A - 69
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-
1 CiA40
2 Drive Prof
ile
A
A-1
-12 Ser
v
o D
rive Pr
ofile Obje
cts
•
In Cyclic synchronous position mode (csp) or Cyclic synchronous velocity mode (csv), the value of
this object is added to the Torque Feed-forward Gain (3112 hex) for use as the torque feed-forward
input value in controlling the torque.
•
In Cyclic synchronous torque mode (cst), the value of this object is used as the offset value of the
Target torque (6071 hex) to control the torque.
•
This object sets and controls the latch function.
•
There are two channels, Latch 1 (bits 1 to 7) and Latch 2 (bits 8 to 15).
•
Bits 0 and 8 execute latching when changed from “0” to “1”.
•
To change the settings, set bit 0 or 8 to “0” and then to “1” again.
•
Latching is disabled in the following cases.
When communications is in the Init state.
When the Statusword (6041 hex) bit 9 (remote) is 0 (local).
For details on the latch function, refer to 7-11 Touch Probe Function (Latch Function) on page 7-39.
Explanation of Settings
60B2 hex
Torque offset
Setting
range
–5,000 to 5,000
Unit
0.1%
Default
setting
0
Data
attribute
A
Size
2 bytes (INT16)
Access
RW
PDO map
Possible
60B8 hex
Touch probe function (Latch function)
Setting
range
–
Unit
–
Default
setting
0
Data
attribute
A
Size
2 bytes (U16)
Access
RW
PDO map
Possible
Bit
Value
Description
0
0
Latch 1 is disabled.
1
Latch 1 is enabled.
1
0
Trigger first event (Latch on the first trigger).
1
Continuous (Latch continuously on trigger input).
2
0
Latch on the signal selected in the Touch Probe Trigger Selection (3758 hex).
1
Latch on the encoder’s phase-Z signal.
3 to 7
0
Reserved (always set to 0).
8
0
Latch 2 is disabled.
1
Latch 2 is enabled.
9
0
Trigger first event (Latch on the first trigger).
1
Continuous (Latch continuously on trigger input).
10
0
Latch on the signal selected in the Touch Probe Trigger Selection (3758 hex).
1
Latch on the encoder’s phase-Z signal.
11 to 15
0
Reserved (always set to 0).
csp
cst
csv
A l l
Содержание R88D-KN01H-ECT-L
Страница 136: ...3 Specifications 3 60 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 190: ...4 System Design 4 54 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 208: ...5 EtherCAT Communications 5 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 226: ...6 Basic Control Functions 6 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 268: ...7 Applied Functions 7 42 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 276: ...8 Safety Function 8 8 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 616: ...Appendices A 170 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 617: ...Index 1 I G5 series Linear Motors Servo Drives With Built in EtherCAT Communications Index...
Страница 624: ......
Страница 625: ......