42
2 CONTROL MODE
2.1 Control mode [G]
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
60F4h VAR Following error actual value Droop pulses
Unit: pos units
60FAh VAR Control effort Position control loop output (speed command)
Unit: vel units
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]
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].
60AAh VAR SI unit acceleration SI unit acceleration
The SI unit acceleration is returned.
It is automatically set in [Pr. PT01.2 Unit for position data] or [Pr.
PT01.1 Speed/acceleration/deceleration unit selection].
6086h VAR Motion profile type Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not supported)
1: Sin
2
ramp (not supported)
2: Jerk-free ramp (not supported)
3: Jerk-limited ramp (not supported)
2D60h VAR Target point table Point table command
0: Does not operate.
1 to 255: Executes the specified point table.
-1: Positioning to the home
2D68h VAR Point demand value Point table request
The point table number which is currently being commanded is
returned.
When the servo motor is stopped, the setting value of [Target point
Table (Obj. 2D60h)] is returned.
2D69h VAR Point actual value Current point table
The point table number at which execution has completed is returned.
2801h
to
28FFh
0 ARRAY Point table 001 to 255 Number of entries (point table data)
1 Point data Position data
Unit: pos units
2 Speed Speed data
Unit: vel units
3 Acceleration Acceleration time constant
Unit: acc units
4 Deceleration Deceleration time constant
Unit: acc units
5 Dwell Dwell
Unit: ms
6 Auxiliary Auxiliary function
7 M code M code
Index Sub Object Name Description
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