![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799193.webp)
6-3
6 Basic Control Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-1 Cyc
li
c Sync
hr
o
n
o
u
s P
o
sition
Mod
e
6
6-1-1 Re
lated
Objects
*1
The Following error window object can be set to between 0 and 134,217,728, or 4,294,967,295. If the object is set to
4,294,967,295, the detection of Following error will be disabled. If it is set to 0, a Following error will always occur. If the
set value is between 134,217,729 and 4,294,967,294, it is set to 134,217,728. In this case, 134,217,728 will be returned
when the object is read.
6-1-1
Related Objects
Index
Sub-
index
Name
Access
Size
Unit
Setting range
Default
setting
6040 hex
00 hex
Controlword
RW
U16
0 to FFFF hex
0000 hex
6060 hex
00 hex
Modes of operation
RW
INT8
0 to 10
0
607A hex
00 hex
Target position
RW
INT32
Command units
2,147,483,648 to
2,147,483,647
0000 hex
6065 hex
*1
00 hex
Following error
window
RW
U32
Command units
0 to 134,217,728,
or 4,294,967,295
100000
6072 hex
00 hex
Max torque
RW
U16
0.1%
0 to 5,000
5000
60B0 hex
00 hex
Position offset
RW
INT32
Command units
2,147,483,648 to
2,147,483,647
0000 hex
60B1 hex
00 hex
Velocity offset
RW
INT32
Command
units/s
2,147,483,648 to
2,147,483,647
0000 hex
60B2 hex
00 hex
Torque offset
RW
INT16
0.1%
5,000 to 5,000
0
6041 hex
00 hex
Statusword
RO
U16
0 to FFFF hex
0000 hex
6064 hex
00 hex
Position actual
value
RO
INT32
Command units
2,147,483,648 to
2,147,483,647
0000 hex
606C hex
00 hex
Velocity actual
value
RO
INT32
Command
units/s
2,147,483,648 to
2,147,483,647
0000 hex
6077 hex
00 hex
Torque actual
value
RO
INT16
0.1%
5,000 to 5,000
0000 hex
60F4 hex
00 hex
Following error
actual value
RO
INT32
Command units
2,147,483,648 to
2,147,483,647
0000 hex