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Appendicies
A-66
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
•
This object sets the homing speed.
•
For Speed during search for switch (Sub-index 01 hex), set the operation speed during the homing
operation from the start of the homing operation until the Origin Proximity Input turns ON.
•
For Speed during search for zero (Sub-index 02 hex), set the operation speed during the homing
operation from when the Origin Proximity Input turns ON until the latch signal is detected after the
Origin Proximity Input again turns OFF.
•
This object sets the position command offset.
•
In Cyclic synchronous position mode (csp), the offset value is added to the Target position (607A hex)
for use as the target position in controlling the position.
•
Set the relationship between the Target position (607A hex) and Position offset (60B0 hex) so that the
following expression is fulfilled. If the relational expression is not met, the operation may be
performed in the direction opposite to the command increment direction.
Absolute value of (Current position command additional value
Previous position command
additional value)
Maximum motor speed
2,147,483,647
•
In Cyclic synchronous position mode (csp), the value of this object is added to the Speed Feed-
forward Gain (3110 hex) for use as the speed feed-forward input value in controlling the speed.
•
In Cyclic synchronous position mode (csp) or Cyclic synchronous velocity mode (csv), the value of
this object is added to the Force Feed-forward Gain (3112 hex) for use as the force feed-forward input
value in controlling the torque.
•
In Cyclic synchronous torque mode (cst), the value of this object is used as the offset value of the
Target torque (6071 hex) to control the torque.
6099 hex
Homing speeds
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
Speed during search for switch
Range
100 to
3,276,700
Unit
Command
units/s
Default
5,000
Attribute
B
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 02 hex
Speed during search for zero
Range
100 to
3,276,700
Unit
Command
units/s
Default
5,000
Attribute
B
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
60B0 hex
Position offset
Range
2,147,483,648
to 2,147,483,647
Unit
Command
units
Default
0
Attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Possible
60B1 hex
Velocity offset
Range
2,147,483,648
to 2,147,483,647
Unit
Command
units/s
Default
0
Attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Possible
60B2 hex
Torque offset
Range
5,000 to 5,000
Unit
0.1%
Default
0
Attribute
A
Size
2 bytes (INT16)
Access
RW
PDO map
Possible
hm
csp
csp
csv
csp
csv
cst