SMC Networks LECSN-T Series - Page 494

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
6091h
0
ARRAY
Gear ratio
U8
ro
2
Gear ratio
1
Motor revolutions
U32
rw
1
Number of revolutions of the
servo motor axis (numerator)
(Note 1)
2
Shaft revolutions
1
Number of revolutions of the
drive axis (denominator) (Note 1)
607Eh
VAR
Polarity
U8
rw
0
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
60A8h
VAR
SI unit position
U32
rw
0
SI unit position
The value is automatically set
according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
60A9h
VAR
SI unit velocity
U32
rw
0
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
60B2h
VAR
Torque offset
I16
rw
0
Torque offset
Unit: 0.1% (rated torque of
100%)
This can be set within -32768 to
32767. When this is set to a
value exceeding the maximum
torque of the driver, the value is
clamped at the maximum torque.
Refer to section 5.12.
(2) OMS bit of Controlword (csv mode)
Bit
Symbol
Description
4
(reserved)
The value at reading is undefined. Set "0" at writing.
5
(reserved)
6
(reserved)
8
(reserved)
9
(reserved)
(3) OMS bit of Statusword (csv mode)
Bit
Symbol
Description
10
(reserved)
The value at reading is undefined.
12
Target velocity
ignored
0: Target velocity (60FFh) is being discarded.
1: Target velocity (60FFh) is being used as a speed control loop input.
13
(reserved)
The value at reading is undefined.