Table of Contents
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7. OBJECT LIBRARY
Sub
Index
Index
60E1
0
Reverse rotation torque limit (Negative torque
limit value)
The reverse rotation torque limit can be read.
The reverse rotation torque limit can also be set.
Set a reverse torque limit value in units of 0.1%.
60E3
0
Supported homing method (Supported homing
method)
The number of supported homing methods is
returned.
60E3
1
Number specification of supported homing
to
methods (1st to 39th) (1st supported homing
39
method)
Set the number of the supported home position
return type.
60F2
0
Profile position mode setting (Positioning option
code)
Set the profile position mode.
Bit 1 to Bit 3 always notify "0". Setting a value
other than "0" will cause an error.
[Bit 1/Bit 0: relative option]
How to handle the relative position command
during pp is specified.
00: The positioning is performed with the relative
position from the internal absolute target
position.
[Bit 3/Bit 2: change immediately option]
The operation of when change set immediately
(control word Bit 5) is 1 during pp is specified.
00: Normal pp mode operation (New Target
position, profile velocity, acceleration, and
others are reflected immediately.)
[Bit 7/Bit 6: rotary axis direction option]
Specify the operation of the rotation axis during
pp and pt.
00: The servo motor rotates to the target position
in a direction specified with a sign of the
position data.
01: The servo motor rotates in the address
decreasing direction regardless of the sign of
the position data.
10: The servo motor rotates in the address
increasing direction regardless of the sign of
the position data.
11: The servo motor rotates from the current
position to the target position in the shorter
direction. If the distances from the current
position to the target position are the same
for CCW and CW, the servo motor rotates in
the CCW direction.
60F4
0
Droop pulses [command unit] (Following error
actual value)
The droop pulses are returned.
60FA
0
Speed command (Control effort)
The speed command is returned.
60FF
0
Command speed (Target velocity)
Set the speed command used in the profile
velocity mode (pv).
6502
0
Supported control mode (Supported drive modes)
The supported control mode is returned.
Bit 0: Profile position mode (pp)
Bit 2: Profile velocity mode (pv)
Bit 3: Profile torque mode (tq)
Bit 5: Homing mode (hm)
Name and function
Data
Read/
Variable
Initial value
type
write
mapping
2
Read/
Possible
10000
bytes
write
1
Reading
Impos-
bytes
sible
1
Reading
Impos-
bytes
sible
2
Read/
Possible
0000h
bytes
write
4
Read
Possible
bytes
4
Read
Possible
bytes
4
Read/
Possible
bytes
write
4
Reading Possible 0000002Dh 0000002Dh
bytes
7 - 16
Range
Unit
0000h to
0.1%
2710h
(10000)
39
00h to FFh
37
80h to 7Fh
0000h to
00C0h
80000000h
pos
to
units
7FFFFFFFh
0
80000000h
0.01
to
r/min
7FFFFFFFh
0
80000000h
0.01
to
r/min
7FFFFFFFh
to
0000002Dh
Saved
Para-
to EEP-
meter
ROM
PA12/
(PA11)
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