Delta EtherCAT CMM-EC03 - Page 27

EtherCAT Communication Card: CMM-EC02/ CMM-EC03
CMM-EC02/ CMM-EC03 Operation Manual
27
Read Motor Drive Data
1. OD 606Ch: to observe motor rotation speed
OD 6041h: Motor drive’s state word, bit 10 target reached (0: Not running to target speed; 1: Run to
the target speed)
Index Related to the Motor Drive
Index
Definition
Form
Attribute
6040h
Controlword
UNSIGNED16
RW
6041h
Statusword
UNSIGNED16
RO
6060h
Mode of operation
INTEGER8
RW
6061h
Mode of operation display
INTEGER8
RO
6042h
vl target velocity
INTEGER16
RW
6043h
vl velocity demand
INTEGER16
RO
6044h
vl velocity actual value
INTEGER16
RO
604Fh
vl ramp function time
INTEGER16
RW
6050h
vl slow down time
INTEGER16
RW