2 CONTROL MODE
2.1 Control mode [G]
27
2
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 (csv)
■Statusword OMS Bit (csv)
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].
60B1h VAR Velocity offset Velocity offset
Unit: vel units
60B2h VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
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 velocity (Obj. 60FFh)] is being discarded.
1: [Target velocity (Obj. 60FFh)] is being used as a speed control loop input.
13 (reserved) The value at reading is undefined.
Index Sub Object Name Description
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