User Manual Of EL7-EC** AC Servo
112
Index
606Ch
Label
Velocity feedback
Unit
Comman
d unit/s
Structure
VAR
Type
Int 32
Access
R
0
Mapping TPDO Mode CSV/PP
Range
-21474836
48~214748
3647
Default 0
Reflects user’s internal command velocity feedback value
Index
606Dh
Label
Velocity window
Unit
Comma
nd
unit/s
Structure
VAR
Type
UInt 16
Access
R0
Mapping RPDO Mode PV/CSV Range
0~65535 Default 10
Set the range of velocity
Index
606Eh
Label
Velocity window time
Unit
ms
Structure
VAR
Type
UInt 16
Access
R0
Mapping RPDO Mode
PV/CS
V
Range
0~65535 Default 0
To set the time between velocity reached and status word set to TargetReached.
Index
606Fh
Label
Zero-speed threshold
Unit
Comm
and
unit/s
Structure
VAR
Type
UInt 16
Access
R0
Mapping RPDO Mode
PV/CS
V
Range
0~65535 Default 10
To set to zero-speed threshold.
Index
6070h
Label
Zero-speed threshold
time
Unit ms
Structure
VAR
Type
UInt 16
Access
R0
Mapping RPDO Mode PV/CSV Range
0~65535 Default 100
To set the time until status word – zero speed detection is canceled.
Index
6071h
Label
Target torque
Unit 0.1%
Structure
VAR
Type
UInt 16
Access
RW
Mapping RPDO Mode PT/CST Range
-32768~
32767
Default 0
To set target torque for protocol and cyclic torque mode.
