Omron R88M-1M Series User Manual page 570

9 Details on Servo Parameters
Subindex 85 hex: Supported Drive Modes
• Gives the supported modes of operation.
• Mirror object of 6502 hex
 Description of Set Values
Bit
0
1
2
3
4
5
6
7
8
9
10 to 31
Subindex F1 hex: Controlword
• Controls the state machine of the Servo Drive (PDS).
• Mirror object of 6040-00 hex
 Description of Set Values
Bit
0
1
2
3
4 to 6
7
8
9
10
11
12
13 to 15
9 - 10
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Supported mode
pp (Profile position mode)
vl (Velocity mode)
pv (Profile velocity mode)
tq (Profile torque mode)
Reserved
hm (Homing mode)
ip (Interpolated position mode)
csp (Cyclic synchronous position mode)
csv (Cyclic synchronous velocity mode)
cst (Cyclic synchronous torque mode)
Reserved
Switch on
Enable voltage
Quick stop
Enable operation
Operation mode specific
Fault reset
Halt
Operation mode specific
Reserved
P_CL
N_CL
Manufacturer specific
Description
Definition
1: Supported
0: Not supported
1: Supported
0: Not supported
0
1: Supported
0: Not supported
1: Supported
1: Supported
1: Supported
0