Estun Summa Series - Page 150

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-64
Object
Bit
Name
Value
Description
1
Stops the axis according to Halt Option Code
(605Dh)
Statusword
6041h
10
Target reached
0

Halt (Bit 8 in Controlword) = 0: Target position
not reached

Halt (Bit 8 in Controlword) = 1: Axis
decelerates
1

Halt (Bit 8 in Controlword) = 0: Target position
reached

Halt (Bit 8 in Controlword) = 1: Velocity of
axis is 0
12
Speed
0
Speed is not equal 0
1
Speed is equal 0
15
Homeflag
0
Homing not completed
1
Homing completed
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
607F
00
Max Profile Velocity
RW
UINT32
Reference
unit/s
0 to 4294967295
－
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
－
60FF
00
Target Velocity
RW
INT32
Reference
unit/s
-2147483648 to
2147483647
0
606C
00
Velocity Actual value
RO
INT32
Reference
unit/s
－
－
6077
00
Torque actual value
RO
INT16
0.1%
-5000 to 5000
0
60E0
00
Positive Torque Limit
Value
RW
UINT16
0.1%
0 to 65535
－
60E1
00
Negative Torque Limit
Value
RW
UINT16
0.1%
0 to 65535
－
31CD
00
Torque Command Filter
Time
RW
INT32
0.01ms
0 to 2500
50
31CA
00
Speed Loop Gain
RW
INT32
rad/s
1 to 10000
500