A-65
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object sets the acceleration rate in the Cyclic synchronous torque mode (cst).
• The setting resolution is 4,000. For example, if you set 5,000, the resolution will be 4,000.
• This object sets the deceleration rate in the Cyclic synchronous torque mode (cst).
• The setting resolution is 4000. For example, if you set 5000, the resolution will be 4,000.
• This object enables and disables the position command FIR filter.
• When this object is set to −1, the value of Position Command FIR Filter Time Constant (3818 hex) is
enabled.
• When this object is set to 0, the position command FIR filter is disabled.
• The position command FIR filter can be used in Cyclic synchronous position mode (csp), Profile
position mode (pp), and Homing mode (hm).
Note Profile position mode (pp) is supported for unit version 2.1 or later.
• When the communications cycle is set to 250 µs or 500 µs, the position command FIR filter is
disabled regardless of this setting.
6083 hex
Profile acceleration
Range 1 to
655,350,000
Unit Command
units/s
2
Default 1,000,000 Attribute B
Size 4 bytes (U32) Access RW PDO map Not possible
6084 hex
Profile deceleration
Range 1 to
655,350,000
Unit Command
units/s
2
Default 1,000,000 Attribute B
Size 4 bytes (U32) Access RW PDO map Not possible
6086 hex
Motion profile type
Range −1 to 0 Unit − Default 0 Attribute B
Size 2 bytes (INT16) Access RW PDO map Possible
pp
hm
pp
hm
csp
pp
hm
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