Emerson SI-EtherCAT User Manual page 50

7.3.7 0x6061 Modes_of_operation_display
This read only object indicates the active mode of operation.
Table 7-18 Modes_of_operation_display
0x6061 Modes_of_operation_display
Sub-index 0
Access: RO
Default: N/A
Description: Used to provide the active mode of operation.
Table 7-19 Modes_of_operation_display values
Value
0
2
6
7
8
9
10
7.3.8 0x6084 Profile deceleration
Table 7-20 Profile deceleration
0x6084 Profile deceleration
Access: RW
Default: 65536
Description: Provides the deceleration ramp for the positioning modes
7.3.9 0x6085 Quick_stop_deceleration
This object is used to configure the deceleration rate used to stop the motor when the quick stop
function is activated and the quick stop code object (0x605A) is set to 2 or 6. The quick stop
deceleration is also used if the fault reaction code object (0x605E) is 2. The value is given in user-
defined acceleration units.
Table 7-21 Quick_stop_deceleration
0x6085 Quick_stop_deceleration
Sub-index 0
Access: RW
Default: 65536
Description: Quick stop function for the positioning related modes.
7.3.10 Profile units
The SI-EtherCAT implementation provides a means to convert profile units into position controller
and drive units. All scaling values are standard profile objects. The following objects are supported:
Table 7-22 Supported profile units
Index
0x608F
0x6091
0x6092
50
Range: 0 to 8
No mode change
vl velocity mode
Homing mode
Interpolated Position mode
Cyclic Sync Position mode
Cyclic Sync Velocity mode
Cyclic Sync Torque mode
Range:0 to 65536
Range:Range:0 to 65536
position_encoder_resolution
gear_ratio
feed_constant
Size: Unsigned 8
Type: USINT
Definition
Size: Unsigned 32
Type: UDINT
Size: Unsigned 32
Type: UDINT
Name
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A
Unit: N/A
Issue Number: 2