Related Objects; Control Word And Status Word; Typical Motion Mode Of Bit 5 At Pp Mode - Econ EtherCAT EHS-580 User Manual

SHENZHEN ECON TECHNOLOGY CO.,LTD

2.1.1 Related objects

Data write/read
RXPDO
TXPDO

2.1.2 Control word and Status word

In PP Mode, the bits 4~6 of Control word (6040h)
Bit
4(new position)
5((trigger immediately)
6 (absolutely /relatively)

2.1.3Typical motion mode of bit 5 at PP mode

Bit 5
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Object Description
6060h Operation Mode
6040h Control word
607Ah Target Position
6081h Maximum speed
6082h Start /Stop speed
6083h Profile Acceleration
6084h Profile Deceleration
6085h Emergency stop deceleration, base
on the value of 605Ah
605Ah Enable the deceleration of E-stop(5:
enable; Others: disable)
2000h Revolution per round
6041h Status word
6064h Actually position Feedback
606Ch Actual velocity feedback
603Fh Error code
6061h Operation mode display
Value
0 —> 1
0
1
0
1
0
User self-defined
User self-defined
User self-defined
User self-defined
User self-defined
User self-defined
User self-defined
User self-defined
User self-defined
Description
The motor run with the max speed(6081h) and
Acc(6083h )/Dec(6084h) to latest target position(607Ah)
Trigger the new movement after the current movement is
completed
Interrupt the current movement immediately, and start the
new movement
Process target position(607Ah) as the absolutely position
Process target position(607Ah) as the relatively position
1
Value Unit
1 -
-
Unit
Unit/s
Unit/S^2
Unit/S^2
Unit/S^2
Unit/S^2
-
pulse
Read only -
Read only Unit
Read only Unit/s
Read only -
Read only -