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9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-5 Interface Monitor Settings
9
•
It outputs the Speed conformity output (VCMP) when the speed command conforms to the motor speed.
•
It is regarded as conformed when the difference between the speed command before the acceleration
or deceleration process inside the Drive and the motor speed is smaller than the set value on the
Speed Conformity Detection Range (3435 hex). The setting has a hysteresis of 10 mm/s.
• The speed conformity status can also be checked with the Speed Agreement (VCMP) flag in
EtherCAT communications status.
• This setting is also used as the detection threshold for the Speed Agreement (VCMP) flag in
EtherCAT communications status.
*1 Because the Speed Conformity Detection Range has a hysteresis of 10 mm/s, the actual detection range will
be as follows:
Threshold for transition from OFF to ON: (3435 hex – 10) mm/s
Threshold for transition from ON to OFF: (3435 hex + 10) mm/s
Refer to 3-1-9 Control Output Details on page 3-12 for the Speed conformity output (VCMP).
3435 hex
Speed Conformity Detection Range
Setting
range
10 to 20,000
Unit
mm/s
Default
setting
50 Data
attribute
A
Size 2 bytes (INT16) Access RW PDO map Not possible
ON ONOFF OFF
(3435 hex)
*1
(3435 hex)
*1
(3435 hex)
*1
(VCMP)
Speed Conformity
Detection Range
Speed Conformity
Detection Range
Speed Conformity Detection Range
Time
Speed conformity
output
Speed [mm/s]
A speed command after the
acceleration/deceleration processing
Speed command
Motor speed
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