18．EtherCAT COMMUNICATION
Positive torque
limit value
Torque limit value (forward)
Unit: 0.1% (rated torque of
100%)
Negative torque
limit value
Torque limit value (reverse)
Unit: 0.1% (rated torque of
100%)
Number of revolutions of the
servo motor axis (numerator)
Number of revolutions of the
drive axis (denominator)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
Speed limit value
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
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).
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
This is not supported by the driver.
(2) Details on the OMS bit of Controlword (tq mode)
The value at reading is undefined. Set "0" at writing.
0: The servo motor is driven.
1: The servo motor is stopped according to Halt option code (605Dh).
The value at reading is undefined.
(3) Details on the OMS bit of Statusword (tq mode)
Target reached
(not supported)
(Note)
0 (Halt (Bit 8) = 0): Target torque not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target torque reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target torque reached
If the error between Torque actual value (6077h) and Target torque (6071h) has stayed
within Torque window for Torque window time or more, Target torque reached is stored.
The value at reading is undefined.
This is not supported by the driver.
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