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12
Profile Velocity Mode Objects
12.1
[Velocity demand value (Obj. 606Bh)]
[Velocity demand value (Obj. 606Bh: 00h)]
Data Type
Access
I32
RO
Supported firmware version
ECT
A5
Description
The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr.
PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.
[Pr. PT01.2]
2 (degree)
3 (pulse)
*1 When [Pr. PT01.1] is set to "1", the returned value may differ due to unit conversion.
12.2
[Velocity actual value (Obj. 606Ch)]
[Velocity actual value (Obj. 606Ch: 00h)]
Data Type
Access
I32
RO
Supported firmware version
ECT
A5
Description
The current speed is returned. The unit of the returned data varies depending on the combination of the settings of [Pr.
PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.
[Pr. PT01.2]
0 (mm)
1 (inch)
2 (degree)
3 (pulse)
*1 When [Pr. PT01.1] is set to "1", the returned value may differ due to unit conversion.
12 Profile Velocity Mode Objects
158
12.1 [Velocity demand value (Obj. 606Bh)]
Mapping
Default
TxPDO
[Pr. PT01.1]
0 (encoder unit)
*1
1 (command unit)
Mapping
Default
TxPDO
[Pr. PT01.1]
0 (encoder unit)
*1
1 (command unit)
Range
Units
-2147483648 to
vel units
2147483647
Connected servo motor
Rotary servo motor
Linear servo motor
Range
Units
-2147483648 to
vel units
2147483647
Connected servo motor
Rotary servo motor
Linear servo motor
Save
Parameter
Impossible
Units
0.01 r/min
0.01 mm/s
0.001 degree/s
pulse/s
Save
Parameter
Impossible
Units
0.01 r/min
0.01 mm/s
0.001 mm/s
0.0001 inch/s
0.001 degree/s
pulse/s
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