Rtelligent ECT60, User Manual

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ECR60/ECT60 User manual
40
8 Cyclic Dynamic Position Mode (CSP)
0x6061 Operating Mode Display
Displays the current operating mode, defined with 0x6060.
Object
dictionar
y
Name Prope
rty
Type Rang
e
The
default
value
0x6061 Mode of Operation Display R INTEGER8 0
0x6064 Actual location
Shows the actual position of the current motor, in Pulse
Object
dictionar
y
Name Prope
rty
Type Rang
e
The
default
value
0x6064 Position Actual Value R INTEGER32 0
0x606C Actual Speed
Shows the actual position of the current motor in Pulse
Object
dictionar
y
Name Prope
rty
Type Rang
e
The
default
value
0x6064 Position Actual Velocity R INTEGER32 0
0x607A Target Position
This object sets the target position in PP mode and CSP mode. The unit is Pulse.
Object
dictionar
y
Name Prope
rty
Type Rang
e
The
default
value
0x607A Profile Target Position RW INTEGER32 0
In PP mode, bit6(0x6040.6) of the control word is used to set the coordinates to be
relatively absolute.