User Manual Of EL7-EC** AC Servo
204
Control Word and Status Word for Profile Velocity Mode
The bit6~4 of control words (6040h) associated with the control mode in PV mode are
invalid. The motion in PV mode can be triggered as long as the motion parameters
(target velocity (60FFh) ACC/DEC (6083h/6084h)) are given after the axis is enabled.
Table7. Bit15~12
、
10
、
8 of Status word (6041h) for Profile Velocity Mode
Bit
(Label)
Value Details
8
(Quick stop)
0
Quick stop invalid
1
Quick stop valid
10
(Velocity reached)
0
Velocity not yet reached
1
Velocity reached
12
(Zero speed)
0
It's not zero speed. It's moving.
1
Zero speed or it's going to slow down to zero speed
*1)
*1) Zero speed of bit 12 is generally effective when deceleration stop and hardware limit
valid.
Application: Realization of profile velocity motion
Step 1: 6060h = 3, determine if 6061h = 3. Servo driver is now under PV mode.
Step 2: Write motion parameters: Target velocity 60FFh, acceleration 6083h and
deceleration 6084h.
5.7 Torque Mode
（
CST
、
PT
）
5.7.1 Common Functions of Torque Mode
Index
Sub
Index
Label
Access
PDO
Mode
CST
PT
6040
0
Control word
RW
RxPDO
Yes
Yes
6071
0
Target torque
RW
RxPDO
Yes
Yes
6072
0
Max torque
RW
RxPDO
Yes
Yes
6080
0
Maximum motor speed
RW
RxPDO
Yes
Yes
6087
0
Torque change rate
RW
RxPDO
Yes
Yes
60B2
0
Torque feedforward
RW
RxPDO
Yes
Yes
