6 - 17
6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-6 Profile Position Mode
6
Related Objects
Index
(hex)
Subindex
(hex)
Name Access Size Unit Setting range
Default set-
ting
6040 00 Controlword RW U16 --- 0 to FFFF hex 0000 hex
6041 00 Statusword RO U16 --- --- ---
6060 00 Modes of operation RW INT8 --- 0 to 10 0
6062 00 Position demand
value
RO INT32 Command
unit
--- ---
6064 00 Position actual value RO INT32 Command
unit
--- ---
6065
*1
*1. Following error window can be set to between 0 and 2,147,483,647, or 4,294,967,295. If the object is set to
4,294,967,295, the detection of Excessive Position Deviation Error will be disabled. If it is set to 0, an Exces-
sive Position Deviation Error will always occur. If the set value is between 2,147,483,647 and 4,294,967,294,
it is treated as 2,147,483,647.
00 Following error win-
dow
RW U32 Command
unit
0 to
2,147,483,647 or
4,294,967,295
100,000
606C 00 Velocity actual value RO INT32 Command
unit/s
--- ---
6072 00 Max torque RW U16 0.1% 0 to 5,000 5,000
6077 00 Torque actual value RO INT16 0.1% --- ---
607A
*2
*2. To enable the Servo Drive to accept commands without fail, the object value must always be retained for two
communications cycles or more.
00 Target position RW INT32 Command
unit
-2,147,483,648
to 2,147,483,647
0
607F 00 Max profile velocity W U32 Command
unit/s
0 to
2,147,483,647
2,147,483,647
6081 00 Profile velocity RW U32 Command
unit/s
0 to
2,147,483,647
0000 hex
6083 00 Profile acceleration RW U32 Command
unit/s
2
1 to
2,147,483,647
1,000,000
6084 00 Profile deceleration RW U32 Command
unit/s
2
1 to
2,147,483,647
1,000,000
60F4 00 Following error
actual value
RO INT32 Command
unit
--- ---
60FA 00 Control effort RO INT32 Command
unit/s
--- ---
60FC 00 Position demand
internal value
RO INT32 Encoder
unit
--- ---
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