Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
107
7.4.7.1 Common object
The following table lists the objects related to this mode.
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
-
6063h
VAR
Position actual value*
INT32
RO
TPDO
Encoder
unit
6064h
VAR
Position actual value
INT32
RO
TPDO
Command
unit
606Ch
VAR
Velocity actual value
INT32
RO
TPDO
Command
unit/s
606Dh
VAR
Velocity window
UINT16
RW
RPDO
rpm
6071h
VAR
Target torque
INT16
RW
RPDO
%
6072h
VAR
Max Torque
UINT16
RW
RPDO
%
6074h
VAR
Torque demand
INT16
RO
TPDO
%
6077h
VAR
Torque actual value
INT16
RO
TPDO
%
607Eh
VAR
Polarity
UINT8
RW
RPDO
-
607Fh
VAR
Max profile velocity
UINT32
RW
RPDO
Command
unit/s
6080h
VAR
Max profile velocity
UINT32
RW
RPDO
rpm
60E0h
VAR
FWD Torque Limit
UINT16
RW
RPDO
%
60E1h
VAR
REV Torque Limit
UINT16
RW
RPDO
%
7.4.7.2 Control word and status word
The control word under Cyclic Synchronous Torque Mode (CST) is the same as the standard definition.
Status word in Cyclic Synchronous Torque Mode (CST) :
Bit15~Bit13
Bit12
Bit11
Bit10
Bit9~Bit0
*
Target torque ignored
*
Target reached
*
Description of status word bits in Cyclic Synchronous Torque Mode (CST) :

Megmeet M5-N Series Specifications

General

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