This object indicates current operation mode. Definition of value is same as Mode of operation (6060h).
6.5.11
Object 6062h: Position demand value
Index
Sub
index
Name
Type
Access
SAVE
PDO
Mapping
Value
Range
Default
Value
6062h
0
Position demand value
I32
RO
No
Tx PDO
This object indicates internal command position.
This position value is real time target position delivered from STEP Motor controller part to Motor.
6.5.12
Object 6064h: Position actual value
Index
Sub
index
Name
Type
Access
SAVE
PDO
Mapping
Value
Range
Default
Value
6064h
0
Position actual value
I32
RO
No
Tx PDO
This object indicates current position.
This position value indicates Encoder value connected to controller.
6.5.13
Object 6065h: Following error window
Index
Sub
index
Name
Type
Access
SAVE
PDO
Mapping
Value
Range
Default
Value
6065h
0
Following error window
U32
RW
Yes
No
5000
Set the range of Follow Error Value.
6.5.14
Object 6067h: Position window
Index
Sub
index
Name
Type
Access
SAVE
PDO
Mapping
Value
Range
Default
Value
6067h
0
Position window
U32
RW
Yes
No
0
∼
63
0
Set the range of Positioning value.
6.5.15
Object 606Ch: Velocity actual value
Index
Sub
index
Name
Type
Access
SAVE
PDO
Mapping
Value
Range
Default
Value
606Ch
0
Velocity actual value
I32
RO
No
Tx PDO
This object indicates current velocity. Value of velocity can be indicated as +value once motor rotates toward
+direction or -value once motor rotates toward -direction.
6.5.16
Object 607Ah: Target position
Index
Sub
index
Name
Type
Access
SAVE
PDO
Mapping
Value
Range
Default
Value
607Ah
0
Target position
I32
RW
No
Rx PDO
-2147483648
21474
∼
83647
0
This object sets target position under Profile Position Mode, Cyclic Synchronous Position Mode.
Summary of Contents for ECL E Series
Page 6: ...Introduction Before Operation 6 ...
Page 8: ...Chapter 1 Product Specification 10 ...
Page 9: ...11 1 1 Part Numbering ...
Page 10: ......
Page 11: ...13 1 2 Product Dimension Figure 1 3 Dimensions ...
Page 14: ...Chapter 2 Installation 16 ...
Page 16: ...2 2 System Configuration EtherCAT Cable Figure 2 1 System Configuration Diagram ...
Page 17: ...2 3 External Wiring Diagram ...
Page 18: ......
Page 24: ... Less than 30V of supplyvoltage Less than 15mA of current flow ...
Page 26: ...Chapter 3 EtherCAT Communication ...
Page 27: ... 26 ...
Page 28: ......
Page 36: ...Chapter 4 CiA 402 Drive Profile ...
Page 37: ... 34 ...
Page 38: ......
Page 52: ...Please refer to drive status control for the rest of bits ...
Page 66: ...Chapter 5 Operataion ...
Page 67: ... 59 ...
Page 72: ...Chapter 6 EtherCAT Object Dictionary ...
Page 73: ... 63 ...
Page 82: ......
Page 89: ...6 EtherCAT Object Dictionary 77 6061h 0 Mode of operation display I8 RO No Tx PDO ...
Page 107: ...6 EtherCAT Object Dictionary ...