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5 CiA402 Drive Profile
5 - 26 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
This object sets the behavior when an error occurs.
Explanation of set values
This object sets the operation mode.
Explanation of set values
This object gives the present operation mode.
The value definitions are the same as for Modes of operation (6060 hex).
This object indicates the supported operation modes.
Bit descriptions
605E hex Fault reaction option code
Setting range 1: Unit: Default setting: 1
Size: 2 bytes (Int16) Access: RW PDO map: Not possible
Set value Stop method
1 Deceleration stop
6060 hex Modes of operation
Setting range: 2 Unit: Default setting: 02 hex
Size: 1 byte (Int8) Access: RW PDO map: Possible
Value Details
1 Velocity mode
6061 hex Modes of operation display
Setting range: 0 to 10 Unit: Default setting: 02 hex
Size: 1 byte (Int8) Access: RO PDO map: Possible
6502 hex
Supported drive modes
Setting range: Unit: Default setting: 00000002 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Bit Supported mode Definition
0 pp (Profile Position mode) 0: Not supported
1 vl (Velocity mode) 1: Supported
2 pv (Profile Velocity mode) 0: Not supported
3 t q (Profile Torque mode) 0: Not supported
4 Reserved 0
5 hm (Homing mode) 0: Not supported
6 ip (Interpolated Position mode) 0: Not supported
7 csp (Cyclic Sync Position mode) 0: Not supported
8 csv (Cyclic Sync Velocity mode) 0: Not supported
9 cst (Cyclic Sync Torque mode) 0: Not supported
10 to 31 Reserved 0
All
All
All
All
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