A-61
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object sets the operation mode.
• The default value is 0 (Not specified). Set the operation mode from the master after the power supply
is turned ON.
• A Command warning (Error No. B1 hex) occurs if the servo is turned ON (Operation enabled = 1) with
the default setting of 0 (Not specified).
• Even when the default value (0: Not specified) is set again after changing the mode of operation, the
mode of operation does not return to “Not specified.” The previous mode of operation is retained.
• Similarly, when an unsupported mode of operation is set, the previous mode is retained.
• When an unsupported mode of operation is set using SDO mailbox communications, an ABORT
code is returned.
Description of Set Values
*1 Profile position mode (pp) is supported for unit version 2.1 or later.
For details about changing the modes of operation, refer to A-1-5 Changing the Mode of Operation on
page A-7.
• This object gives the present operation mode.
• The value definitions are the same as for the Modes of operation (6060 hex).
• This object gives the Servo Drive's internal command position.
6060 hex
Modes of operation
Range 0 to 10 Unit − Default 0 Attribute A
Size 1 byte (INT8) Access RW PDO map Possible
Code Description
0 Not specified
1
Profile position mode (pp)
*1
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
6061 hex
Modes of operation display
Range 0 to 10 Unit − Default 0 Attribute −
Size 1 byte (INT8) Access RO PDO map Possible
6062 hex
Position demand value
Range −2,147,483,648
to 2,147,483,647
Unit Command
units
Default 0 Attribute −
Size 4 bytes (INT32) Access RO PDO map Possible
All
All
csp
pp
hm
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