RS Automation OEMax CSD7, Руководство пользователя, Страница: 155 / 332

Object Dictionary
7-29
CSD7 Servo Drive (EtherCAT)
larger than the setups (level of gain control
switching and hysteresis of control switching).
5
2nd gain selection when the positional deviation is
larger than the setups (level of gain control
switching and hysteresis of control switching).
Position Error
6
2nd gain selection when more than one command
pulse exists between 200usec.
Position Command
7
2nd gain selection when the positional deviation
counter value exceeds the setup of Positioning
completer range.
In-Position
8
2nd gain selection when the motor actual speed
exceeds the setup.
Velocity
9
2nd gain selection when no position commands
applied and the motor actual speed falls slower
than the setup.
Position command
and Velocity
Sub-Index 4
Ft-0.06[D3] Absolute Position Transmission Type
RSWare : Drive - Encoders - Absolute Feedback Transfer Type
Range
Value Description Name in RSWare
0 Same as Command Polarity
Same as Command
Polarity
1 Always CCW Always CCW
2 Always CW Always CW
0x2007 Servo Drive ID ALL
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0~247 1 byte(USINT) - RW - Always 1 Ft-0.07
It indicates the ID of the servo drive.
0x200A 1st Assignment for Sequence Input Signal ALL
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-0.10
Sub-Index 1 Servo-ON Enable Signal (/ENABLE)
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0x0~0xb 1 byte(USINT) - RW - Servo Off 0xb Ft-0.10[D0]
Sub-Index 2 Positive Over-travel (P-OT)
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0x0~0xb 1 byte(USINT) - RW - Servo Off 0x2 Ft-0.10[D1]
Sub-Index 3 Negative Over-travel (N-OT)
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
0x0~0xb 1 byte(USINT) - RW - Servo Off 0x3 Ft-0.10[D2]
Sub-Index 4 P Control (/P-CON)