SMC Networks LECSN-T Series - Page 502

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
606Bh
VAR
Velocity demand
value
I32
ro
Speed command (after trajectory
generation)
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).
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)
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.
606Dh
VAR
Velocity window
U16
rw
2000
Speed error threshold for judging
Target reached
Unit: 0.01 r/min or 0.01 mm/s
606Eh
VAR
Velocity window
time
U16
rw
0
Target reached judgment time
Unit: ms
606Fh
VAR
Velocity threshold
U16
rw
5000
Zero speed threshold for judging
Speed
Unit: 0.01 r/min or 0.01 mm/s
6070h
VAR
Velocity threshold
time
U16
rw
10
Speed judgment time
Unit: ms
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.