Hiwin E1 Series - Page 42

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-14 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
Index
Sub-
Index
Name
Data
type
Access PDO Valid value Unit
605Dh 00h
Halt option code I16 rw - 2 -
The object indicates the action when halt function is executed. E1-series drive only supports option 2: Slow down on quick
stop ramp. PDS state stays in Operation enabled.
605Eh 00h
Fault reaction option code I16 rw - 0 ~ 2 -
The object indicates the action during Fault reaction. The supported values are described as follows.
0: Disable drive function. The motor is free to rotate.
2: Slow down according to 6085h (quick stop deceleration). PDS state changes to Fault.
6060h 00h
Modes of operation I8 rw Y 0 ~ 10 -
Set the operation mode of the drive. The supported operation modes are listed as below.
Value
Op mode
abbreviation
0
no mode change / assigned
-
1
profile position
pp
3
profile velocity
pv
4
profile torque
tq
6 homing hm
8 cyclic synchronous position csp
9
cyclic synchronous velocity
csv
10
cyclic synchronous torque
cst
The default value is 0. If the object is set to 0 or an unsupported value, there will be no mode change.
Stop the motor before switching the operation mode. If the operation mode is changed during motion, the behavior will not be
guaranteed.
If dual-loop control is adopted, only pp, hm and csp modes can be used.