SMC Networks LECSN-T Series User Manual

18 - 49
18．EtherCAT COMMUNICATION
18.5.4.7 Profile velocity mode (pv)
The following shows the functions and related objects of the profile velocity mode (pv).
Velocity
trajectry
generator
×
×
×
×
Position actual internal value (6063h)
×
×
×
Velocity
limit
function
Acceleration
limit
function
Velocity
control
Torque
control
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target velocity (60FFh)
Max profile velocity (607Fh)
Max motor speed (6080h)
Gear ratio (6091h)
Polarity (607Eh)
Velocity demand value (606Bh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Motor
Encoder
(1) Related object
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
60FFh
VAR
Target velocity
I32
rw
Command speed Unit: Vel unit
(0.01 r/min or 0.01 mm/s)
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
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)

SMC Networks LECSN-T Series Specifications

General

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