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Drive Objects

5.3 E94 Drive speciﬁc objects

Please see the provided drive94T.eds and drive94V.eds ﬁles and the SimpleServo Model 94 Users

Manual for a more complete description of all SDO objects and for setup instructions.

OBJECT NAME TYPE

6040h Control Word WORD The drive can execute the following

commands:

2 – Quick Stop

3 – Enable Drive

4 – Disable Drive

5 – Fault Reset

6 - Continue

6041h Status Word WORD Two bytes status is provided with the

following meaning:

Bit 0 - RUN indication

Bit 1 - Velocity in speed window

Bit 3 - Drive at fault

Bit 5 - Zero velocity reached

Bit 8 - Under voltage

Bit 11 - Regen indication

Bit 13 - Current limit reached

6071h Target Torque Float This object provides the Torque

reference in Amperes (A) to the DSP.

NOTE: This object is used only in CAN

Torque mode

6077h Torque Actual Value Float This object represents the actual Torque

value in Amperes (A) retrieved from the

DSP.

NOTE: This object is used only in CAN

Torque mode

60FFh Target Velocity Float This object provides the Velocity

reference in RPM to the DSP.

NOTE: This object is used only in CAN

Velocity mode

606Ch Velocity Actual Value Float This object represents the actual

Velocity value in RPM retrieved from the

DSP.

NOTE: This object is used only in CAN

Velocity mode

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