18．EtherCAT COMMUNICATION
18.5.4.4 Cyclic synchronous velocity mode (csv)
The following shows the functions and related objects of the cyclic synchronous velocity mode (csv).
Velocity
limit
function
×
×
× ×
×
×
Position actual internal value
(6063h)
Velocity
control
Torque
control
Velocity
demand
value
(606Bh)
Torque limit value (60E0h, 60E1h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target velocity (60FFh)
Position actual value (6064h)
Gear ratio (6091h)
Polarity (607Eh)
Velocity actual value (606Ch)
Max motor speed (6080h)
Torque actual value (6077h)
Encoder
Motor
Torque offset (60B2h)
+ +
Command speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Deceleration at deceleration to a
stop by Quick stop
Unit: ms
Operation setting for Quick stop
Refer to section 5.6.
Servo motor maximum speed
Unit: r/min
Command speed (after limit)
Position actual
internal value
Current position (after electronic
gear)
Current position (command unit)
Current speed
Unit: 0.01 r/min
Current torque
Unit: 0.1% (rated torque of
100%)
Travel distance per revolution of
an output shaft
Travel distance
Refer to section 7.3.14 (4).
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).
Positive torque
limit value
Torque limit value (forward)
Unit: 0.1% (rated torque of
100%)
Negative torque
limit value
Torque limit value (reverse)
Unit: 0.1% (rated torque of
100%)
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