Leadshine EL8-EC Series, User Manual

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User manual of EL8-EC***F AC Servo
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6085-00h Quick stop deceleration U32 RW Uint /S
60B1-00h Velocity feedforward I32 RW Uint /S
2077-00h Velocity limit I16 RW RPM
5.7.3 Profile Torque Mode (PT)
In asynchronous motion mode, master device is only responsible for sending motion
parameters and control commands.EL7-EC servo drive will conduct trajectory planning
according to the motion parameters sent by master device after receiving the motion start
command from the master device. In asynchronous motion mode, the motion between
each axes is asynchronous.
PT Block Diagram
Limit
Function
Torque change rate
(6087h)
Profile deceleration
(6084h)
Polarity(2071h + 2073h)
Profile
Torque
Trajectory
generator
MUL
Target torque(6071h)
Limit
Function
Torque[0.1%]
Torque change rate
[0.1%/S]
Max motor velocity
(6080h)
Trajectory planning output
Related Objects
Basic object
PDO Index+Sub-Index Label
Data
Type
Access Unit Notes
(RXPDO)
6040-00h Control word U16 RW — Required
6071-00h Target torque I16 RW 0.1% Required
6087-00h Torque change rate U32 RW 0.1%/S Optional
(TXPDO)
6041-00h Status word U16 RO — Required
6064-00h
Actual feedback position
value
I32 RO Uint
Optional
606C-00h
Actual feedback speed
value
I32 RO Uint /S
Optional
60F4-00h Actual following error I32 RO Uint Optional
6077-00h Actual torque I16 RO 0.1% Optional