19．EtherNet/IP COMMUNICATION
Acceleration at start of movement to
target position
Unit: ms
Deceleration at arrival at target position
Unit: ms
Deceleration at deceleration to a stop
by Quick stop
Unit: ms
Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not supported) (Note)
1: Sin
2
ramp (not supported) (Note)
2: Jerk-free ramp (not supported)
(Note)
3: Jerk-limited ramp (not supported)
(Note)
Operation setting for Quick stop
Refer to section 5.6.
Position actual
internal value
Current position (Enc inc)
Current position (Pos units)
Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Current torque
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an
output shaft
Travel distance
Refer to section 7.3.14 (4).
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).
Following error
actual value
Position control loop output (speed
command)
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Positive torque
limit value
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
Negative torque
limit value
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
Number of revolutions of the servo
motor axis (numerator)
Number of revolutions of the drive axis
(denominator)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
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