Omron R88D-KN01H-ECT-L, User Manual

Page: 540 / 626

Appendices
A - 94
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
60B1 hex 00 hex Velocity offset 0 –2,147,483,648
to 2,147,483,647
Command
unit/s
4 bytes
(INT32)
A RxPDO –
60B2 hex 00 hex Torque offset 0 –5,000 to
5,000
0.1% 2 bytes
(INT16)
A RxPDO –
60B8 hex 00 hex Touch probe function 0 – – 2 bytes
(U16)
A RxPDO –
60B9 hex 00 hex Touch probe status 0 – – 2 bytes
(U16)
RO TxPDO –
60BA hex 00 hex Touch probe pos1 pos
value 0 –2,147,483,648
to 2,147,483,647
Command
unit
4 bytes
(INT32)
RO TxPDO –
60BC hex 00 hex Touch probe pos2 pos
value 0 –2,147,483,648
to 2,147,483,647
Command
unit
4 bytes
(INT32)
RO TxPDO –
60E0 hex 00 hex Positive torque limit
value 5,000 0 to 5,000 0.1% 2 bytes
(U16)
A Not
possible
–
60E1 hex 00 hex Negative torque limit
value 5,000 0 to 5,000 0.1% 2 bytes
(U16)
A Not
possible
–
60E3 hex Supported homing
methods – – – – – – –
00 hex Number of entries 07 hex – – 1 byte
(U8)
RO Not
possible
–
01 hex 1st supported homing
method 8 – – 2 bytes
(U16)
RO Not
possible
–
02 hex 2nd supported homing
method 12 – – 2 bytes
(U16)
RO Not
possible
–
03 hex 3rd supported homing
method 19 – – 2 bytes
(U16)
RO Not
possible
–
04 hex 4th supported homing
method 20 – – 2 bytes
(U16)
RO Not
possible
–
05 hex 5th supported homing
method 33 – – 2 bytes
(U16)
RO Not
possible
–
06 hex 6th supported homing
method 34 – – 2 bytes
(U16)
RO Not
possible
–
07 hex 7th supported homing
method 35 – – 2 bytes
(U16)
RO Not
possible
–
60F4 hex 00 hex Following error actual
value 0 –536,870,912 to
536,870,912
Command
unit
4 bytes
(INT32)
RO TxPDO –
60FA hex 00 hex Control effort 0 –1,073,741,823
to 1,073,741,823
Command
unit
4 bytes
(INT32)
RO TxPDO –
60FC hex 00 hex Position demand
internal value 0 –1,073,741,823
to 1,073,741,823
Encoder
unit
4 bytes
(INT32)
RO TxPDO –
60FD hex 00 hex Digital inputs 0000 0000 hex 0000 0000 to
FFFF FFFF hex
– 4 bytes
(U32)
RO TxPDO –
60FE hex Digital outputs – – – – – – –
00 hex Number of entries 02 hex – – 1 byte
(U8)
RO Not
possible
–
01 hex Physical outputs 0000 0000 hex 0000 0000 to
FFFF FFFF hex
– 4 bytes
(U32)
A RxPDO –
02 hex Bit mask 0000 0000 hex 0000 0000 to
FFFF FFFF hex
– 4 bytes
(U32)
B Not
possible
–
60FF hex 00 hex Target velocity 0 –2,147,483,647
to 2,147,483,647
Command
unit/s
4 bytes
(INT32)
A RxPDO –
6402 hex 00 hex Motor type 3 – – 2 bytes
(U16)
RO Not
possible
–
6502 hex 00 hex Supported drive
modes 0000 03A0 hex – – 4 bytes
(U32)
RO Not
possible
–
Index
Sub-
Index
Name
Default
setting
Setting range Unit Size
Data
attribute
PDO
map
Corresponding
Pn number