SMC Networks LECSN-T Series - Page 879

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20．PROFINET COMMUNICATION
PNU
Sub
Access
Name
Type
Default
value
Description
24801
0
R/W
Negative torque limit value
UInteger16
10000
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721
0
R/W
Motor revolutions
Array [2]
Unsigned32
1
Gear ratio: Number of revolutions of the servo
motor axis (numerator)
1
R/W
Shaft revolutions
1
Gear ratio: Number of revolutions of the drive
axis (denominator)
24702
0
R/W
Polarity
Unsigned8
0
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
The values other than bit 5, 6, and 7 at
reading are undefined. Set "0" when writing.
Refer to section 8.5.
24744
0
R/W
SI unit position
Unsigned32
0
SI unit position
The value will be set automatically depending
on the value of [Pr. PT01] (_ x _ _) and [Pr.
PT03] (_ _ _ x). Refer to section 9.3.13 (5) for
details.
24745
0
R/W
SI unit velocity
Unsigned32
0
SI unit velocity
0.01 mm/s or 0.01 r/min
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
Note.
This is not supported by the _ driver.
(2) Details on the OMS bit of Controlword (pp mode)
Bit
Symbol
Description
4
New set-point
New positioning parameters are obtained when this bit turns on.
5
Change set
immediately
0: Set of set-points
1: Single set-point
6
abs/rel
0: Absolute position command
1: Relative position command (Note)
8
HALT
0: Positioning is executed.
1: The servo motor stops according to Halt option code (P24669).
9
Change on set-point
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped) (black line (Refer
to (6) in this section.)).
1: The next positioning starts after positioning is executed with Profile velocity held up to the current
set-point (gray line (Refer to (6) in this section.)).
Note.
When the unit is set to degree, relative position commands are disabled. When the relative position command is specified and
positioning is started, [AL. F4.8] occurs and positioning cannot be started.
(3) Details on the OMS bit of Statusword (pp mode)
Bit
Symbol
Description
10
Target reached
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target position reached
If the error between Position actual value and Target position has stayed within Position window for
Position window time or more, Target position reached is stored.
12
Set-point
acknowledge
0: Positioning completed (wait for next command)
1: Positioning being executed (The set-point can be overwritten.)
13
Following error
0: No following error
1: Following error
When the time set with Following error time out (P24678) has elapsed with the number of droop
pulses exceeding the set value of the Following error window (P24677), this bit becomes "1".