2 CONTROL MODE
2.1 Control mode [G]
39
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 or are common depending on the control mode.
The bits that vary depending on the control mode are listed in the following tables.
■Controlword OMS Bit (tq)
■Statusword OMS Bit (tq)
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]
2D20h VAR Velocity limit value Speed limit value
Unit: vel units
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].
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 HALT 0: Drives the servo motor.
1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].
9 (reserved) The value at reading is undefined. Set "0" when writing.
Bit Symbol Description
10 Target reached
(not supported)
0: Halt (Bit 8) = 0: Target torque not reached.
0: Halt (Bit 8) = 1: Axis decelerates.
1: Halt (Bit 8) = 0: Target torque reached.
1: Halt (Bit 8) = 1: Velocity of axis is 0.
Judgment condition of Target torque reached:
When the time set in [Torque window time] elapses in a state where the difference between the values in [Torque
actual value (Obj. 6077h)] and [Target torque (Obj. 6071h)] is equal to or below the value set in [Torque window],
the state changes to "Target torque reached".
12 (reserved) The value at reading is undefined.
13 (reserved)
Index Sub Object Name Description
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