Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
A - 94 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
465F 81 Logic Status --- --- --- --- 4 bytes
(INT32)
---
4660 --- Zone Notification Output
2 --- --- --- --- --- ---
01 Port Selection 0 to 7 hex --- 0 hex R 4 bytes
(INT32)
---
02 Logic Selection 0 to 1 --- 0 R 4 bytes
(INT32)
---
81 Logic Status --- --- --- --- 4 bytes
(INT32)
---
4661 --- Position Command Sta-
tus Output --- --- --- --- --- ---
01 Port Selection 0 to 7 hex --- 0 hex R 4 bytes
(INT32)
---
02 Logic Selection 0 to 1 --- 0 R 4 bytes
(INT32)
---
81 Logic Status --- --- --- --- 4 bytes
(INT32)
---
4662 --- Distribution Completed
Output --- --- --- --- --- ---
01 Port Selection 0 to 7 hex --- 0 hex R 4 bytes
(INT32)
---
02 Logic Selection 0 to 1 --- 0 R 4 bytes
(INT32)
---
81 Logic Status --- --- --- --- 4 bytes
(INT32)
---
603F 00 Error code --- --- 0000 hex --- 2 bytes
(U16)
TxPDO
6040 00 Controlword 0000 to FFFF
hex
--- 0000 hex A 2 bytes
(U16)
RxPDO
6041 00 Statusword --- --- 0000 hex --- 2 bytes
(U16)
TxPDO
605B 00 Shutdown option code -7 to 0 --- -5 E 2 bytes
(INT16)
---
605C 00 Disable operation option
code -6 to 0 --- -4 E 2 bytes
(INT16)
---
605D 00 Halt option code 1 to 3 --- 1 E 2 bytes
(INT16)
---
605E 00 Fault reaction option
code -7 to 0 --- -4 E 2 bytes
(INT16)
---
6060 00 Modes of operation 0 to 10 --- 0 A 1 byte
(INT8)
RxPDO
6061 00 Modes of operation dis-
play --- --- --- --- 1 byte
(INT8)
TxPDO
6062 00 Position demand value --- Command unit --- --- 4 bytes
(INT32)
TxPDO
6063 00 Position actual internal
value --- Encoder unit --- --- 4 bytes
(INT32)
TxPDO
6064 00 Position actual value --- Command unit --- --- 4 bytes
(INT32)
TxPDO
6065 00 Following error window 0 to
4,294,967,295
Command unit 84,000,000 A 4 bytes
(INT32)
---
6067 00 Position window 1 to
2,147,483,647
Command unit 8,000 A 4 bytes
(U32)
---
606B 00 Velocity demand value --- Command unit/s --- --- 4 bytes
(INT32)
TxPDO
606C 00 Velocity actual value --- Command unit/s --- --- 4 bytes
(INT32)
TxPDO
6071 00 Target torque -5,000 to 5,000 0.1% 0 A 2 bytes
(INT16)
RxPDO
6072 00 Max torque 0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RxPDO
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map