SMC Networks LECSN-T Series User Manual

18 - 96
18．EtherCAT COMMUNICATION
18.5.4.12 Indexer mode (idx)
POINT
Indexer mode (idx) is available with drivers.
The following shows the function and related objects of the indexer mode (idx).
Position
trajectry
generator
+
×
×
× ×
-
Control
effort
(60FAh)
Position actual internal value (6063h)×
×
Torque
limit
function
Velocity
limit
function
Acceleration
limit
function
Position
control
Velocity
control
Torque
control
Encoder
Motor
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target point table (2D60h)
Profile velocity (6081h)
Max motor speed (6080h)
Torque limit value2 (2D68h)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h) (Fixed to 0)
Velocity actual value (606Ch)
Torque actual value (6077h)
×
Max profile velocity (607Fh)
Torque limit value (60E0h, 60E1h)
×
Point actual value (2D69h)
M code actual value (2D6Ah) (Fixed to 0)
Point demand value (2D68h)
(1) Related object
Index
Sub
Object
Name
Data
Type
Access
Default
Description
607Bh
0
ARRAY
Position range limit
U8
ro
2
Number of entries
1
Min position range
limit
I32
rw
Minimum value of the position range
limit
In the indexer method, the value
becomes "0".
2
Max position range
limit
I32
rw
Maximum value of the position
range limit
In the indexer method, the value
becomes the set value of [Pr. PT28
Number of stations per rotation] -1.
607Fh
VAR
Max profile velocity
U32
rw
2000000
maximum speed
Unit: Vel unit (0.01 r/min)
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)
6083h
VAR
Profile acceleration
U32
rw
0
Acceleration at start of movement to
target position
Unit: ms

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English