Omron R88D-1SN01H-ECT, Руководство пользователя

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9 Details on Servo Parameters
9 - 102 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-13 Encoder-related Objects
These objects are used for the encoder setting.
• Selects the operating method for the absolute encoder.
z
Description of Set Values
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
4510 --- Encoder --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- FF hex --- 1 byte
(U8)
RO --- --- ---
01 Operation Selec-
tion when Using
Absolute
Encoder 0 to 2 --- 2 R 4 bytes
(INT32)
RW --- --- ---
02 Absolute
Encoder Counter
Overflow Warn-
ing Level 0 to 32,767 rotation 32,000 A 4 bytes
(INT32)
RW --- --- ---
81 Serial Number --- --- --- --- 16 bytes
(VS)
RO --- --- ---
82 Resolution per
Rotation --- --- --- --- 4 bytes
(INT32)
RO --- --- ---
84 One-rotation
Data --- Encoder
unit
--- --- 4 bytes
(U32)
RO --- --- ---
85 Multi-rotation
Data --- rotation --- --- 4 bytes
(INT32)
RO --- --- ---
86 Encoder Com-
munications
Error Count --- --- --- --- 4 bytes
(INT32)
RO --- --- ---
87 Electric Angle --- ° --- --- 4 bytes
(INT32)
RO --- --- ---
88 Mechanical
Angle --- ° --- --- 4 bytes
(U32)
RO --- --- ---
89 Encoder Tem-
perature --- °C --- --- 4 bytes
(INT32)
RO --- --- ---
F1 Absolute
Encoder Setup 00000000
to
FFFFFFFF
hex
--- 0 A 4 bytes
(U32)
W --- --- ---
F2 Encoder Com-
munications
Error Count
Clear 00000000
to
FFFFFFFF
hex
--- 0 A 4 bytes
(U32)
W --- --- ---
FF Clear Status --- --- --- --- 4 bytes
(U32)
RO --- --- ---
Subindex 01 hex: Operation Selection when Using Absolute
Encoder
Set value Description
0 Use as the absolute encoder
1 Use as the incremental encoder
2 Used as the absolute encoder and ignore the absolute encoder counter overflow.