6-52
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
This object indicates the supported operation modes.
Bit Descriptions
Reserved Objects
The following objects are reserved. Do not use them.
6502 hex
Supported drive modes
Range − Unit − Default
0000 0080
hex
Attribute −
Size 4 bytes (U32) Access RO PDO map Not possible
All
Bit Supported mode Definition
0 pp (Profile position mode) 0: Not supported
1 vl (Velocity mode) 0: Not supported
2 pv (Profile velocity mode) 0: Not supported
3 tq (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 synchronous position mode) 1: Supported
8 csv (Cyclic synchronous velocity mode) 0: Not supported
9 cst (Cyclic synchronous torque mode) 0: Not supported
10 to 31 Reserved 0
Index Sub Name
605D hex 0 Halt option code
6067 hex 0 Position window
6083 hex 0 Profile acceleration
6084 hex 0 Profile deceleration
6099 hex
Homing speeds
0 Number of entries
1 Speed during search for switch
2 Speed during search for zero
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