Omron R88D-KN01H-ECT-L, User Manual

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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-
1 CiA40
2 Drive Prof
ile
A
A-1
-12 Ser
v
o D
rive Pr
ofile Obje
cts
• This object gives the feedback force value. The values are the same as for the internal force
command value.
• Set the value in units of 0.1% of the rated force (100%).
• This object sets the target position in the Cyclic synchronous position mode.
• This object sets the position of the external encoder when an absolute external encoder is in use and
the amount of offset for the machine coordinate position.
• This object sets the software limit.
• Ranges for the Position demand value and Position actual value are restricted. Whenever a new
target position is set, it is checked against these ranges.
• The software limit is always a relative value to the mechanical origin.
• The Min position limit is the limiting value for negative direction and the Max position limit is the
limiting value for positive direction.
Precautions for Correct Use Precautions for Correct Use
• Make sure that the Positive position limit is larger than the Negative position limit.
• The software position limit is disabled when an origin return has not been completed.
6077 hex
Torque actual value
Setting
range
–5,000 to 5,000
Unit
0.1% Default
setting
0 Data
attribute
–
Size 2 bytes (INT16) Access RO PDO map Possible
607A hex
Target position
Setting
range
–2,147,483,648 to
2,147,483,647
Unit
Command unit Default
setting
0 Data
attribute
A
Size 4 bytes (INT32) Access RW PDO map Possible
607C hex
Home offset
Setting
range
–1,073,741,823 to
1,073,741,823
Unit
Command unit Default
setting
0 Data
attribute
C
Size 4 bytes (INT32) Access RW PDO map Not possible
607D hex
Software position limit
Sub-index 00 hex Number of entries
Setting
range
–
Unit
– Default
setting
02 hex Data
attribute
–
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Min position limit
Setting
range
–1,073,741,823 to
1,073,741,823
Unit
Command unit Default
setting
–500,000 Data
attribute
A
Size 4 bytes (INT32) Access RW PDO map Not possible
Sub-index 02 hex Max position limit
Setting
range
–1,073,741,823 to
1,073,741,823
Unit
Command unit Default
setting
500,000 Data
attribute
A
Size 4 bytes (INT32) Access RW PDO map Not possible
A l l
csp pp
A l l
A l l