2 CONTROL MODE
2.1 Control mode [G]
25
2
*1 This object may not be used depending on the network being used. For details, refer to the User's Manual (Object Dictionary).
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csp)
■Statusword OMS Bit (csp)
60FAh VAR Control effort Position control loop output (speed command)
Unit: vel units
60E0h VAR Positive torque limit value Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio Gear ratio
1 Motor revolutions Number of revolutions of the servo motor shaft (numerator)
Page 132 Electronic gear function [G]
2 Shaft revolutions Number of revolutions of the drive shaft (denominator)
Page 132 Electronic gear function [G]
607Eh VAR Polarity Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 109 Rotation/travel direction selection [G]
60A8h VAR SI unit position SI unit position
It is automatically set in [Pr. PT01.2 Unit for position data].
60A9h VAR SI unit velocity SI unit velocity
The SI unit velocity is returned.
It is automatically set in [Pr. PT01.2 Unit for position data].
60B0h VAR Position offset Position offset
Unit: pos units
60B1h VAR Velocity offset Velocity offset
Unit: vel units
60B2h VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
6062h
*1
VAR Position demand value Command position (absolute position)
The command position inside the servo amplifier is returned.
Unit: pos units
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Drive follows the command
value
(Target position ignored)
0: [Target position (Obj. 607Ah)] is being discarded.
1: [Target position (Obj. 607Ah)] is being used as a position control loop input.
13 Following error 0: No following error
1: Following error
When the time set in [Following error time out (Obj. 6066h)] elapses in a state where the value of [Following error
actual value (Obj. 60F4h)] exceeds the value set in [Following error window (Obj. 6065h)], this bit changes to "1".
Index Sub Object Name Description
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