19．EtherNet/IP COMMUNICATION
Positive torque
limit value
Torque limit value (forward)
Unit: 0.1% (rated torque of
100%)
Negative torque
limit value
Torque limit value (reverse)
Unit: 0.1% (rated torque of
100%)
Number of revolutions of the
servo motor axis (numerator)
Number of revolutions of the
drive axis (denominator)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
Speed limit value
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
SI unit position
The value is automatically set
according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
This is not supported by the driver.
(2) Details on the OMS bit of Controlword (tq mode)
The value at reading is undefined. Set "0" at writing.
0: The servo motor is driven.
1: The servo motor is stopped according to Halt option code (Class ID: 64h, Ins ID:
605Dh, Attr ID: 0).
The value at reading is undefined.
(3) Details on the OMS bit of Statusword (tq mode)
Target reached
(not supported)
(Note)
0 (Halt (Bit 8) = 0): Target torque not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target torque reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target torque reached
If the error between Torque actual value (Class ID: 64h, Ins ID: 6077h, Attr ID: 0) and
Target torque (Class ID: 64h, Ins ID: 6071h, Attr ID: 0) has stayed within Torque
window for Torque window time or more, Target torque reached is stored.
The value at reading is undefined.
This is not supported by the driver.
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