SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For
EHS-580 EtherCAT Hybrid Servo Drive
2.1.1 Related objects
Data write/read
Object
Description
Value
Unit
RXPDO
6060h
Operation Mode
1
-
6040h
Control word
User self-defined
-
607Ah
Target Position
User self-defined
Unit
6081h
Maximum speed
User self-defined
Unit/s
6082h
Start /Stop speed
User self-defined
Unit/S^2
6083h
Profile Acceleration
User self-defined
Unit/S^2
6084h
Profile Deceleration
User self-defined
Unit/S^2
6085h
Emergency stop deceleration, base
on the value of 605Ah
User self-defined
Unit/S^2
605Ah
Enable the deceleration of E-stop(5:
enable; Others: disable)
User self-defined
-
2000h
Revolution per round
User self-defined
pulse
TXPDO
6041h
Status word
Read only
-
6064h
Actually position Feedback
Read only
Unit
606Ch
Actual velocity feedback
Read only
Unit/s
603Fh
Error code
Read only
-
6061h
Operation mode display
Read only
-
2.1.2 Control word and Status word
In PP Mode, the bits 4~6 of Control word (6040h)
Bit
Value
Description
4(new position)
0 —> 1
The motor run with the max speed(6081h) and
Acc(6083h )/Dec(6084h) to latest target position(607Ah)
5((trigger immediately)
0
Trigger the new movement after the current movement is
completed
1
Interrupt the current movement immediately, and start the
new movement
6 (absolutely /relatively)
0
Process target position(607Ah) as the absolutely position
1
Process target position(607Ah) as the relatively position
2.1.3Typical motion mode of bit 5 at PP mode
Bit 5
0
1
