Contents
8.1 Device Control ............................................................................................. 25
8.1.1 Object 6040h – Controlword ................................................................. .... 27
8.1.2 Object 6041h – Statusword ...................................................................... 28
8.1.3 Object 6060h – Modes of Operation ............................................................ 28
8.1.4 Object 6061h – Modes of Operation Display .................................................. 29
8.1.5 Object 6502h – Supported drives modes ...................................................... 29
8.2 Factor Group ............................................................................................... 29
8.2.1 Object 608Fh – Position Encoder Resolution ................................................. 29
8.2.2 Object 6091h – Gear Ratio ....................................................................... 30
8.2.3 Object 6092h – Feed constant ................................................................... 30
8.3 Position Control Function ................................................................................ 30
8.3.1 Object 6063h – Position internal actual value ................................................. 31
8.3.2 Object 6064h – Position Actual Value .......................................................... 31
8.4 Profile Position Mode ..................................................................................... 31
8.4.1 Control and Status Bits ........................................................................... 34
8.4.2 Object 607Ah – Target Position ................................................................. 34
8.4.3 Object 6081h – Profile Velocity .................................................................. 35
8.4.4 Object 6083h – Profile Acceleration .............................................. .............. 35
8.4.5 Object 6084h – Profile Deceleration ............................................................ 35
8.4.6 Object 6086h – Motion Profile Type ............................................................. 35
8.5 Profile Velocity Mode .............................................. ....................................... 35
8.5.1 Control and Status Bits ........................................................................... 36
8.5.2 Object 6069h – Velocity Sensor Actual Value ................................................. 36
8.5.3 Object 606Bh – Velocity Demand Value ........................................................ 36
8.5.4 Object 606Ch – Velocity Actual Value .......................................................... 37
8.5.5 Object 60FFh – Target Velocity .................................................................. 37
8.6 Profile Torque Mode ....................................................................................... 37
8.6.1 Control and Status Bits ........................................................................... 37
8.6.2 Object 6071h – Target Torque ................................................................... 38
8.6.3 Object 6077h – Torque Actual Value ............................................................ 38
8.6.4 Object 6087h – Torque Slope .................................................................... 38
8.6.5 Object 6088h – Torque Profile Type ............................................................. 38
8.7 Cyclic Sinchronous position mode ..................................................................... 39
8.7.1 Control and Status Bits ........................................................................... 39
8.7.2 Object 60B1h – Velocity Offset .................................................................. 39
8.7.3 Object 60C2h – Interpolation time period ...................................................... 39
8.7.4 Mode Configuration ............................................................................... 40
8.8 Cyclic Sinchronous velocity mode ...................................................................... 40
8.8.1 Control and Status Bits ........................................................................... 40
8.8.2 Object 60B1h – Velocity Offset .................................................................. 40
8.8.3 Object 60C2h – Interpolation time period ...................................................... 41
8.8.4 Mode configuration ............................................................................... 41
9 Startup Guide ............................................................................................. 42
9.1 Installing the EtherCAT Module ......................................................................... 42
9.2 Configuring the Drive ..................................................................................... 42
9.3 Configuring the Master ................................................................ ................... 42
9.4 Communication Status ................................................................................... 43
