SMC Networks LECSN-T Series - Page 565

18 - 113
18．EtherCAT COMMUNICATION
(3) Sequence
The following shows the operation patterns corresponding to the settings of Positioning option code
(60F2h).
(a) When POL is disabled ([Pr. PA14] = 0)
150 210
50
330
360 = 0
150 210
50
330
360 = 0
150 210
50
330
360 = 0
150 210
50
330
360 = 0
Bit 7: 0
Bit 6: 0
The servo motor rotates in
a direction specified with a
sign of the position data.
Bit 7: 0
Bit 6: 1
The servo motor rotates
only in the address
decreasing direction.
Bit 7: 1
Bit 6: 0
The servo motor rotates
only in the address
increasing direction.
Bit 7: 1
Bit 6: 1
The servo motor rotates in
the shorter direction.
(b) When POL is enabled ([Pr. PA14] = 1)
210 150
330
50
360 = 0
210 150
330
50
360 = 0
210 150
330
50
360 = 0
210 150
330
50
360 = 0
Bit 7: 0
Bit 6: 0
The servo motor rotates in
a direction specified with a
sign of the position data.
Bit 7: 0
Bit 6: 1
The servo motor rotates
only in the address
decreasing direction.
Bit 7: 1
Bit 6: 0
The servo motor rotates
only in the address
increasing direction.
Bit 7: 1
Bit 6: 1
The servo motor rotates in
the shorter direction.