Oriental motor aSTEP AZ mini Driver, User Manual

Page: 133 / 172

Objects of profile area
133
4 Objec
t list
3 Objects of profile area
Objects in the profile area are defined by the CiA402 drive profile. These are used to set the driver operation and to
indicate the status.
Index Sub Name Type Access PDO Save Initial value Range Update
603Fh 00h Error code U16 RO TxPDO − − − −
6040h 00h Controlword U16 RW RxPDO − 0 0 to FFFFh A
6041h 00h Statusword U16 RO TxPDO − − − −
605Ah 00h Quick stop option code INT16 RW No

2 0, 1, 2, 3, 5, 6, 7 A
605Bh 00h Shutdown option code INT16 RW No

1 0, 1 A
605Ch 00h Disable operation option code INT16 RW No

1 0, 1 A
605Dh 00h Halt option code INT16 RW No

1 1 to 3 A
6060h 00h Operation mode INT8 RW RxPDO

0
0: Operation function disable
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)
B
6061h 00h Modes of operation display INT8 RO TxPDO − − − −
6062h 00h Position demand value [step] INT32 RO TxPDO − − − −
6064h 00h Position actual value [step] INT32 RO TxPDO − − − −
6065h 00h
Following error window
[1=0.01 rev]
U32 RW No

300 1 to 30,000 A
6067h 00h Position window [1=0.1°] U32 RW No

18 0 to 180 A
606Bh 00h Velocity demand value [Hz] INT32 RO TxPDO − − − −
606Ch 00h Velocity actual value [Hz] INT32 RO TxPDO − − − −
607Ah 00h Target position [step] INT32 RW RxPDO − 0
−2,147,483,648 to
2,147,483,647
A
607Ch 00h Home offset [step] INT32 RW No  0
−2,147,483,648 to
2,147,483,647
A
607Dh
Software position limit
00h Number of entries U8 RO No − 2 − −
01h Min. position limit [step] INT32 RW No

−2,147,483,648
−2,147,483,648 to
2,147,483,647
A
02h Max. position limit [step] INT32 RW No

2,147,483,647
−2,147,483,648 to
2,147,483,647
A
6081h 00h Profile velocity [Hz] U32 RW RxPDO

10,000 0 to 4,000,000 A
6083h 00h Profile acceleration [step/s
2
] U32 RW RxPDO

300,000 1 to 1,000,000,000 B
6084h 00h Profile deceleration [step/s
2
] U32 RW RxPDO

300,000 1 to 1,000,000,000 B
6085h 00h
Quick stop deceleration
[step/s
2 ]
U32 RW RxPDO

1,000,000 1 to 1,000,000,000 B
6091h
Gear ratio
00h Number of entries U8 RO No − 2 − −
01h Electronic gear A U32 RW No

1 1 to 65,535 C
02h Electronic gear B U32 RW No

1 1 to 65,535 C
6098h 00h Homing method INT8 RW No

24 −1, 17, 18, 24, 28, 35, 37 B
6099h
Homing speed
00h Number of entries U8 RO No − 2 − −
01h
Speed during search for
switch [Hz]
U32 RW No

10,000 1 to 4,000,000 B
02h
Speed during search for zero
[Hz]
U32 RW No

5,000 1 to 10,000 B
609Ah 00h Homing acceleration [step/s
2
] U32 RW No

300,000 1 to 1,000,000,000 B
60B8h 00h Touch probe function U16 RW RxPDO − 0000h 0000h to FFFFh A
60B9h 00h Touch probe status U16 RO TxPDO − − − −
60BAh 00h
Touch probe position 1
positive value [step]
INT32 RO TxPDO − − − −