A-75
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
Bit Descriptions for Sub-index 02 hex
• Set the command speed for the Cyclic synchronous velocity.
• This object indicates the type of motor that is connected.
• It is always 3 (PM synchronous motor) for G5-series Servo Drives.
Bit Signal name Symbol Code Description
0 Set brake Mask (Brake Interlock
Output Mask)
BKIR 0 Set brake disable output
1 Set brake enable output
1 to 15 Reserved −− −
16 Remote Output 1 Mask R-OUT1 0 R-OUT1 disable output
1 R-OUT1 enable output
17 Remote Output 2 Mask R-OUT2 0 R-OUT2 disable output
1 R-OUT2 enable output
24 Gain Switching Mask G-SEL 0 Switch setting disable
1 Switch setting enable
25 Reserved −− −
26 Speed Loop P/PI Control Mask P/PI 0 Switch setting disable
1 Switch setting enable
60FF hex
Ta r g e t v e l o c i t y
Range −2,147,483,647
to 2,147,483,647
Unit Command
units/s
Default 0 Attribute A
Size 4 bytes (INT32) Access RO PDO map Possible
6402 hex
Motor type
Range − Unit − Default 3 Attribute −
Size 2 bytes (U16) Access RO PDO map Not possible
All
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