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A-65
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-12 Ser
v
o Dr
iv
e Profile Object
•
These objects set the gear ratio.
•
Set the numerator of the electronic gear in the object for Motor revolutions (Sub-index 01 hex).
•
Set the denominator of the electronic gear in the object for Shaft revolutions (Sub-index 02 hex).
•
Set the gear ratio to between 1/1,000 and 1,000. If the gear ratio is out of range, an Object Setting
Error (Error No. 93.0) will occur.
For details on the electronic gear settings, refer to
•
This objects sets the Homing method in the Homing mode (hm).
Description of Settings
•
If the homing operation is started by setting a value other than 8, 12, 19, 20, 33, 34, or 35, a
Command Error (Error No. 91.1) will occur.
For details on homing, refer to
A-1-6 Homing Mode Specifications
6091 hex
Gear ratio
Sub-index 00 hex
Number of entries
Range
Unit
Default
02 hex
Attribute
Size
1 byte (U8)
Access
RO
PDO map
Not possible
Sub-index 01 hex
Motor revolutions
Range
0 to
1,073,741,824
Unit
Default
1
Attribute
C
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 02 hex
Shaft revolutions
Range
1 to
1,073,741,824
Unit
Default
1
Attribute
C
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
609
8
hex
Homing method
Range
128 to 127
Unit
Command
units/s
2
Default
0
Attribute
B
Size
1 byte (INT8)
Access
RW
PDO map
Not possible
Set value
Explanation
0
Not specified
8
Homing by Origin Proximity Input and origin signal (positive operation start)
12
Homing by Origin Proximity Input and origin signal (negative operation start)
19
Homing without origin signal (positive operation start)
20
Homing without origin signal (negative operation start)
33
Homing with origin signal (negative operation start)
34
Homing with origin signal (positive operation start)
35
Present home preset
All
hm