Appendices
A - 68
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
•
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. The
maximum value is limited based on the internal processing and the maximum motor speed.
•
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. The maximum value is limited based on the internal
processing and the maximum motor speed.
•
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.
6099 hex
Homing speeds
Sub-index 00 hex
Number of entries
Setting
range
–
Unit
–
Default
setting
02 hex
Data
attribute
–
Size
1 byte (U8)
Access
RO
PDO map
Not possible
Sub-index 01 hex
Speed during search for switch
Setting
range
100 to 3,276,700
Unit
Command unit/s
Default
setting
5,000
Data
attribute
B
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
Sub-index 02 hex
Speed during search for zero
Setting
range
100 to 3,276,700
Unit
Command unit/s
Default
setting
5,000
Data
attribute
B
Size
4 bytes (U32)
Access
RO
PDO map
Not possible
60B0 hex
Position offset
Setting
range
–2,147,483,648 to
2,147,483,647
Unit
Command unit
Default
setting
0
Data
attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Possible
60B1 hex
Velocity offset
Setting
range
–2,147,483,648 to
2,147,483,647
Unit
Command unit/s
Default
setting
0
Data
attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Possible
hm
csp
csp csv
