Leadshine EL8-EC Series, Руководство пользователя

Страница: 222 / 336

User manual of EL8-EC***F AC Servo
222
Related Objects
Basic object
PDO Index+Sub-Index Name Data Type Access Unit Notes
(RXPDO)
6040-00h Control word U16 RW — Required
60FF-00h Target velocity I32 RW Uint
Required
6083-00h Acceleration I32 RW Uint /S Optional
(TXPDO)
6041-00h Status word U16 RO —
Required
6064-00h Position feedback I32 RO Uint
Optional
606C-00h Velocity feedback I32 RO Uint /S Optional
60F4-00h Actual following error I32 RO Uint
Optional
6077-00h
Actual torque
I16 RO 0.1%
Optional
Extended object
Index+Sub-Index Name
Data
Type
Access Unit
603F-00h Error code U16 RO —
6060-00h Operation mode I8 RW —
6061-00h Displayed operation mode I8 RO —
605A-00h Quick stop option I16 RW —
6084-00h Deceleration U32 RW Uint /S
6085-00h Quick stop deceleration U32 RW Uint /S
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.