Xinje DF3E Series

86
2. Control word (6040h) <HM control mode function >
Index
Sub-
Index
Name/Description
Range
Date
Type
Access
PDO
Op-
mode
6040h
00h
Controlword
0~65535
U16
rw
RxPDO
All
Set the control command of servo driver such as PDS state transition.
Bit information
15
14
13
12
11
10
9
8
r
h
7
6
5
4
3
2
1
0
fr
oms
eo
qs
ev
so
r
r
sh
r = reserved (No correspondence) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode based on bit) qs = quick stop
h = halt ev = enable voltage
sh = start homing so = switch on
bit6-4 (operation mode specific):
Bit
Name
Value
Definition
4
start homing
0→1
Start back to zero
5
reserved
-
Invalid information
6
reserved
-
Invalid information
3. Status word (6041h) <HM control mode function >
Index
Sub-
Index
Name/Description
Range
Date
Type
Access
PDO
Op-
mode
6041h
00h
Statusword
0~65535
U16
ro
TxPDO
All
Indicates the servo driver status.
Bit information
15
14
13
12
11
10
9
8
r
oms
ila
oms
rm
r
r
r
Targetreached
7
6
5
4
3
2
1
0
w
sod
qs
ve
f
oe
so
rsto
r = reserved (No correspondence) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit10, 12-13 (operation mode specific):
Bit
Name
Value
Definition
10
target
reached
0
Zero return in progress
1
Zero return completed
12
homing
attained
0
Zero return not complete
1
The return to zero action is completed normally
13
homing
error
0
No fault occurred in return to zero action
1
The return to zero action is abnormal