A - 49
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 C
o
E Object
s
A
A-2
-8 Servo Dr
ive Pro
file Object
• This object gives the present position in units of encoder.
• This object gives the present position in units of command.
• This object sets the threshold for a following error.
• When the following error is more than or equal to this set value, an Excessive Position Deviation
Error (Error No. 24.00) is detected.
Description of Set Values
• If it is set to
4,294,967,295 (FFFF FFFF hex)
, detection of following errors is disabled.
• If it is set to
0
, there will always be a following error.
• When it is set to between
2,147,483,648
and
4,294,967,294
, the set value becomes
2,147,483,648
.
• When the following error is less than or equal to the set value of this object, the Positioning Comple-
tion Output 1 (INP1) turns ON.
• This setting is also used as the threshold for detecting Target reached flag in the EtherCAT communi-
cations status.
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6063
---
Position actual
internal value
---
Encod
er unit
---
---
4 bytes
(INT32)
RO
TxPDO
Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6064
---
Position actual
value
---
Com-
mand
unit
---
---
4 bytes
(INT32)
RO
TxPDO
Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6065
---
Following error
window
0 to
4,294,967,295
Com-
mand
unit
84,000,000
A
4 bytes
(U32)
RW
---
Not pos-
sible
csp, pp,
hm
Set value
Description
0 to 2,147,483,647
Enabled at the value set in the Following error window
2,147,483,648 to 4,294,967,294
Enabled at 2,147,483,647 hex as the value set in the Following error win-
dow
4,294,967,295
Excessive position deviation detection disabled
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Com-
plete
access
Modes of
operation
6067
---
Position win-
dow
1 to
2,147,483,647
Com-
mand
unit
8000
A
4 bytes
(U32)
RW
---
Not pos-
sible
csp, pp,
hm
Summary of Contents for R88D-1SN ECT Series
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