SMC Networks LECSN-T Series - 19.5.4.3 Profile position mode (pp)

19 - 34
19．EtherNet/IP COMMUNICATION
19.5.4.3 Profile position mode (pp)
The following shows the functions and related objects of the profile position mode (pp).
Position
trajectry
generator
+
×
×
×
×
×
×
×
-
Control
effort
(60FAh)
Position actual internal value (6063h)×
×
×
Position
limit
function
Velocity
limit
function
Acceleration
limit
function
Position
control
Velocity
control
Torque
control
Encoder
Motor
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Profile velocity (6081h)
Max motor speed (6080h)
Target position (607Ah)
Software position limit (607Dh)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Max profile velocity (607Fh)
(1) Related object
Class ID
Ins ID
Attr
ID
Acces
s
Name
Data
Typ
e
Default
Description
64h
607Ah
0
Get/S
et
Target position
DIN
T
Command position (Pos units)
607Bh
0
Get
Position range limit
USI
NT
2
Number of entries
1
Get/S
et
Min position range
limit
DIN
T
Minimum value of the position
range limit
The value is automatically set
according to the setting of
"Position data unit" in [Pr. PT01].
mm/inch/pulse: -2147483648
degree: 0
2
Get/S
et
Max position range
limit
DIN
T
Maximum value of the position
range limit
The value is automatically set
according to the setting of
"Position data unit" in [Pr. PT01].
mm/inch/pulse: 2147483647
degree: 359999
607Dh
0
Get
Software position
limit
USI
NT
2
Number of entries
1
Get/S
et
Min position limit
DIN
T
0
Minimum position address (Pos
units)
2
Get/S
et
Max position limit
DIN
T
0
Maximum position address (Pos
units)
607Fh
0
Get/S
et
Max profile velocity
UDI
NT
2000000
maximum speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6080h
0
Get/S
et
Max motor speed
UDI
NT
Servo motor maximum speed
Unit: r/min
6081h
0
Get/S
et
Profile velocity
UDI
NT
10000
Speed after acceleration
completed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)