Omron R88D-1SN01H-ECT, Руководство пользователя

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9 Details on Servo Parameters
9 - 6 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects
This section explains the common control objects.
Sets the basic functions of Servo Drives.
9-2-1 3000 hex: Basic Functions
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3000 --- Basic Functions --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- FF hex --- 1 byte
(U8)
RO --- --- ---
01 Motor Rotation
Direction Selec-
tion 0 to 1 --- 1 R 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Control Mode
Selection --- --- 0 --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
03 Control Method
Selection 0 to 1 --- 1 R 4 bytes
(INT32)
RW --- --- csp, csv,
pp, pv
04 Function Set-
tings --- --- 00000001
hex
A 4 bytes
(U32)
RW --- --- ---
81 Function Status --- --- --- --- 4 bytes
(INT32)
RO TxPDO --- ---
82 Motor Stop
Cause --- --- --- --- 4 bytes
(INT32)
RO --- --- ---
83 Modes of Oper-
ation Display --- --- --- --- 1 byte
(INT8)
RO --- --- csp, csv,
cst, pp,
pv, hm
84 Supported
Functions --- --- 00000001
hex
--- 4 bytes
(U32)
RO --- --- ---
85 Supported
Drive Modes --- --- 000003A5
hex
--- 4 bytes
(U32)
RO --- --- ---
F1 Controlword 0000 to
FFFF
hex
--- 0000 hex A 2 bytes
(U16)
W --- --- csp, csv,
cst, pp,
pv, hm
F2 Modes of Oper-
ation 0 to 10 --- 0 A 1 byte
(INT8)
W --- --- csp, csv,
cst, pp,
pv, hm
FF Statusword --- --- --- --- 2 bytes
(U16)
RO --- --- csp, csv,
cst, pp,
pv, hm