SMC Networks LECSN-T Series - Page 921

20 - 81
20．PROFINET COMMUNICATION
PNU
Sub
Access
Name
Type
Default
value
Description
10241
to
10495
0
R/W
Point data
Array [7]
Integer32
Position data
Unit: pos units
1
R/W
Speed
Speed
Unit: 0.01 r/min or 0.01 mm/s
2
R/W
Acceleration
Acceleration time constant
Unit: ms
3
R/W
Deceleration
Deceleration time constant
Unit: ms
4
R/W
Dwell
Dwell
Unit: ms
5
R/W
Auxiliary
Auxiliary function
Refer to section 9.3.15 (4).
6
R/W
M code
M code
10819
0
R
Point table error No.
Array [2]
Integer32
Point table error number
1
R
Point table error factor
Point table error factor
The error status is indicated when this bit is
turned on.
Refer to section 9.3.15 (5).
11626
0
R
M code actual value
Unsigned8
Current M code
The completed M code of the point table is
returned.
(2) Details on the OMS bit of Controlword (pt mode)
Bit
Symbol
Description
4
New set-point
The operation starts from the point table specified with the Target point table (P11616) when the
Bit turns on.
5
(reserved)
(Note)
6
(reserved)
8
HALT
0: Positioning is executed.
1: The servo motor stops according to Halt option code (P24669).
9
(reserved)
(Note)
Note.
The values in bit 5, 6 and 9 at reading are undefined. Set "0" when writing.
(3) Details on the OMS bit of Statusword (pt 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
When the current position and the point table command position vary within Position window
(P24679) and this state exceeds Position window time (P24680), this bit will be Target position
reached.
12
Set-point
acknowledge
0: Positioning completed (wait for next command)
1: Positioning being executed
13
Following error
0: No following error
1: Following error
Judgment condition for 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 will be "1".