9 Details on Servo Parameters
9 - 10
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Gives the supported modes of operation.
• Mirror object of 6502 hex
Description of Set Values
• Controls the state machine of the Servo Drive (PDS).
• Mirror object of 6040-00 hex
Description of Set Values
Subindex 85 hex: Supported Drive Modes
Bit Supported mode Definition
0 pp (Profile position mode) 1: Supported
1 vl (Velocity mode) 0: Not supported
2 pv (Profile velocity mode) 1: Supported
3 tq (Profile torque mode) 0: Not supported
4Reserved 0
5 hm (Homing mode) 1: Supported
6 ip (Interpolated position mode) 0: Not supported
7 csp (Cyclic synchronous position mode) 1: Supported
8 csv (Cyclic synchronous velocity mode) 1: Supported
9 cst (Cyclic synchronous torque mode) 1: Supported
10 to 31 Reserved 0
Subindex F1 hex: Controlword
Bit Description
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific
7 Fault reset
8Halt
9 Operation mode specific
10 Reserved
11 P_CL
12 N_CL
13 to 15 Manufacturer specific
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