Additional Information Refer to the Sample File No. 6 SILSDemoMC.mdl for the Simulink model that you created by the above operation. You can add the following axis variable members to the In list. However, you can add only the axes whose Axis use parameter is set to Unused axis (changeable to used axis) or Used axis and whose Axis type parameter is set to Servo axis or Encoder axis .
Like the actual access from Servo Drive or encoder to Controller, these variables are converted to the data type for the PDO communications ( Act.Pos and Act.Vel are converted to DINT data and Act.Trq is converted to INT data) for unit conversion of axis variables (i.e., calculation based on the electronic gear ratio setting) using the command pulse count per motor The Modes of operation input to the Sysmac IO Device block is corresponding to the rotation and work travel distance per motor rotation. operation mode of the process data object (PDO) of the AC Servomotor/Servo Drives G5/1S-series with built-in EtherCAT communications (6060 hex) and refers to 8:
Cyclic synchronous position mode (csp) , 9: Cyclic synchronous velocity mode The unit of the Toque demand output from the Sysmac IO Device block is [%]. To (csv) , or 10: Cyclic synchronous torque mode (cst) . convert the value to the torque in [N m], use the rated torque to calculate it as shown below. Torque [N m] = Torque [%] x rated torque / 100 You can confirm the rated torque in the setting dialog box for the Sysmac IO Device block. 42 Variable name (Member) Name Act.Pos Actual current position Act.Vel Actual current velocity Act.Trq Actual current torque