SMC Networks LECSN-T Series User Manual

18 - 47
18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
607Eh
VAR
Polarity
U8
rw
0
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
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)
Note 1.
This is not supported by the driver.
(2) Details on the OMS bit of Controlword (pp mode)
Bit
Symbol
Description
4
New set-point
New positioning parameters are obtained when this bit turns on.
5
Change set
immediately
0: Set of set-points
1: Single set-point
6
abs/rel
0: Absolute position command
1: Relative position command
When the unit is set to degree, relative position commands are disabled. When the
relative position command is specified and positioning is started, [AL. F4.8] occurs and
positioning cannot be started.
8
HALT
0: Positioning is executed.
1: The servo motor stops according to Halt option code (605Dh).
9
Change on
set-point
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped).
(black line (Refer to (5) in this section.)).
1: The next positioning starts after positioning is executed with Profile velocity (6081h)
held up to the current set-point. (gray line (Refer to (5) in this section.)).
(3) Details on the OMS bit of Statusword (pp mode)
Bit
Symbol
Description
10
Target reached
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target position reached
If the error between Position actual value (6064h) and Target position (607Ah) has
stayed within Position window (6067h) for Position window time (6068h) or more, Target
position reached is stored.
12
Set-point
acknowledge
0: Positioning completed (wait for next command)
1: Positioning being executed (The set-point can be overwritten.)
13
Following error
0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".

SMC Networks LECSN-T Series Specifications

General

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