A - 43
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A
-2 Co
E Ob
ject
s
A
A-2
-8 Servo Dr
ive Pro
file Object
z
Description of bits specific to operation mode
•
Target position ignored
,
Target velocity ignored
, and
Target torque ignored
show whether the
operation can follow the command. These bits change to
0
when operation cannot follow the com-
mand due to Drive Prohibition, Software Position Limit, etc.
• Status Toggle switches between 0 and 1 each time an RxPDO is received. The function of this bit is
enabled or disabled with
Function Settings
(60DA hex).
• For how to use other bits, refer to
on page 6-16 for the Profile position mode,
on page 6-21 for the Profile velocity mode, and
page A-7 for the Homing mode.
• This object sets the operation of the Servo Drive during Shutdown (transition from the Operation
enabled state to the Ready to switch on state). “During Shutdown” refers to the duration in which the
Servo Drive decelerates and then stops after main circuit power OFF (Shutdown).
• When the running motor decelerates and the speed reaches 30 r/min or lower, the operation changes
from the Deceleration Operation to the Operation after Stopping.
• The following error is cleared regardless of the set value.
12 to 13
Operation mode specific
These bits are specific to the operation mode.
14 to 15
Manufacturer specific
These are manufacturer specific bits. These bits are not
used by 1S-series Servo Drives.
*1. The Voltage enabled bit indicates that the main circuit power supply voltage is applied when it is
1
.
Modes of operation
Controlword
Bit 13
Bit 12
Bit 10
Profile position mode (pp)
Following error
Set-point acknowledge
Target reached
Profile velocity mode (pv)
---
Speed
Target reached
Homing mode (hm)
Homing error
Homing attained
Target reached
Cyclic synchronous posi-
tion mode (csp)
Following error
Target position ignored
Status Toggle
Cyclic synchronous veloc-
ity mode (csv)
---
Target velocity ignored
Status Toggle
Cyclic synchronous torque
mode (cst)
---
Target torque ignored
Status Toggle
Set value
Description
0
Ignore command
1
Follow command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
605B
---
Shutdown
option code
-7 to 0
---
-5
E
2 bytes
(INT16)
RW
---
Not possi-
ble
---
Bit
Name
Description
Summary of Contents for R88D-1SN01H-ECT
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