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5 CiA402 Drive Profile

EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)

5-7 Device Profile area

5-7-1 Drive Profile Objects

• This object sets the operation mode.

• Explanation of set values

• This object gives the present operation mode.

• The value definitions are the same as for Modes of operation (6060 hex).

• This object indicates the supported operation modes.

• Bit descriptions

6060 hex Modes of operation

Setting range: 2 Unit:  Default setting: 02 hex

Size: 1 byte (Int8) Access: RW PDO map: Possible

Value Details

1 Velocity mode

6061 hex Modes of operation display

Setting range: 0 to 10 Unit:  Default setting: 02 hex

Size: 1 byte (Int8) Access: RO PDO map: Possible

6502 hex

Supported drive modes

Setting range:  Unit:  Default setting: 00000002 hex

Size: 4 bytes (U32) Access: RO PDO map: Not possible

Bit Supported mode Definition

0 pp (Profile Position mode) 0: Not supported

1 vl (Velocity mode) 1: Supported

2 pv (Profile Velocity mode) 0: Not supported

3 t q (Profile Torque mode) 0: Not supported

4 Reserved 0

5 hm (Homing mode) 0: Not supported

6 ip (Interpolated Position mode) 0: Not supported

7 csp (Cyclic Sync Position mode) 0: Not supported

8 csv (Cyclic Sync Velocity mode) 0: Not supported

9 cst (Cyclic Sync Torque mode) 0: Not supported

10 to 31 Reserved 0

All

Omron 3G3AX-MX2-ECT User Manual

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