Omron R88D-KN01H-ECT-L, User Manual

Page: 220 / 626

6 Basic Control Functions
6 - 12
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The following diagram shows the control function configuration of Profile position mode.
6-4-1 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
6065 hex
*1 00 hex Following error
window RW U32 Command
unit
0 to 134,217,728,
4,294,967,295
100,000
6072 hex 00 hex Max torque RW U16 0.1% 0 to 5,000 5,000
607A hex
*2 00 hex Target position RW INT32 Command
unit
–2,147,483,648
to 2,147,483,647
0000 hex
607D hex 01 hex Min position limit RW INT32 Command
unit
–1,073,741,823
to 1,073,741,823
–500,000
02 hex Max position limit RW INT32 Command
unit
–1,073,741,823
to 1,073,741,823
500,000
6081 hex 00 hex Profile velocity RW U32 Command
unit/s
0 to
2,147,483,647
0000 hex
6083 hex 00 hex Profile acceleration RW U32 Command
unit/s
2
1 to 655,350,000 1,000,000
6084 hex 00 hex Profile deceleration RW U32 Command
unit/s
2
1 to 655,350,000 1,000,000
6086 hex 00 hex Motion profile type RW INT16 – –1 to 0 0
6041 hex 00 hex Statusword RO U16 – 0 to FFFF hex 0000 hex
6062 hex 00 hex Position demand value RO INT32 Command
unit
–2,147,483,648
to 2,147,483,647
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
60FA hex 00 hex Control effort RO INT32 Command
unit/s
–1,073,741,823
to 1,073,741,823
0000 hex
60FC hex 00 hex Position demand
internal value RO INT32 External
encoder units
–2,147,483,648
to 2,147,483,647
0000 hex
Control effort (60FA hex)
Max torque (6072 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex) (=Torque demand)
Following error actual value (60F4 hex)
Position actual value (6064 hex)
Following error window (6065 hex)
Position demand value (6062 hex)
Control
Function
Limit
Function