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6 Basic Control Functions
6-6
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-2-1
Related Objects
Index
Sub-
index
Name
Access
Size
Unit
Setting range
Default
setting
6040 hex
00 hex
Controlword
RW
U16
0 to FFFF hex
0000 hex
6060 hex
00 hex
Modes of operation
RW
INT8
0 to 10
0
60FF hex
00 hex
Target velocity
RW
INT32
Command
units/s
2,147,483,648 to
2,147,483,647
0000 hex
6072 hex
00 hex
Max torque
RW
U16
0.1%
0 to 5,000
5000
60B1 hex
00 hex
Velocity offset
RW
INT32
Command
units/s
2,147,483,648 to
2,147,483,647
0000 hex
60B2 hex
00 hex
Torque offset
RW
INT16
0.1%
5,000 to 5,000
0
6041 hex
00 hex
Statusword
RO
U16
0 to FFFF hex
0000 hex
6064 hex
00 hex
Position actual
value
RO
INT32
Command units
2,147,483,648 to
2,147,483,647
0000 hex
606C hex
00 hex
Velocity actual
value
RO
INT32
Command
units/s
2,147,483,647 to
2,147,483,647
0000 hex
6077 hex
00 hex
Torque actual
value
RO
INT16
0.1%
5,000 to 5,000
0000 hex
6-2-2
Objects Requiring Settings
Index
Name
Description
Reference
3312 hex
Soft Start Acceleration Time
Set the acceleration time for internally set speed control.
Set the time until 1,000 mm/s is reached.
3313 hex
Soft Start Deceleration Time
Set the deceleration time for internally set speed control.
Set the time until 1,000 mm/s is reached.
3314 hex
S-curve Acceleration/
Deceleration Time Setting
Set the S-curve time in the time width centered on the
inflection points for acceleration and deceleration.
6-2-3
Related Functions
Index
Name
Description
Reference
3435 hex
Speed Conformity Detection
Range
Set the detection threshold for speed conformity output. If
the difference between the speed command and motor
speed is within the set threshold, a speed conformity output
is output.
This setting has a hysteresis of 10 mm/s for detection.
3436 hex
Speed for Motor Detection
Set the detection threshold for the Motor Speed Detection
Output (TGON).
A Motor Speed Detection Output (TGON) is output when the
motor speed exceeds the set value.
This setting has a hysteresis of 10 mm/s for detection.