SMC Networks LECSN-T Series User Manual

18 - 45
18．EtherCAT COMMUNICATION
18.5.4.6 Profile position mode (pp)
The following shows the functions and related objects of the profile position mode (pp).
Position
trajectry
generator
+
×
×
×
×
×
×
×
-
Control
effort
(60FAh)
Position actual internal value (6063h)×
×
×
Position
limit
function
Velocity
limit
function
Acceleration
limit
function
Position
control
Velocity
control
Torque
control
Encoder
Motor
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Profile velocity (6081h)
Max motor speed (6080h)
Target position (607Ah)
Software position limit (607Dh)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Max profile velocity (607Fh)
(1) Related object
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
607Ah
VAR
Target position
I32
rw
Command position (Pos units)
607Bh
0
ARRAY
Position range limit
U8
ro
2
Number of entries
1
Min position range
limit
I32
rw
Minimum value of the position
range limit
The value is automatically set
according to the setting of
"Position data unit" in [Pr. PT01].
mm/inch/pulse: -2147483648
degree: 0
The cyclic synchronous mode
supports pulses only.
2
Max position range
limit
I32
rw
Maximum value of the position
range limit
The value is automatically set
according to the setting of
"Position data unit" in [Pr. PT01].
mm/inch/pulse: 2147483647
degree: 359999
The cyclic synchronous mode
supports pulses only.
607Dh
0
ARRAY
Software position
limit
U8
ro
2
Number of entries
1
Min position limit
I32
rw
0
Minimum position address (Pos
units)
2
Max position limit
I32
rw
0
Maximum position address (Pos
units)
607Fh
VAR
Max profile velocity
U32
rw
2000000
maximum speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6080h
VAR
Max motor speed
U32
rw
Servo motor maximum speed
Unit: r/min

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English