Estun Summa Series - Page 104

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-18
Object
Bit
Name
Value
Description
6041h
12
Drive follows the
command value
0
Drive does not follow the target value (position,
velocity or torque)
1
Drive follows the target value (position, velocity
or torque)
13
Following error
0
No following error
1
Following error
15
Homeflag
0
Homing not completed
1
Homing completed
NOTE: Only absolute position reference is supported in CSP mode.
Index
Subindex
Name
Access
Data Type
Unit
Range
Default
603F
00
Error Code
RO
UINT16
－
0 to 65535
0
6040
00
Controlword
RW
UINT16
－
0 to 65535
0
6041
00
Statusword
RO
UINT16
－
0 to 0xFFFF
0
6060
00
Modes of
operation
RW
INT8
－
0 to 10
0
6061
00
Modes of
Operation display
RO
INT8
－
0 to 10
0
6062
00
Position Demand
Value
RO
INT32
Reference unit
-2147483648
to 2147483647
－
6063
00
Position Actual
Internal Value
RO
INT32
Encoder unit
-2147483648
to 2147483647
－
6064
00
Position Actual
Value
RO
INT32
Reference unit
-2147483648
to 2147483647
－
6065
00
Following Error
Window
RW
INT32
Reference unit
-2147483648
to 2147483647
1048576
6067
00
Position Window
RW
UINT32
Encoder unit
0 to
4294967295
734
6068
00
Position Window
Time
RW
UINT16
ms
0 to 65535
－
606C
00
Velocity Actual
value
RO
INT32
Reference unit/s
－
－
6077
00
Torque actual
value
RO
INT16
0.1%
-5000 to 5000
0
607A
00
Target Position
RW
INT32
Reference unit
-2147483648
to 2147483647
0
6083
00
Profile
Acceleration
RW
UDINT32
Reference unit/s
2
0 to
4294967295
200000
6084
00
Profile Deceleration
RW
UDINT32
Reference unit/s
2
0 to
4294967295
200000