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7. OBJECT LIBRARY
Sub
Index
Index
6067
0
Permissible error range (Position window)
In the profile position mode (pp), when the time set
with Position windows time (6068h) has elapsed
with the number of droop pulses equal to or lower
than the setting value of this object, Bit 10 of
Statusword (6041h) is turned on.
[Setting range] This setting value is limited to the
range of 00000000h to 0000FFFEh. When
"FFFFFFFFh" is set, Position window is disabled
as an exception.
6068
0
Permissible error judgment time (Position window
time)
Refer to Position window (6067h).
606B
0
Command speed (Velocity demand value)
The speed command is returned.
606C
0
Current speed (Velocity actual value)
The current speed is returned.
606D
0
Speed reached judgment width (Velocity window)
In the profile velocity mode (pv), when the time set
with Velocity window time (606Eh) has elapsed
with the current speed equal to or lower than the
setting value of this object, Bit 10 of Statusword
(6041h) is turned on.
606E
0
Speed reached judgment time (Velocity window
time)
Refer to Velocity window (606Dh).
606F
0
Zero speed (Velocity threshold)
In the profile velocity mode (pv), when the time set
with Velocity threshold time (6070h) has elapsed
with the current speed exceeding the setting value
of this object, Bit 12 of Statusword (6041h) is
turned off.
6070
0
Zero speed judgment time (Velocity threshold
time)
Refer to Velocity threshold (606Fh).
6071
0
Command torque (Target torque)
Set the torque command used in the profile torque
mode (tq).
6072
0
Maximum torque (nominal value) (Max torque)
The maximum torque of the servo motor is
returned. The value matches with the maximum
torque listed in "HG-KN_/HG-SN_ Servo Motor
Instruction Manual".
6074
0
Internal torque command (Torque demand value)
The torque command is returned.
6077
0
Current torque (Torque actual value)
The current torque is returned. The read data is
in the unit of 0.1%.
607A
0
Position command (absolute/incremental) (Target
position)
In the profile position mode (pp), the range is
limited depending on the unit.
[Setting range]
degree: -360000 to 360000
Other than degree: -999999 to 999999
607B
0
Command value limit (Position range limit)
The number of entries is returned.
Name and function
Data
Read/
Variable
Initial value
type
write
mapping
4
Read/
Possible
100
bytes
write
2
Read/
Possible
bytes
write
4
Reading Possible
bytes
4
Reading Possible
bytes
2
Read/
Possible
2000
bytes
write
2
Read/
Possible
bytes
write
2
Read/
Possible
5000
bytes
write
2
Read/
Possible
bytes
write
2
Read/
Possible
bytes
write
2
Read/
Possible
bytes
write
2
Read
Possible
bytes
2
Reading Possible
bytes
4
Read/
Possible
bytes
write
1
Reading
Impos-
bytes
sible
7 - 12
Range
Unit
00000000h
pos
to
units
0000FFFEh/
FFFFFFFFh
10
0000h to
ms
FFFFh
0
80000000h
0.01
to
r/min
7FFFFFFFh
80000000h
0.01
to
r/min
7FFFFFFFh
0000h to
0.01
FFFFh
r/min
10
0000h to
ms
FFFFh
0000h to
0.01
FFFFh
r/min
10
0000h to
ms
FFFFh
0
8000h to
0.1
7FFFh
%
0000h to
0.1
FFFFh
%
0
8000h to
0.1
7FFFh
%
8000h to
0.1
7FFFh
%
0
80000000h
pos
to
units
7FFFFFFFh
2
00h to 02h
Saved
Para-
to EEP-
meter
ROM
PT65
PT66
PT67
PT68
PT63
PT64
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