Table of Contents
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Object Ref.
(0x)
6098
(Number of last sub-index)
6099
(Speed during switch search)
(Speed during zero point search)
609A
Homing acceleration
60B1
60B2
60C0
Interpolation sub-mode select
Interpolation data record
(Number of last sub-index)
60C1
Interpolation data record
Interpolation time period
(Number of last sub-index)
Interpolation time period
60C2
(Number of time periods)
Interpolation time period
(Time period exponent)
60F4
Following error actual value
Position control parameter set
(Number of last sub-index)
Position control parameter set
60FB
Position control parameter set
(Speed feed forward gain)
60FF
6502
Supported drive modes
26
Description
Homing method
Homing speeds
Homing speeds
Homing speeds
Velocity offset
Torque offset
(Target position)
(Proportional gain)
Target velocity
Data Type
Sub-index
Type
0
USINT
0
USINT
1
UDINT
2
UDINT
0
UDINT
0
DINT
0
INT
0
INT
0
USINT
1
UDINT
0
USINT
1
USINT
2
SINT
0
DINT
0
USINT
1
DINT
2
DINT
0
DINT
0
UDINT
Profile
RW
N
N
Y
N
RO
N
N
Y
N
RW
N
N
Y
N
RW
N
N
Y
N
RW
N
N
Y
N
RW
N
N
N
Y
RW
N
N
N
Y
RW
N
Y
N
Y
RO
N
Y
N
Y
RW
N
Y
N
Y
RO
N
Y
N
Y
RW
N
Y
N
Y
RW
N
Y
N
Y
RO
N
Y
N
N
RO
N
Y
N
Y
RO
N
Y
N
Y
RO
N
Y
N
Y
RW
N
N
N
Y
RO
Y
Y
Y
Y
SI-EtherCAT User Guide
Issue Number: 2
N
N
N
N
N
N
N
N
N
N
N
N
Y
Y
Y
Y
Y
N
Y
N
Y
Y
Y
Y
Y
Y
N
Y
Y
Y
Y
Y
Y
Y
N
N
Y
Y
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