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7. AUXILIARY FUNCTION
(53) Control mode switch complete (54) Control mode switch error
Offset Content Offset Content
0000h Axis number 0000h Axis number
0002h Event code (0A00h) 0002h Event code (0A01h)
0004h Time stamp 0004h Time stamp
0006h 0006h
0008h
Control mode before switch
0: Position control mode
1: Speed control mode
2: Torque control mode
0008h
Control mode before switch
0: Position control mode
1: Speed control mode
2: Torque control mode
000Ah
Control mode after switch
0: Position control mode
1: Speed control mode
2: Torque control mode
000Ah
Control mode after switch
0: Position control mode
1: Speed control mode
2: Torque control mode
000Ch
0 (fixed value)
000Ch
Switch error cause
0: Zero speed (ZSP) OFF
1: Control mode error
2: Incompatible axis
3: Switch not possible
000Eh 0 (fixed value) 000Eh 0 (fixed value)
(55) Mark detection signal detection (56) Mark detection clear
Offset Content Offset Content
0000h Axis number 0000h Axis number
0002h Event code (0B00h) 0002h Event code (0B01h)
0004h Time stamp 0004h Time stamp
0006h 0006h
0008h
Mark detection number
0: Mark detection setting 1
1: Mark detection setting 2
0008h
Mark detection setting number
000Ah
Mark detection edge data
1: OFF edge
2: ON edge
000Ah
0 (fixed value)
000Ch
Data latch
0: No latch
1: Latch
000Ch
0 (fixed value)
000Eh 0 (fixed value) 000Eh 0 (fixed value)
(57) Mark detection disable start (58) Mark detection disable cancel
Offset Content Offset Content
0000h Axis number 0000h Axis number
0002h Event code (0B02h) 0002h Event code (0B03h)
0004h Time stamp 0004h Time stamp
0006h 0006h
0008h Mark detection setting number 0008h Mark detection setting number
000Ah 0 (fixed value) 000Ah 0 (fixed value)
000Ch 0 (fixed value) 000Ch 0 (fixed value)
000Eh 0 (fixed value) 000Eh 0 (fixed value)