SMC Networks LECSN-T Series - Page 538

18 - 86
18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Type
Access
Default
Description
2801h
to
28FFh
0
ARRAY
Point table 001 to 255
U8
ro
7
Number of entries
Point table
1
Point data
I32
rw
Position data
Unit: pos units
2
Speed
I32
rw
Speed
Unit: 0.01 r/min or 0.01 mm/s
3
Acceleration
I32
rw
Acceleration time constant
Unit: ms
4
Deceleration
I32
rw
Deceleration time constant
Unit: ms
5
Dwell
I32
rw
Dwell
Unit: ms
6
Auxiliary
I32
rw
Auxiliary function
Refer to section 7.3.17 (4).
7
M code
I32
rw
M code
2A43h
0
ARRAY
Point table error
U8
ro
2
Number of entries
Point table error
1
Point table error No.
I32
ro
Point table error number
2
Point table error
factor
I32
ro
Point table error factor
The error status is indicated when
this bit is turned on.
Refer to section 7.3.17 (5).
2D6Ah
VAR
M code actual value
U8
ro
The completed M code of the point
table is returned.
(2) Details on the OMS bit of Controlword (pt mode)
Bit
Symbol
Description
4
New set-point
The operation starts from the point table specified with the Target point table (2D60h)
when the Bit turns on.
5
(reserved)
The value at reading is undefined. Set "0" when writing.
6
(reserved)
8
HALT
0: Positioning is executed.
1: The servo motor stops according to Halt option code (605Dh).
9
(reserved)
The value at reading is undefined. Set "0" when writing.
(3) Details on the OMS bit of Statusword (pt mode)
Bit
Symbol
Description
10
Target reached
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target position reached
When the current position and the point table command position vary within Position
window (6067h) and this state exceeds Position window time (6068h), this bit becomes
Target position reached.
12
Set-point
acknowledge
0: Positioning completed (wait for next command)
1: Positioning being executed
13
Following error
0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".