Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default set-
ting
Data
attrib-
ute
Size
Ac-
cess
PDO
map
Complete
access
Modes of
operation
6060 --- Modes of opera-
tion
0 --- 2 A 1 byte
(INT8)
W RxPDO Not possi-
ble
---
• This object sets the operation mode. Always set 2 (vl (Velocity mode)).
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default set-
ting
Data
attrib-
ute
Size
Ac-
cess
PDO
map
Complete
access
Modes of
operation
6061 --- Modes of opera-
tion display
--- --- 2 --- 1 byte
(INT8)
RO TxPDO Not possi-
ble
---
• This object gives the present operation mode. (It is fixed to vl (Velocity mode).)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attrib-
ute
Size
Ac-
cess
PDO
map
Complete
access
Modes of
operation
60FE --- Digital outputs --- --- --- --- --- --- --- Possible ---
00 Number of en-
tries
--- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Physical outputs 00000000
to
FFFFFFFF
hex
--- 00000000
hex
A 4 bytes
(U32)
W RxPDO --- ---
02 Bit mask 00000000
to
FFFFFFFF
hex
--- 01010000
hex
A 4 bytes
(U32)
rw --- --- ---
• This object sets and controls the function output.
• Subindex 01 hex Physical outputs
writes values to its bits to change the function output status.
Bit Description of Subindex 01 hex
Set 0 for the bits that are not listed in the table.
Bit Signal Value Description
16 Output terminal [DO1] 0 OFF
1 ON
24 Relay output terminal [ROA, ROB] 0 OFF
1 ON
• Bit Description of Subindex 02 hex
Bit Signal Value Description
16 Output terminal [DO1] 0 Forced operation enabled
1 Forced operation disabled
24 Relay output terminal [ROA, ROB] 0 Forced operation enabled
1 Forced operation disabled (Setting of subindex 01 hex invalid)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default set-
ting
Data
attrib-
ute
Size
Ac-
cess
PDO
map
Complete
access
Modes of
operation
6502 --- Supported drive
modes
--- --- 00000002
hex
--- 4 bytes
(U32)
RO --- Not possi-
ble
---
Appendices
A-34
M1 Series EtherCAT Type User’s Manual (I670)
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