SMC Networks LECSN-T Series - Page 621

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18．EtherCAT COMMUNICATION
(21) Velocity limit value (2D20h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2D20h
0
Velocity limit value
UNSIGNED32
rw
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2D20h
0
50000
00000000h to instantaneous permissible
speed
vel units
Possible
PT67
Set the speed limit value of the cyclic synchronous torque mode (cst) and the profile torque mode (tq).
Unit: [0.01 r/min] ([0.01 mm/s] when a linear servo motor is used)
(22) Watch dog counter DL (2D23h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2D23h
0
Watch dog counter DL
UNSIGNED8
rw
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2D23h
0
00h to FFh
Impossible
When this object is mapped for RxPDO, set a value so that the counter is incremented by 1 per
communication cycle. If the value is not updated correctly in the _ driver, [AL. 86.2 Network
communication error 2] occurs.
(23) Watch dog counter UL (2D24h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2D24h
0
Watch dog counter UL
UNSIGNED8
ro
Possible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2D24h
0
00h to FFh
Impossible
This counter is incremented by 1 per communication cycle. The sum of the value of Watch dog counter
DL (2D23h) and 1 is returned.
(24) Motor rated speed (2D28h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2D28h
0
Motor rated speed
UNSIGNED32
ro
Impossible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2D28h
0
00000000h to FFFFFFFFh
r/min
Impossible
The servo motor rated speed is returned.
Unit: [r/min] ([mm/s] when a linear servo motor is used)
(25) Manufacturer Device Name 2 (2D30h)
Index
Sub
Name
Data Type
Access
PDO Mapping
2D30h
0
Manufacturer Device Name 2
VISIBLE STRING
ro
Impossible
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
2D30h
0
Impossible
The model name of the driver is returned. When MR-J4-10TM1 driver is used, "MR-J4-10TM1" is
returned.