SMC Networks LECSN-T Series - 18.7.3.8 PDS Control Objects

18 - 175
18．EtherCAT COMMUNICATION
18.7.3.8 PDS Control Objects
(1) Error code (603Fh)
Index
Sub
Name
Data Type
Access
PDO Mapping
603Fh
0
Error code
UNSIGNED16
ro
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
603Fh
0
0
0000h to FFFFh
Impossible
The number of the latest error that occurred after the power on is returned. The description of the error
number is the same as that of Pre-defined error field (1003h). Refer to section 7.3.1 (3).
(2) Controlword (6040h)
Index
Sub
Name
Data Type
Access
PDO Mapping
6040h
0
Controlword
UNSIGNED16
rw
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
6040h
0
0
Refer to the text.
Impossible
Set control commands to control the driver. Refer to section 5.2.1 for details.
(3) Statusword (6041h)
Index
Sub
Name
Data Type
Access
PDO Mapping
6041h
0
Statusword
UNSIGNED16
ro
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
6041h
0
Refer to the text.
Impossible
The servo status is returned. Refer to section 5.3.1 for details.
(4) Quick stop option code (605Ah)
Index
Sub
Name
Data Type
Access
PDO Mapping
605Ah
0
Quick stop option code
INTEGER16
rw
Impossible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
605Ah
0
2
0002h to 0002h
Possible
PT68
Set how to decelerate the servo motor to a stop at Quick Stop reception. The description of the setting
values is as follows.
Setting
value
Description
1
2
In the cyclic synchronous mode (csp/csv), profile mode (pp/pv), and homing mode
(hm), the servo motor decelerates to a stop with Quick stop deceleration (6085h) and
the state shifts to the Switch On Disabled state.
In the cyclic synchronous torque mode (cst) and profile torque mode (tq), the state
immediately shifts to the Switch On Disabled state and the servo motor stops with the
dynamic brake.
3
4
5
6
7
8