Oriental motor aSTEP AZ mini Driver, User Manual

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Object dictionary
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z
Modes of operation display (6061h)
This indicates the operation mode that is enabled actually. The range is the same as the Modes of operation (6060h).
Index Sub Name Type Access PDO Save Range Update
6061h 00h Modes of operation display INT8 RO TxPDO − − −
z
Position demand value (6062h)
This indicates the command position. When the Wrap setting (41C7h) is set to 1, the value in the wrap range is
indicated.
Index Sub Name Type Access PDO Save Range Update
6062h 00h Position demand value [step] INT32 RO TxPDO − − −
z
Position actual value (6064h)
This indicates the present position detected by the ABZO sensor. When the Wrap setting (41C7h) is set to 1, the value
in the wrap range is indicated.
Index Sub Name Type Access PDO Save Range Update
6064h 00h Position actual value [step] INT32 RO TxPDO − − −
z
Following error window (6065h)
This is used to set the condition in which the position deviation alarm is generated.
Index Sub Name Type Access PDO Save Range Update
6065h 00h
Following error
window [1=0.01 rev]
U32 RW No

1 to 30,000
(Initial value: 300)
A
z
Position window (6067h)
This is used to set the output range of the positioning completion output (IN-POS). It is the same as the "IN-POS
positioning completion signal range" parameter of the
AZ Series.
In the Profile position mode, after positioning operation is properly completed, the Target Reached (6041h: Bit 10) of
the Statusword changes to 1 when the actual position has converged in a range of the Position window (6067h) with
respect to the Position demand value (command position).
The IN-POS output range can be offset by the IN-POS positioning completion signal offset (4704h).
Index Sub Name Type Access PDO Save Range Update
6067h 00h
Position window
[1=0.1°]
U32 RW No

0 to 180
(Initial value: 18)
A
z
Velocity demand value (606Bh)
This indicates the present command speed (Hz).
Index Sub Name Type Access PDO Save Range Update
606Bh 00h Velocity demand value [Hz] INT32 RO TxPDO − − −
z
Velocity actual value (606Ch)
This indicates the present feedback speed (Hz).
Index Sub Name Type Access PDO Save Range Update
606Ch 00h Velocity actual value [Hz] INT32 RO TxPDO − − −
z
Target position (607Ah)
This is used to set the target position in the Cyclic synchronous position mode and the Profile position mode.
Index Sub Name Type Access PDO Save Range Update
607Ah 00h
Target position
[step]
INT32 RW RxPDO −
−2,147,483,648 to
2,147,483,647
(Initial value: 0)
A