15.5 Manufacturer-Specific Objects
15-18
Velocity User Unit (2702h)
This object sets the user-defined speed reference unit (Vel unit).
The user-defined speed reference unit is calculated with the following formula.
1 [Vel unit] = (Numerator/Denominator) [inc/sec]
Setting range: 1/128
≤
Numerator/Denominator
≤
8,388,608
(Alarm A.A20 will be detected if the setting exceeds the setting range.)
Acceleration User Unit (2703h)
This object sets the user-defined acceleration reference unit (Acc unit).
The user-defined acceleration reference unit is calculated with the following formula.
1 [Acc unit] = (Numerator/Denominator)
×
10
4
[inc/sec
2
]
Setting range: 1/128
≤
Numerator/Denominator
≤
262,144
(Alarm A.A20 will be detected if the setting exceeds the setting range.)
Torque User Unit (2704h)
This object sets the user-defined torque reference unit (Torque unit).
The user-defined torque reference unit is calculated with the following formula.
1 [Trq. unit] = (Numerator/Denominator) [%]
Setting range: 1/256
≤
Numerator/Denominator
≤
1
(Alarm A.A20 will be detected if the setting exceeds the setting range.)
The objects that are related to the user-defined torque reference unit setting are given in the fol-
lowing table.
The reference unit for the following objects is 0.1%.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
2702h
0
Number of entries
USINT
RO
No
2
No
1
Numerator
UDINT
RW
No
1 to 1,073,741,823
(default: 1)
Yes
2
Denominator
UDINT
RW
No
1 to 1,073,741,823
(default: 1)
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
2703h
0
Number of entries
USINT
RO
No
2
No
1
Numerator
UDINT
RW
No
1 to 1,073,741,823
(default: 1)
Yes
2
Denominator
UDINT
RW
No
1 to 1,073,741,823
(default: 1)
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
2704h
0
Number of entries
USINT
RO
No
2
No
1
Numerator
UDINT
RW
No
1 to 1,073,741,823
(default: 1)
Yes
2
Denominator
UDINT
RW
No
1 to 1,073,741,823
(default: 1)
Yes
EtherCAT(CoE) Communications Object
Data Type
Target torque (6071h)
INT
Torque demand value (6074h)
INT
Torque slope (6087h)
UDINT
Torque actual value (6077h)
INT
Max torque (6072h)
UINT
Continued on next page.