SMC Networks LECSN-T Series - Page 537

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Type
Access
Default
Description
6085h
VAR
Quick stop
deceleration
U32
rw
100
Deceleration at deceleration to a
stop by Quick stop
Unit: ms
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)
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).
60F4h
VAR
Following error actual
value
I32
ro
Droop pulses (Pos units)
60FAh
VAR
Control effort
I32
ro
Position control loop output (speed
command)
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
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
Refer to section 5.10.
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)
2D60h
VAR
Target point table
I16
rw
0
0: Not operate
1 to 255: Execute the specified
point table
-1: High-speed home position return
2D68h
VAR
Point demand value
I16
ro
The currently specified point table
No. is returned.
While the servo motor is stopped,
the value becomes the set value of
the Target point table (2D60h).
2D69h
VAR
Point actual value
I16
ro
The completed point table is
returned.