Velocity Control Mode（Csv、Pv; Common Functions Of Velocity Control - Leadshine EL8-EC Series User Manual

Mode 34：
The motor starts to move in positive direction and stops when the Z-signal is valid.
If the positive/negative limit switch signal or homing switch is valid during the homing
process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor
will stop immediately.
Start
Z-Signal
Negative limit
NOT
Mode 35/37：
Set the current position as homing point. Using this mode, motor doesn't have to be
enabled. Set control word 6040h bit 4 from 0 to 1.
Start
Position
Application: Realization of homing motion
Step 1: 6060h = 6, determine if 6061h = 6. Servo driver is now under HM mode.
Step 2: Write motion parameters: Homing method 6098h, Homing velocity
6099h-01/6099h-02 and acceleration/deceleration 609Ah.
Step 3: Enable servo driver and switch bit 4 from 0 to 1 to start homing motion.
5.6 Velocity Control Mode（CSV、PV）

5.6.1 Common Functions of Velocity Control

Sub
Index
Index
6040 0 Control word
6072 0 Max torque
6080 0 Maximum motor velocity
60B1 0 Velocity feedforward (Restricted by
6080)
60B2 0 Torque feedforward
60FF 0 Target velocity (Restricted by 6080)
High Velocity
Stop
6099h-01h
34
Stop
35
37
Control Word 6040h bit4：0→1
Name
User manual of EL8-EC***F AC Servo
Low Velocity
6099h-02h
High Velocity
6099h-01h
Access PDO
RW
RxPDO
RW
RxPDO
RW
RxPDO
RW
RxPDO
RW
RxPDO
RW
RxPDO
Positive limit
POT
Low Velocity
6099h-02h
Mode
CSV PV
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
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