9 Servo Parameter Objects
9 - 2
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-1
Basic Settings
This section describes objects specific to G5-series Servo Drives with built-in EtherCAT
communications.
G5-series Servo Drive parameters (Pn
) are allocated to objects 3000 to 3999 hex. Index
3
hex correspond to G5-series Servo Drive parameters Pn
. For example, object 3504 hex is
the same as parameter Pn504.
Precautions for Correct Use
Precautions for Correct Use
•
Pn
uses decimal numbers but object 3
hex is a hexadecimal number.
•
According to the CiA 402 Drive Profile, the object names listed below may be represented
using the word “torque,” instead of force. Read it as “force” when using these objects.
•
Some objects are enabled by restarting the power supply to the Servo Drive. Those that require the
restart of the power supply are shown in the relevant table. After changing these objects, turn OFF
and then back ON the power supply again. At this time, confirm that the power supply indicator has
gone OFF before turning it ON again.
•
Do not change the objects marked “reserved.”
Also, do not change the set values that are indicted as being unused or reserved for the system.
•
See below for the data attributes.
•
The modes of operation are shown as follows:
A
: Always enabled
B
: Prohibited to change during motor operation or commands.
If it is changed during motor operation or commands, the update timing will be unknown.
C
: Updated after the control power is reset, or after a Config command is executed via EtherCAT
communications.
D
: Changeable only when the EtherCAT communications state is Pre-Operational (Pre-Op).
R
: Updated after the control power is reset.
It is not updated for a Config command via EtherCAT communications.
–
: Write prohibited.
: All modes of operation
: Cyclic synchronous position mode
: Cyclic synchronous velocity mode
: Cyclic synchronous torque mode
: Profile position mode
: Homing mode
A l l
csp
csv
cst
pp
hm
