SMC Networks LECSN-T Series User Manual

18 - 39
18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
6077h
VAR
Torque actual
value
I32
ro
Current torque
Unit: 0.1% (rated torque of
100%)
6092h
0
ARRAY
Feed constant
U8
ro
2
Travel distance per revolution of
an output shaft
1
Feed
U32
rw
Travel distance
Refer to section 7.3.14 (4).
2
Shaft revolutions
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).
60F4h
VAR
Following error
actual value
I32
ro
Droop pulses (Pos units)
60FAh
VAR
Control effort
I32
ro
Position control loop output
(speed command)
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
60E0h
VAR
Positive torque
limit value
U16
rw
10000
Torque limit value (forward)
Unit: 0.1% (rated torque of
100%)
60E1h
VAR
Negative torque
limit value
U16
rw
10000
Torque limit value (reverse)
Unit: 0.1% (rated torque of
100%)
6091h
0
ARRAY
Gear ratio
U8
ro
2
Gear ratio
1
Motor revolutions
U32
rw
1
Number of revolutions of the
servo motor axis (numerator)
(Note 1)
2
Shaft revolutions
1
Number of revolutions of the
drive axis (denominator) (Note 1)
607Eh
VAR
Polarity
U8
rw
0
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
60A8h
VAR
SI unit position
U32
rw
0
SI unit position
The value is automatically set
according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
60A9h
VAR
SI unit velocity
U32
rw
0
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
60B2h
VAR
Torque offset
I16
rw
0
Torque offset
Unit: 0.1% (rated torque of
100%)
This can be set within -32768 to
32767. When this is set to a
value exceeding the maximum
torque of the driver, the value is
clamped at the maximum torque.
Refer to section 5.12.

SMC Networks LECSN-T Series Specifications

General

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