2 CONTROL MODE
2.1 Control mode [G]
35
2
*1 Available on servo amplifiers with firmware version C0 or later.
6077h VAR Torque actual value Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft
1 Feed Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
Unit: rev
60C5h
*1
VAR Max acceleration Acceleration limit value
Unit: Command unit/s
2
60C6h
*1
VAR Max deceleration Deceleration limit value
Unit: Command unit/s
2
60E0h VAR Positive torque limit value Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio Gear ratio
1 Motor revolutions Number of revolutions of the servo motor shaft (numerator)
Page 132 Electronic gear function [G]
2 Shaft revolutions Number of revolutions of the drive shaft (denominator)
Page 132 Electronic gear function [G]
607Eh VAR Polarity Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 109 Rotation/travel direction selection [G]
606Dh VAR Velocity window Speed error threshold for judging Target reached
Unit: vel units
606Eh VAR Velocity window time Target reached judgment time
Unit: ms
606Fh VAR Velocity threshold Zero speed threshold for judging Speed
Unit: vel units
6070h VAR Velocity threshold time Speed judgment time
Unit: ms
60A8h VAR SI unit position SI unit position
It is automatically set in [Pr. PT01.2 Unit for position data].
60A9h VAR SI unit velocity SI unit velocity
The SI unit velocity is returned.
It is automatically set in [Pr. PT01.2 Unit for position data].
60B1h VAR Velocity offset Velocity offset
Unit: vel units
60B2h VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Index Sub Object Name Description
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