RS Automation OEMax CSD7, User Manual, Page: 169 / 332

Object Dictionary
7-43
CSD7 Servo Drive (EtherCAT)
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
1~6000 2 byte(UINT)
rpm
(mm/s)
RW - Always 5000 Ft-2.16
▶ RSWare : Drive - Velocity Limits - Manual Velocity limit
▶ Limits the operation speed to below this set value in all control modes.
▶ In addition, in torque control mode, the mode is changed automatically to velocity
control mode if motor speed exceeds this value; velocity control is performed using
Speed limit command.
▶ If the motor speed is limited by 0x2210 (Ft-2.16), the speed limit detection signal </V-
LMT> is output.
0x2211 Velocity Limit Mode Selection CSP
Sub-Index 0 Number of Entries
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 2 byte(UINT) - RO - - 4 Ft-2.17
Sub-Index 1 Selection Mode
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~3 1 byte(USINT)
rpm
(mm/s)
RW - Always 0 Ft-2.17[D0]
▶ Sub-Index 1
RSWare : Drive - Velocity Limits - Velocity Limit Mode
Set how to limit the motor speed.
Value Description Name in RSWare
0 Not used Disabled
1 The maximum actual speed of motor is limited by Ft-2.16. Manual Limit
2 Reserved
3 Reserved
0x2212 Velocity Window CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~1000 2 byte(UINT)
rpm
(mm/s)
RW - Always 10 Ft-2.18
▶ RSWare : Drive – Speed Functions – Velocity Window
▶ If the velocity error is smaller than the set value and the speed correspondence signal
</V-COM> is assigned, then the </V-COM> signal is turned ON.
Velocity error < Set Value of [Ft-2.18] = /V-COM output