SMC Networks LECSN-T Series - Page 883

20 - 43
20．PROFINET COMMUNICATION
PNU
Sub
Access
Name
Type
Default
value
Description
24675
0
R
Position actual internal
value
Integer32
Current position (Enc inc)
24676
0
R
Position actual value
Integer32
Current position (Pos units)
24683
0
R
Velocity demand value
Integer32
Speed command (after trajectory generation)
24684
0
R
Velocity actual value
Integer32
Current speed
Unit: Vel units (0.01 r/min )
24695
0
R
Torque actual value
Integer16
Current torque
Unit: 0.1% (rated torque of 100%)
24800
0
R/W
Positive torque limit value
Unsigned16
10000
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801
0
R/W
Negative torque limit value
Unsigned16
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)
24722
0
R/W
Feed
Array [2]
Unsigned32
Travel distance per revolution of an output
shaft
Encoder resolution of the servo motor at
initial value
1
R/W
Shaft revolutions
1
Number of servo motor shaft revolutions
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.
24685
0
R/W
Velocity window
Unsigned16
2000
Speed error threshold for judging Target
reached
Unit: Vel units (0.01 r/min )
24686
0
R/W
Velocity window time
Unsigned16
10
Target reached judgment time
Unit: ms
24687
0
R/W
Velocity threshold
Unsigned16
5000
Zero speed threshold for judging Speed
Unit: Vel units (0.01 r/min )
24688
0
R/W
Velocity threshold time
Unsigned16
10
Speed judgment time
Unit: ms
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.