Emerson SM-ETHERCAT 0471-0128-02 - Manual (Page 47)

SM-EtherCAT User Guide
47
Issue Number: 2 www.controltechniques.com
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7.6.2 0x6075 Motor_rated_current
This object indicates the configured motor rated current. It is taken from the motor’s
name-plate. Depending on the motor and drive technology this current is DC, peak or
rms (root-mean-square) current. All relative current data refers to this value. The value
of this object is given in mA.
7.6.3 0x6078 Current_actual_value
This object provides the actual value of the current. It shall correspond to the current in
the motor. The value of this object is given per thousand of rated current.
7.6.4 0x6087 Torque_slope
This object indicates the configured rate of change of torque. The value of this object is
given in units of per thousand of rated torque per second.
7.7 Homing Mode
This section describes the method by which a drive seeks the home position (also
called, the datum, reference point or zero point).
Figure 7-2 Homing mode function on page 47 shows the defined input objects as well
as the output objects. The user may specify the speeds, acceleration and the method of
homing. There is a further object home offset, which allows the user to displace zero in
the user's coordinate system from the home position.
There is no output data except for those bits in the statusword, which return the status or
result of the homing process and the demand to the position control loops.
Figure 7-2 Homing mode function
Table 7.49 0x6075 Motor_rated_current
0x6075 Motor_rated_current
Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: mA
Default: 0
Description: Indicates the configured motor rated current (Pr 5.07).
Table 7.50 0x6078 Current_actual_value
0x6078 Current_actual_value
Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: 0.1% of rated current
Default: 0
Description: Provides the actual value of the current.
Table 7.51 Torque_slope
0x6087 Torque_slope
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: 0.1% of rated torque per second
Default: 0
Description: Indicates the configured rate of change of torque.
Homing
method
Statusword (6041 )
h
Position demand value (6062 )
h
Controlword (6040 )
Homing method (6098 )
Homing Speeds (6099 )
Homing acceleration (609A )
Home offset (607C )
h
h
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h