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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects
9
9-2-1 3000 hex: Basic Functions
• Selects the Modes of operation.
• Mirror object of 6060 hex
Description of Set Values
• Gives the present status of the Servo Drive (PDS).
• Mirror object of 6041 hex
Description of Set Values
Subindex F2 hex: Modes of Operation
Set
value
Description
0 Not specified.
1 Profile position mode (pp)
3 Profile velocity mode (pv)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
Subindex FF hex: Statusword
Bit Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3Fault
4 Voltage enabled
5 Quick Stop
6 Switch on disabled
7 Warning
8 Manufacturer specific
9 Remote
10 Operation mode specific
11 Internal limit active
12 Operation mode specific
13 Operation mode specific
14 Manufacturer specific
15 Manufacturer specific
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