8-78
Control Word (6040h) bit Name Value Description
4 Homing operation start
0 Enable Return to Origin Mode
1→0 Start Return to Origin
1 Enable Return to Origin Mode
0→1 Stop Return to Origin
8 Halt
0 Execute Return to Origin
1 Pause
Control Word (6041h) bit Name Value Description
10 Target reached
0 Target position not reached
1 Target position has reached
12 Set-point acknowledge
0 Current travel not completed
1 Current travel has completed
13 following error
0 Position command no following error
1 Position command following error
●
Related object:
Object Subobject Name Access
Data
Type
PDO
mapping
Unit
6040h 0 Control Word RW UINT YES -
6098h 0 Homing Method RW SINT YES -
6099h
Homing Speed
0 Number of entries RO USINT NO -
1 Speed during search for switch RW UDINT YES Vel unit
2 Speed during search for zero RW UDINT YES Vel unit
6041h 0 Status Word RO UINT YES -
6062h 0 Position Demand Value RO DINT YES Pos unit
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