Estun Summa Series - Page 108

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-22
Index
Subindex
Name
Access
Data
Type
Unit
Range
Default
6064
00
Position Actual
Value
RO
INT32
Reference
unit
-2147483648 to
2147483647
－
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
6098
00
Homing Method
RW
INT8
－
1 to 35
1
6099
01
Speed during search
for switch
RW
UINT32
Reference
unit/s
0 to 4294967295
5000
02
Speed during search
for zero
RW
UINT32
Reference
unit/s
0 to 4294967295
100
609A
00
Home Acceleration
RW
UINT32
Reference
unit/s
2
0 to 4294967295
1000000
60F4
00
Following Error
RO
INT32
Reference
unit
-2147483648 to
2147483647
－
Recommended Configuration
RPDO
TPDO
Remarks
6040h: Controlword
6041h: Statusword
Mandatory
6098h: Homing Method
－
Optional
6099-01h: Speed during search for switch
－
Optional
6099-02h: Speed during search for zero
－
Optional
609A: Home Acceleration
－
Optional
－
6064h: Position Actual Value
Optional
6060h: Modes of operation
6061h: Modes of Operation display
Optional