Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
105
Index
Object Code
Name
Type
Attr.
PDO
mapping
Unit
603Fh
VAR
Error Code
UINT16
RW
TPDO
-
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
-
606Ch
VAR
Velocity actual value
INT32
RO
TPDO
Command
unit/s
606Dh
VAR
Velocity window
UINT16
RW
RPDO
rpm
606Eh
VAR
Velocity window time
UINT16
RW
RPDO
ms
607Eh
VAR
Polarity
UINT8
RW
RPDO
-
6095h
ARRAY
Velocity factor 1
UINT32
RW
RPDO
-
60FFh
VAR
Target velocity
INT32
RW
RPDO
Command
unit/s
7.4.6.2 Control word and status word
The control word in Cyclic Synchronous Velocity Mode (CSV) is the same as the standard definition.
Status word in Cyclic Synchronous Velocity Mode (CSV) :
Bit15~Bit13
Bit12
Bit11
Bit10
Bit9~Bit0
*
Target velocity ignored
*
Target reached
*
Description of status word bits in Cyclic Synchronous Velocity Mode (CSV) :
Bit
Value
Description
Target reached
0
Target speed not reached
1
Target speed reached
Target velocity
ignored
0
Speed instruction not followed
1
Speed instruction followed
7.4.6.3 Function description
• Running mode: Set 6060h = 9;
• Target speed setting: Use 60FFh to set the target speed of the user unit, if necessary, set the speed factor
6095h;
• Running enable: Enable the drive to run through the control word 6040h;
• Speed limit setting: Select the speed limit channel according to the function code object dictionary
2007.0Ah(P07.09 forward speed limit channel) and 2007.0Ch(P07.11 reverse speed limit channel), the default

Megmeet M5-N Series Specifications

General

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