![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799473.webp)
A-73
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-12 Ser
v
o Dr
iv
e Profile Object
Settings for Sub-index 02 hex
*1
Set all Reserved bits to 0.
•
Set the command speed for the Cyclic synchronous velocity.
•
This object indicates the type of motor that is connected.
•
It is always 3 (PM synchronous motor) for G5-series Servo Drives.
Bit
Signal name
Symbol
Code
Description
0
Set brake Mask (Brake Interlock
Output Mask)
BKIR
0
Set brake disable output
1
Set brake enable output
1 to 15
Reserved
*1
0
16
Remote Output 1 Mask
R-OUT1
0
R-OUT1 disable output
1
R-OUT1 enable output
17
Remote Output 2 Mask
R-OUT2
0
R-OUT2 disable output
1
R-OUT2 enable output
24
Gain Switching Mask
G-SEL
0
Switch setting disable
1
Switch setting enable
25
Reserved
*1
0
26
Speed Loop P/PI Control Mask
P/PI
0
Switch setting disable
1
Switch setting enable
60FF hex
Target velocity
Range
2,147,483,647
to 2,147,483,647
Unit
Command
units/s
Default
0
Attribute
A
Size
4 bytes (INT32)
Access
RO
PDO map
Possible
6402 hex
Motor type
Range
Unit
Default
3
Attribute
Size
2 bytes (U16)
Access
RO
PDO map
Not possible
All
All