Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
61
Operation mode related objects are shown in the following table below, where 6060h is used to set the operation
mode of the drive and 6061h is used to display the current operation mode of the drive.
Index
Object Code
Name
Type
Attr.
6060h
VAR
Modes of operation
INT8
RW
6061h
VAR
Modes of operation display
INT8
RO
The following table lists the values and meanings of the two objects.
Value
Description
1
Profile Position Mode
3
Profile Velocity Mode
4
Profile Torque Mode
6
Homing Mode
8
Cyclic Synchronous Position Mode
9
Cyclic Synchronous Velocity Mode
10
Cyclic Synchronous Torque Mode
7.4.1 Profile Position Mode
This mode is mainly used for point-to-point positioning. In this mode, the master station gives the target position
(absolute or relative), the speed, acceleration/deceleration and deceleration of the position curve, and the drive
generates the target position curve command according to the settings, and completes the positioning control.
7.4.1.1 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
p
6064h
VAR
Position actual value
INT32
RO
TPDO
Command
unit
6065h
VAR
Following error window
UINT32
RW
RPDO
Command
unit

Megmeet M5-N Series Specifications

General

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