
• Gives the functions which are supported by the Servo Drive.
• Mirror object of 60D9 hex
z
Description of Set Values
Subindex 82 hex: Motor Stop Cause
Bit
Description
0
Main circuit power supply not turned ON
1
Not Servo ON
2
Drive Prohibition state
3
Software Position Limit state
4
Position command variation is 0
5
Velocity command value is 0
6
Max profile velocity is 0
7
Torque command value is 0
8
Torque limit value is 0
9
Velocity Limit in Torque Control is 0
31
STO status
Subindex 83 hex: Modes of Operation Display
Set
value
Description
0
Not specified.
1
Profile position mode (pp)
3
Profile velocity mode (pv)
6
Homing mode (hm)
8
Cyclic synchronous position mode (csp)
9
Cyclic synchronous velocity mode (csv)
10
Cyclic synchronous torque mode (cst)
Subindex 84 hex: Supported Functions
Set value
Description
Bit 0
Status Toggle
0: Disabled
1: Enabled
Bits 1 to 31
Reserved
Summary of Contents for R88D-1SN01H-ECT
Page 827: ......
