SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For
EHS-580 EtherCAT Hybrid Servo Drive
Forward movement to updated
target position with Acc/constant
speed
Forward movement to updated
target position with Dec
Backward movement to updated
target position
A:
Command change time of master
B:
Arrived time to the target position(before updated)
C:
Arrived time to the target position(after updated)
2.1.4 The bit 8,10.12-15 of status word
Bit
Value
Description
8 (abnormal stop)
0
Normal movement
1
Trigger by abnormal stop, motor will stop
10 (position reached)
0
Movement is continue
1
target position reached
12 (new position
response)
0
When current movement is completed or interruptable, can update new target
position
1
When current motion uncompleted/uninterruptable, it can not update new target
position
14(parameters value
for movement are 0)
0
Parameters for movement are effective, and all necessary parameters are not 0
1
One of parameters( max speed-6081h, acceleration-6083h) and deceleration
--6084h)must be 0
15 (Trigger
response)
0
When current movement is not completed or not interruptable,can not update
new target position
1
When current movement is completed or interruptable, can update new target
position
A:
Bit8 abnormal stop is effective at the triggered status for hardware limit switch, deceleration stop and
emergency stop
B:
Bit 12 of Status word (6041h) will clear to 0 when the bit 5 of control word (6040h) is triggered and bit 4 of
