Oriental motor aSTEP AZ mini Driver, User Manual

Page: 118 / 172

Object dictionary
118
3 E
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ommunica
tion
z
Home offset (607Ch)
This is used to offset the home after return-to-home operation is completed in the Homing mode. The command
position and the actual position after completion of return-to-home will be the value set in the Home offset. Since the
offset value is written to the same register as the Preset position (41C6h), if the Home offset (607Ch) is changed, the
Preset position (41C6h) will be the same value.
Index Sub Name Type Access PDO Save Range Update
607Ch 00h Home offset [step] INT32 RW No

−2,147,483,648 to
2,147,483,647
(Initial value: 0)
A
z
Software position limit (607Dh)
This is used to set the software limit. The Min. position limit represents the limit of the reverse direction, and the Max.
position limit represents the limit of the forward direction.
Index Sub Name Type Access PDO Save Range Update
607Dh
00h
Number of
entries
U8 RO No − 2 −
01h
Min. position
limit [step]
INT32 RW No

−2,147,483,648 to
2,147,483,647 (Initial
value: −2,147,483,648)
A
02h
Max. position
limit [step]
INT32 RW No

−2,147,483,648 to
2,147,483,647 (Initial
value: 2,147,483,647)
A
z
Profile velocity (6081h)
This is used to set the operating speed for the Profile position mode.
Index Sub Name Type Access PDO Save Range Update
6081h 00h Profile velocity [Hz] U32 RW RxPDO

0 to 4,000,000
(Initial value: 10,000)
A
z
Profile acceleration (6083h)
This is used to set the acceleration for the Profile position mode and the Profile velocity mode.
Index Sub Name Type Access PDO Save Range Update
6083h 00h
Profile acceleration
[step/s
2
]
U32 RW RxPDO

1 to 1,000,000,000
(Initial value: 300,000)
B
z
Profile deceleration (6084h)
This is used to set the deceleration for the Profile position mode and the Profile velocity mode.
Index Sub Name Type Access PDO Save Range Update
6084h 00h
Profile deceleration
[step/s
2
]
U32 RW RxPDO

1 to 1,000,000,000
(Initial value: 300,000)
B
z
Quick stop deceleration (6085h)
This is used to set the deceleration for the Quick stop. This is the deceleration when the Quick stop command of the
drive state machine was enabled while the Quick stop option code (605Ah) was set to 2 or 6.
Index Sub Name Type Access PDO Save Range Update
6085h 00h
Quick stop
deceleration [step/s
2
]
U32 RW RxPDO

1 to 1,000,000,000
(Initial value: 1,000,000)
B