Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
67
7.4.2.4 Basic configuration
The following table describes the basic object configurations in Profile Velocity Mode (PV).
RPDO object
TPDO object
Note
Control word 6040h
Status word 6041h
Required
Target speed 60FFh
Required
Speed actual value
606Ch
Optional
Other object
Optional, you can configure it as an SDO
parameter, or use the default
parameters of the drive.
7.4.3 Profile Torque Mode
The servo drive (slave station) receives the torque instruction from the host computer (master station) for torque
control.
7.4.3.1 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
6069h
VAR
Velocity sensor actual value
INT32
RO
TPDO
rpm
606Bh
VAR
Velocity actual value
INT32
RO
TPDO
rpm
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
606Fh
VAR
Velocity threshold
UINT16
RW
RPDO
rpm

Megmeet M5-N Series Specifications

General

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