18．EtherCAT COMMUNICATION
(7) Positioning option code (60F2h)
Set the profile position mode (pp). The description of this object is as follows.
00b: The positioning is performed with the relative position from the internal absolute
target position.
01b: The positioning is performed with the relative position from Position demand
actual value (60FCh). (Not supported) (Note 1)
10b: The positioning is performed with the relative position from Position actual value
(6064h). (not supported) (Note 1)
11b: reserved
00b: New values of Target position (607Ah), Profile velocity (6081h), and Acceleration
are promptly reflected.
01b: The current positioning continues to reach the target position. Then a new
setting of Target position (607Ah), Profile velocity (6081h), and Acceleration is
applied. (not supported) (Note 1)
10b: reserved
11b: reserved
00b: The servo motor rotates to the target position in a direction specified with a sign
of the position data.
01b: The servo motor rotates in the address decreasing direction regardless of the
sign of the position data.
10b: The servo motor rotates in the address increasing direction regardless of the
sign of the position data.
11b: The servo motor rotates from the current position to the target position in the
shorter direction. If the distances from the current position to the target position
are the same for CCW and CW, the servo motor rotates in the CCW direction.
This is not supported by the driver.
(8) Following error actual value (60F4h)
Following error actual value
The droop pulses are returned.
(9) Control effort (60FAh)
The speed command is returned.
Unit: [0.01 r/min]
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