SMC Networks LECSN-T Series - Page 550

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Type
Access
Default
Description
2D6Ah
VAR
M code actual value
U8
ro
Fixed to 0
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.
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 (idx mode)
Bit
Symbol
Description
4
New set-point
The operation starts toward the point table specified with the Target point table (2D60h)
when the bit turns on.
5
Direction
0: Station No. decreasing direction
1: Station No. increasing direction
6
Operation mode
0: Rotation direction specifying indexer operation
1: Shortest rotating indexer operation
8
(reserved)
The value at reading is undefined. Set "0" when writing.
9
(reserved)
(3) Details on the OMS bit of Statusword (idx mode)
Bit
Symbol
Description
10
(reserved)
The value at reading is undefined.
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".