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 torque value.
• The value is given in units of 0.1% of the rated torque (100%).
• This object sets the command position in Cyclic synchronous position mode (csp) and Profile position
mode (pp).
• This object sets the offset value from the home of the absolute encoder to the zero position of Posi-
tion actual value (6064 hex).
• This object sets the software position limit function.
• Subindex 01 hex
Min position limit sets the negative limit value for Position actual value (6064
hex).
• Subindex 02 hex Max position limit sets the positive limit value for Position actual value (6064
hex).
• The software position limit is always relative to the home.
• Setting
Software Position Limit (3B11 hex) is necessary to use the software position limit function.
• Refer to 7-4 Software Position Limit Functions on page 7-17 for details.
Precautions for Correct Use
• Make sure that the value of Max position limit is larger than the value of Min position limit.
The software position limit function is disabled when this condition is not met.
• The software position limit function is disabled when home is not defined.
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
6077 --- Torque actual
value --- 0.1% --- --- 2 bytes
(INT16)
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
607 A --- Target position -2,147,483,648
to
2,147,483,647
Com-
mand
unit
0 A 4 bytes
(INT32)
W RxPDO Not pos-
sible
csp, pp
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
607C --- Home offset -2,147,483,648
to
2,147,483,647
Com-
mand
unit
0 R 4 bytes
(INT32)
RW --- 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
607D --- Software posi-
tion limit --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Min position
limit -2,147,483,648
to
2,147,483,647
Com-
mand
unit
-50,000 E 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Max position
limit -2,147,483,648
to
2,147,483,647
Com-
mand
unit
50,000 E 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm