SMC Networks LECSN-T Series User Manual

18 - 38
18．EtherCAT COMMUNICATION
18.5.4.3 Cyclic synchronous position mode (csp)
The following shows the functions and related objects of the cyclic synchronous position mode (csp).
Position
trajectry
generator
Torque limit value (60E0h, 60E1h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target position (607Ah)
Software position limit (607Dh)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value
(60F4h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
[Pos units]
[Pos units] +
×
×
× ×
×
×
×
×
×
-
[Pos units]
[Enc inc]
Control
effort
(60FAh)
Position actual internal value
(6063h)
Position
limit
function
Position
control
Velocity
control
Torque
control
Motor
Encoder
Torque offset (60B2h)
+ +
(1) Related object
Index
Sub
Object
Name
Data
Type
Acces
s
Defau
lt
Description
607Ah
VAR
Target position
I32
rw
Command position (Pos units)
607Bh
(Note
2)
0
ARRAY
Position range limit
U8
ro
2
Number of entries
1
Min position range
limit
I32
rw
Minimum value of the position range
limit
The value is automatically set
according to the setting of "Position
data unit" in [Pr. PT01].
pulse: -2147483648
degree: 0
The cyclic synchronous mode
supports pulses only.
2
Max position range
limit
I32
rw
Maximum value of the position range
limit
The value is automatically set
according to the setting of "Position
data unit" in [Pr. PT01].
pulse: 2147483647
degree: 359999
The cyclic synchronous mode
supports pulses only.
607Dh
0
ARRAY
Software position
limit
U8
ro
2
Number of entries
1
Min position limit
I32
rw
0
Minimum position address (Pos units)
2
Max position limit
I32
rw
0
Maximum position address (Pos units)
6085h
VAR
Quick stop
deceleration
U32
rw
100
Deceleration at deceleration to a stop
by Quick stop
Unit: ms
605Ah
VAR
Quick stop option
code
I16
rw
2
Operation setting for Quick stop
Refer to section 5.6.
6080h
VAR
Max motor speed
U32
rw
Refer
to
chap7
Servo motor maximum speed
Unit: r/min
6063h
VAR
Position actual
internal value
I32
ro
Current position (after electronic gear)
6064h
VAR
Position actual
value
I32
ro
Current position (command unit)
606Ch
VAR
Velocity actual
value
I32
ro
Current speed
Unit: 0.01 r/min

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English