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(4) Positioning speed P31.35 is the home searching speed at the start stage of the spindle positioning, which affects
the positioning speed and accuracy of the spindle.
(5) The spindle/positioning homing direction is determined by P31.01.
Control mode selection
Servo control
switchover selection
0: Non-servo control
1: Speed/Torque
←→
Servo control
2: Servo
←→
Speed/Torque control
3: Servo control
4: Bus control
For bus control, set P30.00=4.
In this mode, the EtherCAT fieldbus can control the drive by the following ways.
1: Profile Position Mode
3: Profile Velocity Mode
6: Homing Mode
7: Interpolated Position Mode
8: Cyclic Synchronous Position Mode
9: Cyclic Synchronous Velocity Mode
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