SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
18.5.4.8 Profile torque mode (tq)
The following shows the functions and related objects of the profile torque mode (tq).
Torque
control
and
power
stage
×
×
×
×
Torque demand
(6074h)
Position actual internal
value (6063h)
× ×
Trajectry
generator
Torque slope (6087h)
Torque profile type (6088h)
Torque actual value (6077h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque limit value (60E0h, 60E1h)
Controlword (6040h)
Max torque (6072h)
Target torque (6071h)
Polarity (607Eh)
Gear ratio (6091h)
Encoder
Motor
(1) Related object
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
6040h
VAR
Controlword
U16
rw
Common control command
6071h
VAR
Target torque
I16
rw
Command torque Unit: 0.1%
(rated torque of 100%)
6072h
VAR
Max torque
U16
rw
Maximum torque Unit: 0.1%
(rated torque of 100%)
6074h
VAR
Torque demand
I16
ro
Command torque (after limit)
Unit: 0.1% (rated torque of
100%)
6087h
VAR
Torque slope
U32
rw
0
Torque variation
Unit: 0.1%/s (rated torque of
100%)
6088h
VAR
Torque profile type
U32
rw
0
Torque variation pattern
0000h: Linear ramp
0001h: Sin
2
ramp (not supported)
(Note 1)
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer
specific
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).

SMC Networks LECSN-T Series Specifications

General

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