Omron R88D-KN01H-ECT-L, User Manual

Page: 211 / 626

6 - 3
6 Basic Control Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
6-1
Cyclic Syn
chro
nou
s Posit
ion
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 set value 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
unit
–2,147,483,648
to 2,147,483,647
0000 hex
6065 hex
*1 00 hex Following error
window RW U32 Command
unit
0 to 134,217,728
or 4,294,967,295 100,000
6072 hex 00 hex Max torque RW U16 0.1% 0 to 5,000 5,000
60B0 hex 00 hex Position offset RW INT32 Command
unit
–2,147,483,648
to 2,147,483,647
0000 hex
60B1 hex 00 hex Velocity offset RW INT32 Command
unit/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
unit
–2,147,483,648
to 2,147,483,647
0000 hex
606C hex 00 hex Velocity actual value RO INT32 Command
unit/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
unit
–2,147,483,648
to 2,147,483,647
0000 hex