6 Basic Control Functions
6-12
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
The following diagram shows the control function configuration of Profile position mode.
*1
The Following error window object can be set to between 0 and 134,217,728, or 4,294,967,295. If the object is set to
4,294,967,295, the detection of Following error will be disabled. If it is set to 0, a Following error will always occur. If the
set value is between 134,217,729 and 4,294,967,294, it is assumed that 134,217,728 is set. In this case, 134,217,728 will
be returned when the object is read.
*2
For the Servo Drive to accept commands without fail, the object value must always be retained for two communications
cycles or more.
6-4-1
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
6065 hex
*1
00 hex
Following error
window
RW
U32
Command
units
0 to 134,217,728,
or 4,294,967,295
100000
6072 hex
00 hex
Max torque
RW
U16
0.1%
0 to 5000
5000
607A hex
*2
00 hex
Target position
RW
INT32
Command
units
2,147,483,648
to 2,147,483,647
0000 hex
607D hex
01 hex
Min position limit
RW
INT32
Command
units
1,073,741,823
to 1,073,741,823
-500000
02 hex
Max position limit
RW
INT32
Command
units
1,073,741,823
to 1,073,741,823
500000
6081 hex
00 hex
Profile velocity
RW
U32
Command
units/s
0 to
2,147,483,647
0000 hex
6083 hex
00 hex
Profile acceleration
RW
U32
Command
units/s
2
1 to 655,350,000
1000000
6084 hex
00 hex
Profile deceleration
RW
U32
Command
units/s
2
1 to 655,350,000
1000000
6086 hex
00 hex
Motion profile type
RW
INT16
1 to 0
0
6041 hex
00 hex
Statusword
RO
U16
0 to FFFF hex
0000 hex
6062 hex
00 hex
Position demand value
RO
INT32
Command
units
2,147,483,648
to 2,147,483,647
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
2,147,483,648
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
60F4 hex
00 hex
Following error actual
value
RO
INT32
Command
units
2,147,483,648
to 2,147,483,647
0000 hex
60FA hex
00 hex
Control effort
RO
INT32
Command
units/s
1,073,741,823
to 1073741823
0000 hex
60FC hex
00 hex
Position demand
internal value
RO
INT32
External
encoder units
2,147,483,648
to 2,147,483,647
0000 hex
Position demand value (6062 hex)
Following error window (6065 hex)
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Torque actual value (6077 hex)
(=Torque demand)
Velocity actual value (606C hex)
Max torque (6072 hex)
Control effort (60FA hex)
Control
function
Limit
function