User Manual Of EL7-EC** AC Servo
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Chapter 5 Control Mode
5.1 EL7-EC motion control step-by-step
A
．
EtherCAT master device sends "control word (6040h)" to initialize the drive.
B
．
Driver sends feedback "status word (6041h)" to the master device to indicate ready
status (status word indication).
C
．
Master device sends enable command (control word switch).
D
．
The driver enables and sends feedback status to the master device.
E
．
The master station sends homing command to home the axis. (Homing parameter and
control word switch)
F
．
Driver returns to home and sends feedback homed status to master device (status
word indication)
G
．
The master station sends the position mode command for position movement
(position motion parameters and control word switch) or sends the velocity command
for velocity movement (velocity motion parameters and control word switch).
H
．
When the drive is finished executing the command (position command), EL7-EC
feedbacks the position/velocity to the master device for monitoring during the motion.
I
．
The master device sends commands for the next motion.
