18.EtherCAT COMMUNICATION
18.5.4.10 Point table mode (pt)
Point table mode (pt) is available with drivers.
The following shows the functions and related objects of the point table mode (pt).
Position
trajectry
generator
+
×
×
×
×
×
-
Control
effort
(60FAh)
Position actual internal value (6063h)×
×
Acceleration
limit
function
Position
limit
function
Position
control
Velocity
control
Torque
control
Encoder
Motor
Torque limit value
(60E0h, 60E1h)
Quick stop deceleration
(6085h)
Quick stop option code
(605Ah)
Target point table
(2D60h)
Software position limit
(607Dh)
Point demand value
(2D68h)
Gear ratio
(6091h)
Polarity
(607Eh)
Following error actual value
(60F4h)
Position actual value
(6064h)
Velocity actual value
(606Ch)
Torque actual value
(6077h)
Point table
(2801h to 28FFh)
Point table error
(2A43h)
M code actual value
(2D6Ah)
Point actual value
(2D69h)
Speed
(2801h: 2 to 28FFh: 2)
Acceleration
(2801h: 3 to 28FFh: 3)
Deceleration
(2801h: 4 to 28FFh: 4)
Point data
(2801h: 1 to 28FFh: 1)
Point
table
function
× ×
Minimum value of the position range
limit
The value is automatically set
according to the setting of "Position
data unit" of [Pr. PT01].
mm/inch/pulse: -2147483648
Maximum value of the position
range limit
The value is automatically set
according to the setting of "Position
data unit" of [Pr. PT01].
mm/inch/pulse: 2147483647
Minimum position address (Pos
units)
Maximum position address (Pos
units)