SMC Networks LECSN-T Series - Page 543

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Type
Access
Default
Description
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)
In the indexer method, this means
the number of gear teeth on
machine side.
2
Shaft revolutions
1
Number of revolutions of the drive
axis (denominator)
In the indexer method, this means
the number of gear teeth on servo
motor side.
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)
In the indexer method, this is
available only in 0.01 r/min.
2D68h
VAR
Point demand value
I16
ro
In the point table method, the value
is 0.
In the indexer method, the next
station No. is set.
2D69h
VAR
Point actual value
I16
ro
In the point table method, the
previous value is held.
In the indexer method, the station
No. at which the servo motor has
stopped is set. However, the
previous value is held when
S_MEND is off.
2D6Bh
VAR
Torque limit value2
U16
rw
10000
Torque limit value 2
Unit: 0.1% (rated torque of 100%)
Set a torque limit value for when the
servo motor is stopped.
This can be used only in the indexer
method.
Note.
In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).
(2) Details on the OMS bit of Controlword (jg mode)
Bit
Symbol
Description
4
Rotation start
0: Stop the servo motor
1: Start the servo motor
5
Direction
0: Forward rotation (address increase)
1: Reverse rotation (address decrease)
6
(reserved)
The value at reading is undefined. Set "0" when writing.
8
HALT
0: Positioning is executed.
1: The servo motor stops according to Halt option code (605Dh).
In the indexer method, this bit is disabled.
9
(reserved)
The value at reading is undefined. Set "0" when writing.