Servo Drive Profile Object - Omron 1 S Series User Manual

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Servo Drive Profile Object

This section explains the CiA402 drive profile supported by 1S-series Servo Drives Advance Type.
Sub-
Index
index Object name
(hex)
(hex)
603F --- Error code
• This object gives the code of the latest existing event or warning which exists in the Servo Drive.
• When more than one error or warning occurs at the same time, the highest-priority one is given.
• The given error is from the manufacturer specific area FF00 to FFFF hex.
• The lower word of FF00 to FFFF hex gives the main error number.
Index (hex)
603F
Sub-
Index
index Object name
(hex)
(hex)
6040 --- Controlword
• This object is used to control the state machine of the Servo Drive (PDS).
 Description of Set Values
Bit
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific
7 Fault reset
8 Operation mode specific
9 Operation mode specific
10 Reserved
11 P_CL
12 N_CL
13 to 15 Manufacturer specific
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Setting Default
Unit
range setting
--- --- ---
Name Data type
Error code U16 0000 hex
FF01 hex
FF02 hex
:
FF99 hex
FFA0 hex
:
FFC0 hex
Others
Setting Default
Unit
range setting
0000 to --- 0000 hex
FFFF hex
Name
The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if it is set
to 0.
For details, refer to State Control Commands on page A-3.
These bits are specific to the operation mode.
Errors and warnings are reset when this bit turns ON.
This bit is specific to the operation mode.
This bit is specific to the operation mode.
These bits switch the torque limit function. They are normally set to 0.
Refer toTorque Limit Switching on page 7-30 for details.
These are manufacturer specific bits. Always keep them at 0.
Data
attri- Size Access
bute
--- 2 bytes RO TxPDO
(U16)
Specifications
: No error
: Main error number 1
: Main error number 2
:
: Main error number 99
: Warning A0 hex
:
: Information C0 hex
: Reserved
Data
attri- Size Access
bute
A 2 bytes W
(U16)
Description
Appendices
Com-
PDO Modes of
plete
map operation
access
Not possi- ---
ble
Com-
PDO Modes of
plete
map operation
access
RxPDO Not pos- csp, csv,
sible cst, pp,
pv, hm
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A