Delta EtherCAT Programming Manual page 154

EtherCAT Programming Guide
Operation Mode Specific represents by bit 4 ~ 6 are as follows. See the table below:
Profile Position
Bit
(PP) mode
New Position
Command
4
(Rising-edge
triggered)
Activate
5
Immediately
0: Absolute motion
6
1: Relative motion
March, 2017
Bit
4 Operation Mode Specific (Operation mode)
5 Operation Mode Specific (Operation mode)
6 Operation Mode Specific (Operation mode)
7 Fault reset (Clear servo alarm)
8
9 ~15
Homing mode
Start homing
(Rising-edge
triggered)
N/A
N/A
Table 8.2.3 Definition of Operation Mode Specific
General Operation of Motion Axis
Name
Halt
N/A
Position
Profile Velocity
Interpolation
(PV) mode
mode
N/A N/A
N/A N/A
N/A N/A
8
Profile Torque
(PT) mode
N/A
N/A
N/A
8-13