Omron R88D-KN01H-ECT-L, User Manual, Page: 473 / 626

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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
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1 CiA40
2 Drive Prof
ile
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A-1
-8 Commu
nication Objects
• All savable parameters are saved in the Servo Drive EEPROM.
• Saving is executed only when a specific value is written to sub-index 01 hex. This prevents
parameter values from being accidentally overwritten.
The specific value means “save.”
• A value of 0000 0001 hex (command valid) is given when reading.
• Nothing can be saved to the EEPROM while there is a Control Power Supply Undervoltage Error
(Error 11.0).
• Objects with attribute C are enabled for Config (4100 hex) or when the control power supply is reset.
• Objects with attribute R are enabled when the control power supply is reset.
• In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 6576 6173 hex.
Writing when there is a Control Power Supply Undervoltage Error (Error No. 11.0).
• Writing to the EEPROM may take up to 10 seconds. (This is when all objects are changed.)
• There is a limit to the number of times you can write to the EEPROM.
• The following objects are saved.
1010 hex
Store Parameters
Sub-index 00 hex Number of entries
Setting
range
–
Unit
– Default
setting
01 hex Data
attribute
–
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Store Parameters
Setting
range
–
Unit
– Default
setting
0000 0001 hex Data
attribute
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Size 4 bytes (U32) Access RW PDO map Not possible
MSB LSB
e v a s
65 hex 76 hex 61 hex 73 hex
Index Sub-index Description
2200 hex 00 hex Communications Errors Setting
3000 to 3999 hex 00 hex All G5-series Servo Drive parameters
605B hex 00 hex Shutdown option code
605C hex 00 hex Disable operation option code
605E hex 00 hex Fault reaction option code
6065 hex 00 hex Following error window
607C hex 00 hex Home offset
607D hex 01 hex Min position limit
607D hex 02 hex Max position limit
6091 hex 01 hex Motor revolutions
6091 hex 02 hex Shaft revolutions
60E0 hex 00 hex Positive torque limit value
60E1 hex 00 hex Negative torque limit value
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