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5.5 Position Mode（CSP、PP、HM）
5.5.1 Common Functions of Position Mode
Sub-
Index
Index
6040
0
Control word
6072
0
Max torque
607A
0
Target position
607D
1
Min.
limit
2
Max.
limit
607F
0
Maximum
protocol velocity
6080
0
Maximum
velocity
6081
0
Profile velocity
6083
0
Profile
acceleration
6084
0
Profile
deceleration
60C5
0
Protocol
maximum
acceleration
60C6
0
Protocol
maximum
deceleration
Sub-
Index
Index
6041
0
Status word
6062
0
Position
command
6063
0
Actual
position
6064
0
Actual position
feedback
6065
0
Position
deviation
window
6066
0
Position
deviation
detection time
Velocity
606C
0
feedback
Label
Access
RW
RW
RW
RW
software
RW
software
RW
motor
RW
RW
RW
RW
RW
RW
Label
Access
RO
RO
internal
RO
RO
RW
RW
RO
User manual of EL8-EC***F AC Servo
Mode
PDO
PP
CSP
RxPDO
Yes
Yes
RxPDO
Yes
Yes
RxPDO
Yes
Yes
RxPDO
Yes
Yes
RxPDO
Yes
Yes
RxPDO
/
Yes
RxPDO
Yes
Yes
RxPDO
Yes
/
RxPDO
Yes
/
RxPDO
/
Yes
RxPDO
Yes
/
RxPDO
/
Yes
Mode
PDO
PP
TxPDO
Yes
Yes
TxPDO
Yes
Yes
TxPDO
Yes
Yes
TxPDO
Yes
Yes
RxPDO
Yes
Yes
RxPDO
Yes
Yes
TxPDO
Yes
Yes
HM
Yes
Yes
/
/
/
Yes
Yes
/
/
/
Yes
Yes
CSP
HM
Yes
Yes
Yes
Yes
/
/
Yes
189
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