SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
18.5.11 Degree function
(1) Summary
Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with card
coordinates (axis of rotation). The following shows the differences when "degree" is selected.
Item
Description
Target position (607Ah)
The range will be -360.000° to 360.000°.
Position actual value (6064h)
The range will be 0° to 359.999°.
Software position limit (607Dh)
The range will be 0° to 359.999°. A value outside the range is clamped
within the range 0° to 359.999°.
Position range limit (607Bh)
The range will be 0° to 359.999°.
Touch probe pos1 pos value (60BAh)
The range will be 0° to 359.999°.
Touch probe pos1 neg value (60BBh)
The range will be 0° to 359.999°.
Touch probe pos2 pos value (60BCh)
The range will be 0° to 359.999°.
Touch probe pos2 neg value (60BDh)
The range will be 0° to 359.999°.
Home offset (607Ch)
The range will be 0° to 359.999°.
Current position (2B2Fh)
The range will be 0° to 359.999°.
Command position (2B30h)
The range will be 0° to 359.999°.
Command remaining distance (2B31h)
The range will be 0° to 359.999°.
Alarm Monitor 47 Current position (2BAFh)
The range will be 0° to 359.999°.
Alarm Monitor 48 Command position (2BB0h)
The range will be 0° to 359.999°.
Alarm Monitor 49 Command remaining distance
(2BB1h)
The range will be 0° to 359.999°.
Position range output address ([Pr. PT19] to [Pr.
PT22])
The range will be 0° to 359.999°. When a value outside the range is set, the
value will be clamped within the range 0° to 359.999°.
(2) Setting of the operation pattern
Positioning operation patterns can be changed with Positioning option code (60F2h) or [Pr. PT03].
Change the setting while the servo motor is stopped (Target reached is on). If the setting is changed
while the servo motor is rotating (Target reached is off), the setting value is not applied immediately. The
new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is once
turned on. The following table shows the bit of Positioning option code (60F2h) and the setting of [Pr.
PT03].
Bit 7
Bit 6
[Pr. PT03]
Rotation direction definition for the axis of rotation
0
0
_ 0 _ _
The servo motor rotates to the target position in a direction specified with a sign of the
position data.
0
1
_ 2 _ _
The servo motor rotates in the address decreasing direction regardless of the sign of the
position data.
1
0
_ 3 _ _
The servo motor rotates in the address increasing direction regardless of the sign of the
position data.
1
1
_ 1 _ _
The servo motor rotates from the current position to the target position in the shorter
direction. If the distances from the current position to the target position are the same for
CCW and CW, the servo motor rotates in the CCW direction.

SMC Networks LECSN-T Series Specifications

General

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