14.5 Manufacturer-Specific Objects
14-19
14
Object Dictionary
SERVOPACK Adjusting Command (2710 Hex)
This object is used for SERVOPACK adjustment services (e.g., encoder setup or multiturn
reset). Write data to subindex 1 to start command execution. Also, read the subindex 3 to
obtain the response. If you cannot obtain the response by reading subindex 3, the first byte of
the response data will give information about the progress of execution.
Command/Response Data Format
Positive torque limit value (60E0 hex)
UINT
Negative torque limit value (60E1 hex)
UINT
Torque offset (60B2 hex)
INT
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
2710 hex
0
Number of entries
USINT
RO
No
3
No
1
Command
STRING
RW
No
Bytes 0 to n: Service
Request Data
The command is
executed when
command data is
written.
No
2
Status
USINT
RO
No
0: Command com-
pleted, no errors,
and no response
data
1: Command com-
pleted, no errors,
and response
data provided
2: Command com-
pleted, error, and
no response data
3: Command com-
pleted, error,
response data
provided
255: Command is
being executed
No
3
Reply
STRING
RO
No
Byte 0: Subindex 2
Byte 1: Not used
2 to n: Service
response
data
No
Command Data (Service Request Data)
Response Data (Service Response Data)
Byte
Description
Byte
Description
0
Reserved.
0
Status (Same data as subindex 2)
1
Reserved.
1
Reserved.
2
CCMD (command code)
00: Read request
01: Write request
2
RCMD (echoback of CCMD)
3
CSIZE (CDATA data byte size)
3
RSIZE (R_DATA data byte size)
4 to 7
CADDRESS (address)
4 to 7
RADDRESS (echoback of CADDRESS)
8 to 15
CDATA (writing data)
8 to 15
RDATA (read data)/ERROCODE
Continued from previous page.
EtherCAT(CoE) Communications Object
Data Type
