SMC Networks LECSN-T Series - Page 542

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Type
Access
Default
Description
607Dh
0
ARRAY
Software position limit
U8
ro
2
Number of entries
1
Min position limit
I32
rw
0
Minimum position address (Pos
units)
This cannot be used in the indexer
method.
2
Max position limit
I32
rw
0
Maximum position address (Pos
units)
This cannot be used in the indexer
method.
607Fh
VAR
Max profile velocity
U32
rw
2000000
maximum speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6080h
VAR
Max motor speed
U32
rw
Servo motor maximum speed
Unit: r/min
6081h
VAR
Profile velocity
U32
rw
10000
Speed after acceleration completed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6083h
VAR
Profile Acceleration
U32
rw
0
Acceleration at start of movement to
target position
Unit: ms
6084h
VAR
Profile deceleration
U32
rw
0
Deceleration at arrival at target
position
Unit: ms
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)
In the indexer method, the value is
fixed to 0.
606Ch
VAR
Velocity actual value
I32
ro
Current speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
In the indexer method, this is
available only in 0.01 r/min.
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) (Note)
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%)