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18．EtherCAT COMMUNICATION

18.7.3.18 Cyclic synchronous position mode Objects

(1) Torque offset (60B2h)

Index

Sub

Name

Data Type

Access

PDO

Mapping

60B2h

Torque offset

INTEGER16

Possible

Index

Sub

Default

Range

Units

EEP-ROM

Parameter

60B2h

8000h to 7FFFh

per thousand

of rated

torque

Impossible

Set the torque offset used in the cyclic synchronous position mode (csp), the cyclic synchronous velocity

mode (csv) and the cyclic synchronous torque mode (cst). If this object is set with other than the cyclic

synchronous mode (csp/csv/cst), the set value will be disabled.

This object is available with drivers.

1. FUNCTIONS AND CONFIGURATION23
- 1.1 Summary23
- 1.2 Function block diagram24
- 1.3 Driver standard specifications28
- 1.4 Combinations of driver and servo motors31
- 1.5 Function list32
- 1.6 Model designation35
- 1.7 Structure38
  - 1.7.1 Parts identification38
- 1.8 Installation and removal of network card40
- 1.9 Configuration including peripheral equipment43
2. INSTALLATION46
- 2.1 Installation direction and clearances47
- 2.2 Keep out foreign materials49
- 2.3 Encoder cable stress49
- 2.4 Inspection items49
- 2.5 Parts having service lives50
- 2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level51
3. SIGNALS AND WIRING53
- 3.1 Input power supply circuit54
- 3.2 I/O signal connection example58
- 3.2.1 For sink I/O interface58
- 3.2.2 For source I/O interface59
- 3.3 Explanation of power supply system60
- 3.4 Connectors and pin assignment64
- 3.5 Signal (device) explanations66
- 3.6 Forced stop deceleration function71
- 3.7 Alarm occurrence timing chart75
  - 3.7.1 When you use the forced stop deceleration function75
  - 3.7.2 When you do not use the forced stop deceleration function76
- 3.8 Interfaces77
- 3.9 Servo motor with a lock81
- 3.10 Grounding89
4. STARTUP91
- 4.1 Switching power on for the first time92
- 4.2 Startup94
- 4.3 Switch setting and display of the driver96
- 4.4 Test operation101
- 4.5 Test operation mode101
  - 4.5.1 Test operation mode in Setup software (MR Configurator2TM)102
  - 4.5.2 Motor-less operation in upper side106
5. PARAMETERS108
- 5.1 Parameter list108
- 5.2 Detailed list of parameters123
- 5.3 Software limit205
- 5.4 How to set the electronic gear206
  - 5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method206
  - 5.4.2 Electronic gear setting in the indexer method208
6. NORMAL GAIN ADJUSTMENT210
- 6.1 Different adjustment methods210
  - 6.1.1 Adjustment on a single driver210
  - 6.1.2 Adjustment using setup software (MR Configurator2TM)211
- 6.2 One-touch tuning212
- 6.3 Auto tuning220
- 6.4 Manual mode224
- 6.5 2gain adjustment mode228
7. SPECIAL ADJUSTMENT FUNCTIONS231
- 7.1 Filter setting231
- 7.2 Gain switching function243
- 7.3 Tough drive function252
  - 7.3.1 Vibration tough drive function252
  - 7.3.2 Instantaneous power failure tough drive function254
- 7.4 Compliance with SEMI-F47 standard258
- 7.5 Model adaptive control disabled260
- 7.6 Lost motion compensation function261
- 7.7 Super trace control264
8. TROUBLESHOOTING267
- 8.1 Explanations of the lists267
- 8.2 Alarm list268
- 8.3 Warning list276
- 8.4 Remedies for alarms279
- 8.5 Remedies for warnings319
- 8.6 Troubleshooting at power on330
- 8.7 Trouble which does not trigger an alarm/warning331
9. OUTLINE DRAWINGS333
- 9.1 Driver333
- 9.2 Connector336
10. CHARACTERISTICS338
- 10.1 Overload protection characteristics338
- 10.2 Power supply capacity and generated loss339
- 10.3 Dynamic lock characteristics341
  - 10.3.1 Dynamic lock operation341
  - 10.3.2 Permissible load to motor inertia when the dynamic lock is used342
- 10.4 Cable bending life343
- 10.5 Inrush currents at power-on of main circuit and control circuit344
11. OPTIONS AND PERIPHERAL EQUIPMENT346
- 11.1 Cable/connector sets346
- 11.2 Regenerative options355
- 11.3 Setup software (MR Configurator2TM)358
- 11.4 Battery (LEC-MR-BAT6V1SET-A)361
- 11.5 Selection example of wires362
- 11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)364
- 11.7 Relay (recommended)364
- 11.8 Noise reduction techniques365
- 11.9 Earth-leakage current breaker373
- 11.10 EMC filter (recommended)375
12. ABSOLUTE POSITION DETECTION SYSTEM380
- 12.1 Summary380
- 12.2 Battery382
- 12.3 Battery replacement procedure383
13. USING STO FUNCTION386
- 13.1 Introduction386
- 13.2 STO I/O signal connector (CN8) and signal layouts389
- 13.3 Connection example391
- 13.4 Detailed description of interfaces395
  - 13.4.1 Sink I/O interface395
  - 13.4.2 Source I/O interface397
14. APPLICATION OF FUNCTIONS399
- 14.1 Infinite feed function (setting degree)399
15. SERVO MOTOR401
- 15.1 Servo motor with a lock401
  - 15.1.1 Features401
  - 15.1.2 Characteristics of servo motor with a lock403
- 15.2 Protection from oil and water404
- 15.3 Cable404
- 15.4 Rated speed of servo motor404
- 15.5 Mounting connectors405
16. HOW TO USE THE POINT TABLE407
- 16.1 Specification list408
- 16.2 Switching power on for the first time409
- 16.3 Switching power on for the first time Point table mode (pt)411
  - 16.3.1 Point table mode (pt)411
  - 16.3.2 Automatic operation using point table411
- 16.4 Jog mode (jg)429
- 16.5 Point table setting method431
  - 16.5.1 Point table setting method with Setup software (MR Configurator2TM)431
  - 16.5.2 Point table setting method with objects434
17 HOW TO USE INDEXER437
- 17.1 Specification list438
- 17.2 Switching power on for the first time439
- 17.3 Indexer mode (idx)441
- 17.4 Jog mode (jg)449
  - 17.4.1 Station JOG operation449
  - 17.4.2 JOG operation451
18 EtherCAT COMMUNICATION455
- 18.1　 EtherCAT COMMUNICATION455
- 18.2　 EtherCAT NETWORK CARD (LEC-S-NE)467
- 18.3　 PDO (PROCESS DATA OBJECT) COMMUNICATION471
- 18.4　 SDO (SERVICE DATA OBJECT) COMMUNICATION477
  - 18.4.1　 SDO communication-related service477
  - 18.4.2　 SDO Abort Code478
- 18.5　 CiA 402 DRIVE PROFILE478
- 18.6　 MANUFACTURER FUNCTIONS567
- 18.7　 OBJECT DICTIONARY577
19 EtherNet/IP COMMUNICATION661
- 19.1　 EtherNet/IP COMMUNICATION661
- 19.2　 EtherNet/IP NETWORK CARD (LEC-S-N9)668
- 19.3　 I/O COMMUNICATION671
  - 19.3.1　 I/O communication cycle671
  - 19.3.2　 I/O communication mapping673
- 19.4　 Explicit Message COMMUNICATION675
- 19.5　 DRIVE PROFILE677
- 19.6　 MANUFACTURER FUNCTIONS741
- 19.7　 OBJECT LIBRARY760
20 PROFINET COMMUNICATION843
- 20.1　 PROFINET COMMUNICATION843
- 20.2　 PROFINET NETWORK CARD (LEC-S-NP)848
- 20.3　 PROCESS DATA (CYCLIC DATA EXCHANGE)851
- 20.4　 ACYCLIC DATA EXCHANGE855
- 20.5　 STATE TRANSITION862
- 20.6　 CONTROL MODE876
- 20.7　 WEB SERVER937
- 20.8　 MANUFACTURER FUNCTIONS938
- 20.9　 OBJECT DICTIONARY959
App. 1 Peripheral equipment manufacturer (for reference)1018
App. 2 Handling of AC driver batteries for the United Nations Recommendations on the Transport of Dangerous Goods1018
App. 3 Symbol for the new EU Battery Directive1020
App. 4 Compliance with global standards1021
- App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)1021
- App. 4.2 About safety1021
- App. 4.3 Mounting/dismounting1025
- App. 4.4 Electrical Installation and configuration diagram1026
- App. 4.5 Signal1027
  - App. 4.5.1 Signal1027
  - App. 4.5.2 I/O device1027
- App. 4.6 Maintenance and service1028
  - App. 4.6.1 Inspection items1028
  - App. 4.6.2 Parts having service lives1029
- App. 4.7 Transportation and storage1030
- App. 4.8 Technical data1031
- App. 4.9 Check list for user documentation1032
App. 5 MR-J3-D05 Safety logic unit of Mitsubishi Electric Corporation1032
- App. 5.1 Terms related to safety1032
  - App. 5.1.1 Stop function for IEC/EN 61800-5-21032
  - App. 5.1.2 Emergency operation for IEC/EN 60204-11032
- App. 5.2 Cautions1033
- App. 5.3 Residual risk1033
App. 7 Analog monitor1034
App. 8 Encoder output pulse setting method1037
App .9 Recommended parameter values for each actuator1038

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

SMC Networks LECSN-T Series User Manual

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SMC Networks LECSN-T Series Specifications

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