A-2-9 Safety Function Objects - Omron M1 Series User Manual

• This object gives the supported modes of operation.
• Bit Descriptions
Bit
0 pp (Profile position mode)
1 vl (Velocity mode)
2 pv (Profile velocity mode)
3 tq (Profile torque mode)
4 Reserved
5 hm (Homing mode)
6 ip (Interpolated position mode)
7 csp (Cyclic synchronous position mode)
8 csv (Cyclic synchronous velocity mode)
9 cst (Cyclic synchronous torque mode)
10 to 31 Reserved
A-2-9
Safety Function Objects
This section explains objects defined in the FSoE CiA402 slave connection.
Sub-
Index
index Object name
(hex)
(hex)
6620 --- safety controlword
00 Number of entries
01 safety controlword
1st Byte
02 safety controlword
2nd Byte
• This object gives the command status of the safety function.
• Bit Description of Subindex 01 hex
Bit
0 Gives the status of STO command.
0: STO activate command issued
1: STO activate command not issued
7 Gives the status of error reset command.
0: Error reset command not issued
1: Error reset command issued
• No bit of subindex 02 hex is used.
M1 Series EtherCAT Type User's Manual (I670)
Supported mode
Setting Default set-
Unit
range ting
--- --- ---
--- --- 02 hex
--- --- ---
--- --- ---
Description
Value
0: Not supported
1: Supported
0: Not supported
0: Not supported
0: Not supported
0: Not supported
0: Not supported
0: Not supported
0: Not supported
0: Not supported
0: Not supported
Data
Ac-
attrib- Size
cess
ute
--- --- ---
--- 1 byte RO
(U8)
--- 1 byte RO
(U8)
--- 1 byte RO
(U8)
Appendices
PDO Complete Modes of
map access operation
--- Possible ---
--- --- ---
--- --- ---
--- --- ---
A-35
A