Page History
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Object | Name | Value | Unit | Description | PDO Mapped |
|---|---|---|---|---|---|
| 0x6040 | Controlword | - | - | See Controlword for general usage. | Yes |
| 0x6041 | Statusword | - | - | See Statusword for general usage. | Yes |
| 0x6060 | Modes of operation | 3 | - | Sets the mode to Profile Velocity mode | Yes |
| 0x60FF | Target speed | See 28868762 Peak Speeds | pulses/s | Sets the target speed | Yes |
| 0x6083 | Profile Acceleration | 0-32767 | Kpulses/s2 | Profile Acceleration | No |
| 0x6084 | Profile Deceleration | 0-32767 | Kpulses/s2 | Profile Deceleration | No |
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The following tables show the controlword usage.
| 15-9 | 8 | 7 | 6-5 | 4 | 3-0 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| See 28868762 Controlword | Halt | See 28868762 Controlword | reserved (0) | Homing operation Start | See 28868762 Controlword | ||||||||
| Bit | Name | Value | Definition |
|---|---|---|---|
| 4 | Homing operation start | 0 → 1 | Start or continue homing procedure |
| 8 | Halt | 0 | Enable bit 4 |
| 1 | The axis shall be stopped using the deceleration value in 0x609A |
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Object | Value | Unit | Description | PDO Mapped |
|---|---|---|---|---|
| 0x6040 | - | - | See 28868762Controlword | Yes |
| 0x6041 | - | - | See Statusword | Yes |
| 0x607A | -232 to +231 | pulses | Target position | Yes |
| 0x6064 | -232 to +231 | pulses | Position actual value | Yes |
| 0x6060 | 8 | - | CSP mode set | Yes |
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Overview
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