Estun Summa Series - Page 156

Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-70
Object
Bit
Name
Value
Description
12
－
0
Reserved
13
－
0
Reserved
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
6071
00
Target Torque
RW
INT16
0.1%
-32768 to +32768
0
6072
00
Target Demand
Value
RO
INT16
0.1%
－
－
6074
00
Target Demand
Value
RO
INT16
0.1%
－
－
6077
00
Torque actual value
RO
INT16
0.1%
-5000 to 5000
0
607F
00
Max Profile Velocity
RW
UINT32
Reference
unit/s
0 to 4294967295
－
6087
00
Velocity Actual
value
RO
INT32
Reference
unit/s
－
－
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
31CB
00
Speed Loop Integral
Time
RW
INT32
0.1ms
1 to 5000
125
Recommended Configuration
RPDO
TPDO
Remarks
6040h: Controlword
6041h: Statusword
Mandatory
6071h: Target Torque
－
Mandatory
6087h: Target Slope
－
Optional
－
6064h: Position Actual Value
Optional
－
606Ch: Velocity Actual value
Optional