SMC Networks LECSN-T Series User Manual

18 - 46
18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
6081h
VAR
Profile velocity
U32
rw
10000
Speed after acceleration
completed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6083h
VAR
Profile
Acceleration
U32
rw
0
Acceleration at start of
movement to target position
Unit: ms
6084h
VAR
Profile
deceleration
U32
rw
0
Deceleration at arrival at target
position
Unit: ms
6085h
VAR
Quick stop
deceleration
U32
rw
100
Deceleration at deceleration to a
stop by Quick stop
Unit: ms
6086h
VAR
Motion profile type
I16
rw
0
Acceleration/deceleration type
selection
-1: S-pattern
0: Linear ramp (not supported)
(Note 1)
1: Sin
2
ramp (not supported)
(Note 1)
2: Jerk-free ramp (not supported)
(Note 1)
3: Jerk-limited ramp (not
supported) (Note 1)
605Ah
VAR
Quick stop option
code
I16
rw
2
Operation setting for Quick stop
Refer to section 5.6.
6063h
VAR
Position actual
internal value
I32
ro
Current position (Enc inc)
6064h
VAR
Position actual
value
I32
ro
Current position (Pos units)
606Ch
VAR
Velocity actual
value
I32
ro
Current speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6077h
VAR
Torque actual
value
I32
ro
Current torque
Unit: 0.1% (rated torque of 100%)
6092h
0
ARRAY
Feed constant
U8
ro
2
Travel distance per revolution of
an output shaft
1
Feed
U32
rw
Travel distance
Refer to section 7.3.14 (4).
2
Shaft revolutions
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).
60F4h
VAR
Following error
actual value
I32
ro
Droop pulses (Pos units)
60FAh
VAR
Control effort
I32
ro
Position control loop output
(speed command)
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
60E0h
VAR
Positive torque
limit value
U16
rw
10000
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
60E1h
VAR
Negative torque
limit value
U16
rw
10000
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
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)
2
Shaft revolutions
1
Number of revolutions of the
drive axis (denominator)

SMC Networks LECSN-T Series Specifications

General

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