Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-53
Supported Drive Modes (6502h)
This object gives the operation modes that are supported by the device.
Index
Subindex Name
Data Type Access PDO Mapping
Value
6502h
0
Supported Drive
Modes
UINT32
RO
No
0x03ED
Bit
Supported mode
Definition
0
Profile Position
1: Supported
1
Vl (Velocity mode)
0: Not supported
2
PV (Profile Velocity mode)
1: Supported
3
TQ (Torque Profile mode)
1: Supported
4
Reserved
0
5
HM (Homing mode)
1: Supported
6
IP (Interpolated Position mode)
1: Supported
7
CSP (Cyclic Sync Position mode)
1: Supported
8
CSV (Cyclic Sync Velocity mode)
1: Supported
9
CST (Cyclic Sync Torque mode)
1: Supported
10 to 31
Reserved
0
12.3.5
Profile Position Mode
Target Position (607Ah)
This object contains the target position for the Profile Position Mode or Cyclic Sync Position Mode.
In Profile Position Mode, the value of this object is interpreted as either an absolute or relative value
depending on the Abs/Rel Flag in
Controlword
. In Cyclic Sync Position Mode, the value is always
interpreted as an absolute value.
Index
Subindex Name
Data Type Access PDO Mapping
Value
607Ah
0
Target Position
INT32
RW
Yes
Default: 0
Software Position Limit (607Dh)
This object defines the absolute positions of the limits to the target position (position demand value).
Every target position is checked against these limits.
The limit positions are specified in user-defined position reference units, the same as for target positions,
and are always relative to the machine home position.
The limit values are corrected internally for the home offset as given below. The target positions are
compared with the corrected values.
Corrected minimum position limit = Min position limit – Home offset (607Ch)
