FL20-C Series
104
6.3
Introduction of common bus control mode
FL20-C series supports 7 servo modes, as defined in the object dictionary 6502h.
Index
6502h
Name
Supported servo modes
Setting
mode
Display
Data
structure
VAR
Access
RO
Mapping
N
Data type
UDINT32
Mode
ALL
Data range
—
Default
941
It indicates the supported the running modes of servo drive:
bit
Description
0: Not supported 1: Supported
0
Profile position mode (PP)
1
1
Variable velocity mode (VL)
0
2
Profile velocity (PV)
1
3
Profile torque (PT)
1
4
Reserved
Reserved
5
Homing mode (HM)
1
6
Interpolated position mode (IP)
0
7
Cyclic synchronous position mode (CSP)
1
8
Cyclic synchronous velocity mode (CSV)
1
9
Cyclic synchronous torque mode (CST)
1
10
～
31 Reserved
Reserved
【
Note
】
if device supports 6502hm, the supported modes can be known in this object.
The operation mode of the servo drive is set in 6060h. The operation mode of the servo drive
can be checked in 6061h.
Mode selection 6060h:
Index
6060h
Name
Operation mode
Setting
mode
—
Data structure
VAR
Access
RW
Mapping
RPDO
Data type
UINT16
Mode
ALL
Data range
0
～
10
Default
0
It used to select the operation mode of servo drive:
Value
Servo mode
0
Reserved
Reserved
1
Profile position mode (PP)
Refer to PP mode
2
Reserved
Reserved
3
Profile velocity mode (PV)
Refer to PV mode
4
Profile torque mode (PT)
Refer to PT mode
5
Reserved
Reserved
6
Homing mode (HM)
Refer to HM mode
7
Interpolated position mode (IP)
Not supported
8
Cyclic synchronous position mode (CSP)
Refer to CSP mode
9
Cyclic synchronous velocity mode (CSV)
Refer to CSV mode
10
Cyclic synchronous torque mode (CST)
Refer to CST mode
