A-71
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 reverse torque limit.
• It is limited by the maximum torque of the connected motor.
• For details refer to Torque Limit Switching on page 7-24.
• Set the value in units of 0.1% of the rated torque (100%).
• This object shows the supported Homing methods.
60E1 hex
Negative torque limit value
Range 0 to 5000 Unit 0.1% Default 5000 Attribute A
Size 2 bytes (U16) Access RW PDO map Possible
60E3 hex
Supported homing method
Sub-index 00 hex Number of objects
Range − Unit − Default 07 hex Attribute −
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex 1st supported homing method
Range − Unit − Default 08 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 02 hex 2nd supported homing method
Range − Unit − Default 12 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 03 hex 3rd supported homing method
Range − Unit − Default 19 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 04 hex 4th supported homing method
Range − Unit − Default 20 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 05 hex 5th supported homing method
Range − Unit − Default 33 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 06 hex 6th supported homing method
Range − Unit − Default 34 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 07 hex 7th supported homing method
Range − Unit − Default 35 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
All
hm
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