SMC Networks LECSN-T Series - Page 551

18 - 99
18．EtherCAT COMMUNICATION
(4) idx mode operation sequence
(a) Rotation direction specifying indexer
POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
The following timing chart shows that an operation is performed at a stop of the station No. 0 when
servo-on.
Reverse
rotation
0 r/min
Forw ard
rotation
ON
OFF
Controlw ord bit 6
(Indexer mode)
ON
OFF
ON
OFF
Target point table (Note 1)
ON
OFF
INP/S_INP
(In-position) (Note 6)
ON
OFF
Statusw ord bit 12
(Set-point acknow ledge)
ON
OFF
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
ON
OFF
Point actual value
Enabled torque limit value
100.00 r/minProfile velocity
Controlw ord bit 4
(New set-point)
Controlw ord bit 5
(Direction)
Servo motor speed (Note 4)
(Note 3)
(Note 5)
Point demand value
1 3 1
*1
*2
*3
Torque limit value2
Positive torque limit value/
Negative torque limit value
Torque limit value2
Positive torque limit value/
Negative torque limit value
Torque limit value2
Positive torque limit value/
Negative torque limit value
Torque limit value2
(Note 5) (Note 5)
150.00 r/min
1 3 1
1 3 1
(Note 2)
Rotation direction specifying indexer operation