Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
102
When there is no Z signal between the current position of the motor and the positive limit switch, forward low
speed returns to home, after encountering the rising edge of the positive limit switch, it runs at a low-speed in the
reverse direction. After encountering the falling edge of the Z signal, it will find the Z signal at a forward low speed
and stop.
 0x6098 = 35
Take the current position as the home
7.4.5 Cyclic Synchronous Position Mode
The principle of the Cyclic Synchronous Position Mode is similar to that of the interpolated position mode. In this
mode, the master station completes the position command planning, and sends the planned target position to the
slave station drive in a periodic synchronous manner. In this mode, the target position object is 607Ah.
The Cyclic Synchronous Position Mode (CSP) supports only absolute position instructions, and the M5-N
supports only linear interpolation.
7.4.5.1 Common object
The following table lists the objects related to this mode.
Index
Object Code
Name
Type
Attr.
PDO
mapping
Unit
6040h
VAR
Control word
UINT16
RW
RPDO
-
6041h
VAR
Status word
UINT16
RO
TPDO
-
6060h
VAR
Modes of operation
INT8
RW
RPDO
-
6061h
VAR
Modes of operation display
INT8
RO
TPDO
-
6063h
VAR
Position actual value*
INT32
RO
TPDO
p
6064h
VAR
Position actual value
INT32
RO
TPDO
Command
unit
6065h
VAR
Following error window
UINT32
RW
RPDO
Command
unit
6066h
VAR
Following error window time
UINT16
RW
RPDO
ms

Megmeet M5-N Series Specifications

General

Brand	Megmeet
Model	M5-N Series
Category	Servo Drives
Language	English