Revision April, 2015 2-1
Chapter 2 System Setup
2.1 Parameter Settings of EtherCAT Mode
1. Set parameter P1-01 to 0x0C
h
for EtherCAT communication and CANopen as the
application layer.
2. Restart the system of servo drive.
P1-01● CTL Control Mode and Output Direction
Address：0102H
0103H
Interface：
Panel / Software Communication
Reference：
-
Default：
0
Control Mode：
ALL
Unit：
Pulse (P mode); r/min (S mode);
N-m (T mode)
Range：
00 ~ 0x110F
Format：
Hex
Data Size：
16-bit
Settings：
Control mode settings
PT PR S T Sz Tz PT PR S T Sz Tz
Single Mode Dual Mode
00 ▲ 06 ▲ ▲
01 ▲ 07 ▲ ▲
02 ▲ 08 ▲ ▲
03 ▲ 09 ▲ ▲
04 ▲ 0A ▲ ▲
05 ▲ 0B N/A
Multiple Mode 0C CANopen Mode
0E ▲ ▲ ▲ 0D ▲ ▲
0F ▲ ▲ ▲
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