Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
A - 62 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This object sets the command velocity in Cyclic synchronous velocity mode (csp) and Profile velocity
mode (pp).
• This object gives the type of connected motor.
• It is always 3 (PM synchronous motor) for 1S-series Servo Drives.
• This object gives the motor manufacturer name.
• This object gives the supported modes of operation.
z Bit Descriptions
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
60FF --- Target veloc-
ity -2,147,483,648
to
2,147,483,647
Com-
mand
unit/s 0 A 4 bytes
(INT32)
W RxPDO Not pos-
sible
csv, 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
6402 --- Motor type --- --- 3 --- 2 bytes
(U16)
RO --- Not possi-
ble
---
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
6404 --- Motor manu-
facturer --- --- OMRON --- 20 bytes
(VS)
RO --- Not possi-
ble
---
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
6502 --- Supported
drive modes --- --- 000003A5
hex
--- 4 bytes
(U32)
RO --- Not pos-
sible
---
Bit Supported mode Value
0 pp (Profile position mode) 1: Supported
1 vl (Velocity mode) 0: Not sup-
ported
2 pv (Profile velocity mode) 1: Supported
3 tq (Profile torque mode) 0: Not sup-
ported
4 Reserved 0
5 hm (Homing mode) 1: Supported
6 ip (Interpolated position mode) 0: Not sup-
ported
7 csp (Cyclic synchronous position mode) 1: Supported
8 csv (Cyclic synchronous velocity mode) 1: Supported
9 cst (Cyclic synchronous torque mode) 1: Supported
10 to 31 Reserved 0