SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
(4) Machine diagnostic status (2C20h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2C20h
0
Machine diagnostic status
UNSIGNED16
ro
Impossible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2C20h
0
Refer to the text.
Impossible
The machine diagnostic status is returned. The description is as follows.
This object is available with drivers.
Bit
Description
0 to 3
Friction estimation status at forward rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is
returned.
When an estimation is completed even though a warning has once occurred, the
status changes to Estimation is completed.
4 to 7
Friction estimation status at reverse rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is
returned.
When an estimation is completed even though a warning has once occurred, the
status changes to Estimation is completed.
8 to 11
Vibration estimation status
0: During estimation
1: Estimation is completed.
12 to 15
(reserved) The value at reading is undefined.
(5) Static friction torque at forward rotation (2C21h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2C21h
0
Static friction torque at forward rotation
INTEGER16
ro
Impossible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2C21h
0
8000h to 7FFFh
0.1%
Impossible
Static friction torque at forward rotation is returned in increments of 0.1%.
This object is available with drivers.

SMC Networks LECSN-T Series Specifications

General

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