Appendices
A - 96
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
605B
00
Shutdown option code
-7 to 0
---
-5
E
2 bytes
(INT16)
---
605C
00
Disable operation option
code
-6 to 0
---
-4
E
2 bytes
(INT16)
---
605D
00
Halt option code
1 to 3
---
1
E
2 bytes
(INT16)
---
605E
00
Fault reaction option
code
-7 to 0
---
-4
E
2 bytes
(INT16)
---
6060
00
Modes of operation
0 to 10
---
0
A
1 byte
(INT8)
RxPDO
6061
00
Modes of operation dis-
play
---
---
---
---
1 byte
(INT8)
TxPDO
6062
00
Position demand value
---
Command unit
---
---
4 bytes
(INT32)
TxPDO
6063
00
Position actual internal
value
---
Encoder unit
---
---
4 bytes
(INT32)
TxPDO
6064
00
Position actual value
---
Command unit
---
---
4 bytes
(INT32)
TxPDO
6065
00
Following error window
0 to
4,294,967,295
Command unit
84,000,000
A
4 bytes
(INT32)
---
6067
00
Position window
1 to
2,147,483,647
Command unit
8,000
A
4 bytes
(U32)
---
606B
00
Velocity demand value
---
Command unit/s
---
---
4 bytes
(INT32)
TxPDO
606C
00
Velocity actual value
---
Command unit/s
---
---
4 bytes
(INT32)
TxPDO
6071
00
Target torque
-5,000 to 5,000
0.1%
0
A
2 bytes
(INT16)
RxPDO
6072
00
Max torque
0 to 5,000
0.1%
5,000
A
2 bytes
(U16)
RxPDO
6074
00
Torque demand
---
0.1%
---
---
2 bytes
(INT16)
TxPDO
6077
00
Torque actual value
---
0.1%
---
---
2 bytes
(INT16)
TxPDO
607A
00
Target position
-2,147,483,648
to
2,147,483,647
Command unit
0
A
4 bytes
(INT32)
RxPDO
607C
00
Home offset
-2,147,483,648
to
2,147,483,647
Command unit
0
R
4 bytes
(INT32)
---
607D
---
Software position limit
---
---
---
---
---
---
01
Min position limit
-2,147,483,648
to
2,147,483,647
Command unit
-50,000
E
4 bytes
(INT32)
---
02
Max position limit
-2,147,483,648
to
2,147,483,647
Command unit
50,000
E
4 bytes
(INT32)
---
607F
00
Max profile velocity
0 to
2,147,483,647
Command unit/s
2,147,483,647
A
4 bytes
(U32)
RxPDO
6081
00
Profile velocity
0 to
2,147,483,647
Command unit/s
0
A
4 bytes
(U32)
RxPDO
6083
00
Profile acceleration
1 to
2,147,483,647
Command
unit/s
2
1,000,000
A
4 bytes
(U32)
RxPDO
6084
00
Profile deceleration
1 to
2,147,483,647
Command
unit/s
2
1,000,000
A
4 bytes
(U32)
RxPDO
6091
---
Gear ratio
---
---
---
---
---
---
01
Motor revolutions
0 to
1,073,741,824
---
1
R
4 bytes
(U32)
---
02
Shaft revolutions
1 to
1,073,741,824
---
1
R
4 bytes
(U32)
---
Index
(hex)
Sub-
index
(hex)
Object name
Setting range
Unit
Default setting
Data
attri-
bute
Size
PDO map
Summary of Contents for R88D-1SN ECT Series
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