Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-13
8
Bit Name
4 Operation Mode Specific (Operation mode)
5 Operation Mode Specific (Operation mode)
6 Operation Mode Specific (Operation mode)
7 Fault reset (Clear servo alarm)
8 Halt
9 ~15 N/A
Operation Mode Specific represents by bit 4 ~ 6 are as follows. See the table below:
Bit
Profile Position
(PP) mode
Homing mode
Position
Interpolation
mode
Profile Velocity
(PV) mode
Profile Torque
(PT) mode
4
New Position
Command
(Rising-edge
triggered)
Start homing
(Rising-edge
triggered)
N/A N/A N/A
5
Activate
Immediately
N/A N/A N/A N/A
6
0: Absolute motion
1: Relative motion
N/A N/A N/A N/A
Table 8.2.3 Definition of Operation Mode Specific

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English