Chapter 7 EtherCAT Communication
Therefore, the numerator 6093-1h=8388608 and the denominator 6093-2h=5000 can be set.
7.3.4.2 Speed factor 1 (6095h)
The actual meaning of speed factor 1 is: when the load speed is 1 user unit, the corresponding motor speed (unit:
rpm).
Speed factor 1 is composed of the numerator 6095-1h and the denominator 6095-2h. The proportional
relationship between load speed (user unit) and motor speed (motor unit) can be established through the speed
factor:
Speedfactor1(6095h) =
Speedfactor1numerator(6095− 1h)
Speedfactor1denominator(6095−2h)
Loadspeed(user) = Motor speed ×Speed factor1
Motorfeedbackspeed =
Loadfeedbackspeed(user)
Speedfactor1
Example
For ball screw:
• Load speed unit : mm/s
• Motor speed: 1200rpm
• Lead screw: pB=10mm/r
Therefore, speed factor 1 is calculated as follows:
Load speed:
Loadspeed = Motorspeed× Lead = 1200rpm×
10mm
r
=200mm/s
Speed factor 1
Speedfactor1 =
Loadspeed
Motorspeed
=
200mm/s
1200rpm
=
1
6
It indicates that when the load speed is 1mm/s, the motor speed is 6rpm.
Therefore, the numerator 6095-1h=1 and the denominator 6095-2h=6 can be set.
7.4 Bus operation mode
M5-N supports the following bus operation modes in the CoE:
Profile Position Mode;
Profile Velocity Mode;
Profile Torque Mode;
Homing Mode;
Cyclic Synchronous Position Mode;
Cyclic Synchronous Velocity Mode;
Cyclic Synchronous Torque Mode;
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