User Manual Of EL7-EC** AC Servo
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*1) Bit 8 abnormal stoppage usually valid when hardware limit, deceleration stoppage
and quick stop are triggered.
*2) Bit 12 under control word(6040h)bit 5 valid and bit 4 invalid, motion interruptible.
*3) Bit 15 and bit 12 have inversed logic under PP mode.
Application: Realization of relative position motion
Step 1: 6060h = 1, determine if 6061h =1. Servo driver is now under PP mode.
Step 2: Write motion parameters: Target position 607Ah, Profile velocity 6081h,
acceleration 6083h, deceleration 6084h
Step 3: Enable servo driver and switch bit 6 and 4 to realize relative position motion.
5.5.4 Homing mode (HM)
EL7-EC servo system supports every other homing method except for method 36.
Output/input parameters of L7EC are as shown below.
Realization
of homing
function
Homing method(6098h)
High homing velocity(6099-01h)
Homing point
acceleration/deceleration(609Ah)
Homing point offset(607Ch)
Low homing velocity(6099-02h)
Polarity(2006h)
Position feedback(6064h)
Velocity feedback(606Ch)
Actual torque(6077h)
Related Parameters
Basic object
PDO
Index+Sub-Index Name
Data
Type
Access Unit
Notes
(RXPDO)
6040-00h
Control word
U16
RW
—
Required
6098-00h
Homing mode
I8
RW
Uint
Optional
6099-01h
High homing velocity
U32
RW
Uint/S
Optional
6099-02h
Low homing velocity
U32
RW
Uint
/S
Optional
