A - 63
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
-9 Safety Fun
ction Obje
ct
s
This section explains objects defined in the FSoE CiA402 slave connection.
• This object gives the command status of the safety function.
z
Bit Description of Subindex 01 hex
• No bit of subindex 02 hex is used.
• This object gives the status of safety function.
A-2-9
Safety Function Objects
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
6620
---
safety controlword
---
---
---
---
---
---
---
Possible
---
00
Number of entries
---
---
02 hex
---
1 byte
(U8)
RO
---
---
---
01
safety controlword
1st Byte
---
---
---
---
1 byte
(U8)
RO
---
---
---
02
safety controlword
2nd Byte
---
---
---
---
1 byte
(U8)
RO
---
---
---
Bit
Description
1
Gives the status of STO com-
mand.
0: STO activate command issued
1: STO activate command not
issued
7
Gives the status of error reset
command.
0: Error reset command issued
1: Error reset command not
issued
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
6621
---
safety statusword
---
---
---
---
---
---
---
Possible
---
00
Number of entries
---
---
02 hex
---
1 byte
(U8)
RO
---
---
---
01
safety statusword
1st Byte
---
---
---
---
1 byte
(U8)
RO
---
---
---
02
safety statusword
2nd Byte
---
---
---
---
1 byte
(U8)
RO
---
---
---
Summary of Contents for R88D-1SN01H-ECT
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