SMC Networks LECSN-T Series User Manual

19 - 42
19．EtherNet/IP COMMUNICATION
19.5.4.5 Profile torque mode (tq)
The following shows the functions and related objects of the profile torque mode (tq).
Torque
control
and
power
stage
×
×
×
×
Torque demand
(6074h)
Position actual internal
value (6063h)
× ×
Trajectry
generator
Torque slope (6087h)
Torque profile type (6088h)
Torque actual value (6077h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque limit value (60E0h, 60E1h)
Controlword (6040h)
Max torque (6072h)
Target torque (6071h)
Polarity (607Eh)
Gear ratio (6091h)
Encoder
Motor
(1) Related object
Class ID
Ins ID
Attr
ID
Acces
s
Name
Data
Typ
e
Default
Description
64h
6040h
0
Get/S
et
Controlword
UIN
T
Common control command
6071h
0
Get/S
et
Target torque
INT
Command torque
Unit: 0.1% (rated torque of 100%)
6072h
0
Get/S
et
Max torque
UIN
T
Maximum torque
Unit: 0.1% (rated torque of 100%)
6074h
0
Get
Torque demand
INT
Command torque (after limit)
Unit: 0.1% (rated torque of 100%)
6087h
0
Get/S
et
Torque slope
UDI
NT
0
Torque variation
Unit: 0.1%/s (rated torque of 100%)
6088h
0
Get/S
et
Torque profile type
UDI
NT
0
Torque variation pattern
0000h: Linear ramp
0001h: Sin
2
ramp (not supported)
(Note)
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer
specific
6063h
0
Get
Position actual
internal value
DIN
T
Current position (Enc inc)
6064h
0
Get
Position actual
value
DIN
T
Current position (Pos units)
606Ch
0
Get
Velocity actual
value
DIN
T
Current speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
6077h
0
Get
Torque actual
value
DIN
T
Current torque
Unit: 0.1% (rated torque of 100%)
6092h
0
Get
Feed constant
USI
NT
2
Travel distance per revolution of an
output shaft
1
Get/S
et
Feed
UDI
NT
Travel distance
Refer to section 7.3.14 (4).
2
Shaft revolutions
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).

SMC Networks LECSN-T Series Specifications

General

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