SMC Networks LECSN-T Series User Manual

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19．EtherNet/IP COMMUNICATION
Class ID
Ins ID
Attr
ID
Acces
s
Name
Data
Typ
e
Default
Description
64h
60A8h
0
Get/S
et
SI unit position
UDI
NT
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
0
Get/S
et
SI unit velocity
UDI
NT
0
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
No
te.
This is not supported by the driver.
(2) Details on the OMS bit of Controlword (pp mode)
Bit
Symbol
Description
4
New set-point
New positioning parameters are obtained when this bit turns on.
Turning on this will start the superimposed synchronous control when the
superimposed synchronous control is used.
5
Change set
immediately
0: Set of set-points
1: Single set-point
6
abs/rel
0: Absolute position command
1: Relative position command
When the unit is set to degree, relative position commands are disabled. When the
relative position command is specified and positioning is started, [AL. F4.8] occurs and
positioning cannot be started.
8
HALT
0: Positioning is executed.
1: The servo motor stops according to Halt option code (Class ID: 64h, Ins ID: 605Dh,
Attr ID: 0).
9
Change on
set-point
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped).
(black line (Refer to (5) in this section.)).
1: The next positioning starts after positioning is executed with Profile velocity (Class
ID: 64h, Ins ID: 6081h, Attr ID: 0) held up to the current set-point. (gray line (Refer to
(5) in this section.)).
(3) Details on the OMS bit of Statusword (pp 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
If the error between Position actual value (Class ID: 64h, Ins ID: 6064h, Attr ID: 0) and
Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0) has stayed within Position
window (Class ID: 64h, Ins ID: 6067h, Attr ID: 0) for Position window time (Class ID:
64h, Ins ID: 6068h, Attr ID: 0) or more, Target position reached is stored.
12
Set-point
acknowledge
0: Positioning completed (wait for next command)
1: Positioning being executed (The set-point can be overwritten.)
13
Following error
0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (Class ID: 64h, Ins ID: 6066h, Attr ID:
0) has elapsed with the number of droop pulses exceeding the set value of the
Following error window (Class ID: 64h, Ins ID: 6065h, Attr ID: 0), this bit becomes "1".

SMC Networks LECSN-T Series Specifications

General

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