Omron R88D-1SN01H-ECT, Руководство пользователя

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9 Details on Servo Parameters
9 - 4 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-1 Object Description Format
The 1S-series Servo Drives with built-in EtherCAT communications use the servo parameters that are
defined with objects. For information on the objects, refer to
1-1-3 Object Dictionary on page 1-4.
In this manual, objects are described in the following format.
Data is indicated in pointed brackets <>. Details on data are as follows.
Index
(hex)
Subindex
(hex)
Object
name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
<Index> <Subindex> <Object
name>
<Range> <Unit> <Default> <Attri-
bute>
<Size> <Access> <PDO
map>
<Complete
access>
<Modes of
operation>
Item Description
Index Object index given by a four-digit hexadecimal number.
Subindex Object subindex given by a two-digit hexadecimal number.
Object name The object name. For a subindex, the subindex name is given.
Setting range Indicates the range of data that can be set for a writable object.
Unit Physical units.
Default setting Default value set before shipment.
Data attribute The timing when a change in the contents is updated for a writable object.
A: Always updated
D: Possible to change only when the EtherCAT communications state is Pre-Opera-
tional (Pre-Op)
E: Servo ON
R: Updated after the control power is reset or restarted
–: Write prohibited
Size Gives the object size.
Access Indicates whether the object is to read only, or read and write.
RO: Read only
RW: Read and write (Saved in non-volatile memory)
W: Read and write (Not saved in non-volatile memory)
PDO map Indicates the PDO mapping attribute.
RxPDO: Reception PDOs can be mapped
TxPDO: Transmission PDOs can be mapped
–: PDOs cannot be mapped
Complete access Indicates whether Complete access is allowed or not.
Modes of operation The profile mode in which the object is enabled.
–: Independent of the Modes of operation
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
pv: Profile velocity mode
hm: Homing mode