18．EtherCAT COMMUNICATION
(2) Electronic gear function (unit conversion for position data)
The unit system of position data used inside and outside the driver can be mutually converted with the
Gear ratio value used as a coefficient.
Applicable object example
External position information (position information
exchanged with the upper side)
Current position (Position actual value (6064h))
Command position (Target position (607Ah))
Internal position information (position information
in the driver)
Internal current position (Position actual internal value
(6063h))
The following shows the equation.
Position actual value (6064h) =
Position actual internal value (6063h) × Feed constant (6092h)
Position encoder resolution (608Fh) × Gear ratio (6091h)
Position actual internal value (6063h) ×
Shaft revolutions (6091h: 2)
Motor revolutions (6091h: 1)
(3) OMS bit of Controlword (csp mode)
The value at reading is undefined. Set "0" at writing.
(4) OMS bit of Statusword (csp mode)
The value at reading is undefined.
0: Target position (607Ah) is being discarded.
1: Target position (607Ah) is being used as a position control loop input.
0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".
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