Leadshine EL8-EC Series User Manual page 222

Related Objects
Basic object
PDO Index+Sub-Index
6040-00h
60FF-00h
(RXPDO)
6083-00h
6041-00h
6064-00h
606C-00h
(TXPDO)
60F4-00h
6077-00h
Extended object
Index+Sub-Index
603F-00h
6060-00h
6061-00h
605A-00h
6084-00h
6085-00h
Control Word and Status Word for Profile Velocity Mode
The bit6~4 of control words (6040h) associated with the control mode in PV mode are
invalid. The motion in PV mode can be triggered as long as the motion parameters (target
velocity (60FFh) ACC/DEC (6083h/6084h)) are given after the axis is enabled.
Table7. Bit15~12、10、8 of Status word (6041h) for Profile Velocity Mode
Bit
(Label)
8
(Quick stop)
10
(Velocity reached)
12
(Zero speed)
*1) Zero speed of bit 12 is generally effective when deceleration stop and hardware limit
valid.
Name
Control word
Target velocity
Acceleration
Status word
Position feedback
Velocity feedback
Actual following error
Actual torque
Name
Error code
Operation mode
Displayed operation mode
Quick stop option
Deceleration
Quick stop deceleration
Value Details
0 Quick stop invalid
1 Quick stop valid
0 Velocity not yet reached
1 Velocity reached
0 It's not zero speed. It's moving.
Zero speed or it's going to slow down to zero speed
1
*1)
User manual of EL8-EC***F AC Servo
Data Type Access
U16 RW
I32 RW
I32 RW
U16 RO
I32 RO
I32 RO
I32 RO
I16 RO
Data
Access
Type
U16 RO
I8 RW
I8 RO
I16 RW
U32 RW
U32 RW
Unit Notes
— Required
Required
Uint
Optional
Uint /S
Required
—
Optional
Uint
Optional
Uint /S
Optional
Uint
Optional
0.1%
Unit
—
—
—
—
Uint /S
Uint /S
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