Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A
-2 Co
E Ob
ject
s
A
A-2
-8 Servo Dr
ive Pro
file Object
• This object gives the present position in units of encoder.
• This object gives the present position in units of command.
• This object sets the threshold for a following error.
• When the following error is more than or equal to this set value, an Excessive Position Deviation
Error (Error No. 24.00) is detected.
z Description of Set Values
• If it is set to 4,294,967,295 (FFFF FFFF hex) , detection of following errors is disabled.
• If it is set to 0 , there will always be a following error.
• When it is set to between 2,147,483,648 and 4,294,967,294 , the set value becomes 2,147,483,648 .
• When the following error is less than or equal to the set value of this object, the Positioning Comple-
tion Output 1 (INP1) turns ON.
• This setting is also used as the threshold for detecting Target reached flag in the EtherCAT commu-
nications status.
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
6063 --- Position actual
internal value --- Encod
er unit --- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
6064 --- Position actual
value --- Com-
mand
unit
--- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
6065 --- Following error
window 0 to
4,294,967,295
Com-
mand
unit
84,000,000 A 4 bytes
(U32)
RW --- Not pos-
sible
csp, pp,
hm
Set value Description
0 to 2,147,483,647 Enabled at the value set in the Following error window
2,147,483,648 to 4,294,967,294 Enabled at 2,147,483,647 hex as the value set in the Following error win-
dow
4,294,967,295 Excessive position deviation detection disabled
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
6067 --- Position win-
dow 1 to
2,147,483,647
Com-
mand
unit
8000 A 4 bytes
(U32)
RW --- Not pos-
sible
csp, pp,
hm