Chapter 8 Servo Parameters
8-50 Revision January 2011
P1 - 01
CTL Control Mode and Output Direction Address: 0102H, 0103H
Default: 0 Related Section: Section 6.1,
Applicable Control Mode: ALL Table 8.A
Unit: pulse (P mode), r/min (S mode), N-m (T mode)
Range: 00 ~ 110F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
A: Control mode settings
PT PR
S T Sz Tz
Single Mode
00 ▲
01 ▲
02 ▲
03 ▲
04 ▲
05 ▲
Multiple Mode
0E ▲ ▲
▲
0F ▲ ▲
▲
PT
PR
S T Sz Tz
Dual Mode
06 ▲
▲
07 ▲
▲
08 ▲
▲
09 ▲
▲
0A
▲
▲
0B CANopen Mode
0C
Reserved
0D
▲
▲
PT: Position control mode. The command is from external pulse or analog voltage
(external analog voltage will be available soon).
PR: Position control mode. The command is from internal signal. Execution of 64
positions is via DI signals (POS0 ~ POS5). A variety of homing control is also
provided.
S: Speed control mode. The command is from external signal or internal signal.
Execution of the command selection is via DI signals, SPD0 and SPD1.
T: Torque control mode. The command is from external signal or internal signal.
Execution of the command selection is via DI signals, TCM0 and TCM1.
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command
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