Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
A - 54 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This object sets the homing speed.
• Subindex 01 hex
Speed during search for switch sets the operation speed to be used until the
Home Proximity Input signal is detected.
• Subindex 02 hex Speed during search for zero sets the operation speed to be used until the home
signal is detected.
• This object sets the acceleration and deceleration rate to be used during homing.
• This object sets the offset for Target position (607A hex).
• In Cyclic synchronous position mode (csp), the offset value is added to Target position (607A hex)
for use as the target position for the control.
• This object sets the offset for Target velocity (60FF hex).
• This object sets the offset for Target torque (6071 hex).
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Defaul
t set-
ting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
6099 --- Homing
speeds --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Speed during
search for
switch 1 to
2,147,483,647
Command
unit/s
5,000 A 4 bytes
(U32)
RW --- --- hm
02 Speed during
search for zero 1 to
2,147,483,647
Command
unit/s
5,000 A 4 bytes
(U32)
RW --- --- 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
609 A --- Homing
acceleration 1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
RW --- Not pos-
sible
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
60B0 --- Position off-
set -2,147,483,648
to
2,147,483,647
Com-
mand
unit
0 A 4 bytes
(INT32)
W RxPDO Not pos-
sible
csp
Index
(hex)
Sub-
index
(hex)
Object
name
Setting range Unit
Defaul
t set-
ting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
60B1 --- Velocity off-
set -2,147,483,648
to
2,147,483,647
Command
unit/s
0 A 4 bytes
(INT32)
W RxPDO Not pos-
sible
csp, csv,
pp, pv
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
60B2 --- Torque off-
set -5,000 to
5,000
0.1% 0 A 2 bytes
(INT16)
W RxPDO Not possi-
ble
csp, csv,
cst, pp, pv