![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799462.webp)
Appendicies
A-62
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
•
This object sets the force command in the Cyclic synchronous torque mode.
•
This object sets the maximum force.
•
Set the value in units of 0.1% of the rated force (100%).
•
This object gives the Servo Drive's internal force command value.
•
Set the value in units of 0.1% of the rated force (100%).
•
This object gives the feedback force value. The values are the same as for the internal force
command value.
•
Set the value in units of 0.1% of the rated force (100%).
•
This object sets the target position in the Cyclic synchronous position mode.
•
This object sets the position of the external encoder when an absolute external encoder is in use and
the amount of offset for the machine coordinate position.
6071 hex
Target torque
Range
5,000 to 5,000
Unit
0.1%
Default
0
Attribute
A
Size
2 bytes (U16)
Access
RW
PDO map
Possible
6072 hex
Max torque
Range
0 to 5,000
Unit
0.1%
Default
5,000
Attribute
A
Size
2 bytes (U16)
Access
RW
PDO map
Possible
6074 hex
Torque demand
Range
5,000 to 5,000
Unit
0.1%
Default
0
Attribute
Size
2 bytes (INT16)
Access
RO
PDO map
Possible
6077 hex
Torque actual value
Range
5,000 to 5,000
Unit
0.1%
Default
0
Attribute
Size
2 bytes (INT16)
Access
RO
PDO map
Possible
607A hex
Target position
Range
2,147,483,648
to 2,147,483,647
Unit
Command
units
Default
0
Attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Possible
607C hex
Home offset
Range
1,073,741,823
to 1,073,741,823
Unit
Command
units
Default
0
Attribute
C
Size
4 bytes (INT32)
Access
RW
PDO map
Not possible
cst
All
All
All
csp
pp
All