SMC Networks LECSN-T Series - Page 628

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18．EtherCAT COMMUNICATION
(5) Halt option code (605Dh)
Index
Sub
Name
Data Type
Access
PDO Mapping
605Dh
0
Halt option code
INTEGER16
rw
Impossible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
605Dh
0
1
0001h to 0001h
Possible
PT68
Set how to decelerate the servo motor to a stop at Halt reception. The description of the setting values is
as follows.
Setting
value
Description
1
For Profile deceleration (6084h) and the homing mode (hm), the servo motor
decelerates to a stop according to Homing acceleration (609Ah) and the state does
not change from the Operation Enabled state (servo-on).
2
3
4
(6) Modes of operation (6060h)
Index
Sub
Name
Data Type
Access
PDO Mapping
6060h
0
Modes of operation
INTEGER8
rw
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
6060h
0
0
Refer to the text.
Impossible
Set the control mode. The setting values are as follows.
Setting
value
Description
0
No mode change/No mode assigned
1
Profile position mode (pp)
3
Profile velocity mode (pv)
4
Profile torque mode (tq)
6
Homing mode (hm)
8
Cyclic synchronous position mode (csp)
9
Cyclic synchronous velocity mode (csv)
10
Cyclic synchronous torque mode (cst)
-100
Jog mode (jg)
-101
Point table mode (pt)
-103
Indexer mode (idx)
The settable values are limited depending on the setting of [Pr. PA01]. Refer to section 5.4.1 for details.