Estun Summa Series - Page 107

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-21
Object
Bit
Name
Value
Description
6040h
1
Enabled
starts running.
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
4
Homing
operation start
0
Does not start homing
1
Starts or continues homing
8
Halt
0
Enables Bit4
1
Stops the axis according to Halt Option Code
(605Dh)
Statusword
6041h
10
Target reached
0
Target position not reached
1
Target position reached
12
Homing attained
0
Home failed
1
Homing successful
This flag bit is available when the Drive is in
homing mode in running state and the target
reached signal is active.
13
Homing error
0
No home error
1
Homing timeout or deviation excessive
15
Homeflag
0
Homing not completed
1
Homing completed
This flag bit is set when the home signal is
reached.
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
－