20．PROFINET COMMUNICATION
Point table demand
In the point table method, "0" is returned.
In the indexer method, the next station No. is
set.
Current point table
In the point table method, the previous value
is held.
In the indexer method, the station No. at
which the servo motor has stopped is set.
However, the previous value is held when
S_MEND is off.
Torque limit value 2
Unit: 0.1% (rated torque of 100%)
A torque limit value in stop is set.
This can be used only in the indexer method.
In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).
(2) Details on the OMS bit of Controlword (jg mode)
0: Stop the motor
1: Start the motor
0: Forward rotation (address increase)
1: Reverse rotation (address decrease)
0: Positioning is executed.
1: The servo motor stops according to Halt option code (P24669).
In the indexer method, this bit is disabled.
The values in bit 6 and 9 at reading are undefined.
(3) Details on the OMS bit of Statusword (jg mode)
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 (P24676) and Target position (P24698) has stayed within
Position window (P24679) for Position window time (P24680) or more, Target position reached is
stored.
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".
The value in bit 12 at reading is undefined.
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