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Appendices
A - 50
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This object gives the command velocity which is generated in the Servo Drive.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• This object gives the present velocity.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• This object sets the torque command in Cyclic synchronous torque mode (cst).
• Set the value in units of 0.1% of the rated torque (100%).
• This object sets the maximum torque limit value.
• Set the value in units of 0.1% of the rated torque (100%).
• This object is intended for PDO assignment. Use this object to set the maximum torque from a PDO.
• To use the limit value without mapping it to a PDO, set the value in
Torque Limit
–
Max Torque
(3330-02 hex).
• This object gives the torque command value which is generated in the Servo Drive.
• The value is given in units of 0.1% of the rated torque (100%).
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
606B
---
Velocity
demand value
---
Command
unit/s
---
---
4 bytes
(INT32)
RO
TxPDO
Not pos-
sible
csp, pp,
hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
606C
---
Velocity actual
value
---
Command
unit/s
---
---
4 bytes
(INT32)
RO
TxPDO
Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6071
---
Target torque
-5,000 to
5,000
0.1%
0
A
2 bytes
(INT16)
W
RxPDO
Not pos-
sible
cst
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6072
---
Max torque
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RW
RxPDO
Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6074
---
Torque demand
---
0.1%
---
---
2 bytes
(INT16)
RO
TxPDO
Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......