18．EtherCAT COMMUNICATION
Speed limit value
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
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).
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
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 (cst mode)
The value at reading is undefined. Set "0" at writing.
(3) OMS bit of Statusword (cst mode)
The value at reading is undefined.
0: Target torque (6071h) is being discarded.
1: Target torque (6071h) is being used as a torque control loop input.
The value at reading is undefined.
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