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-
3 Object
List
A
6074 00 Torque demand --- 0.1% --- --- 2 bytes
(INT16)
TxPDO
6077 00 Torque actual value --- 0.1% --- --- 2 bytes
(INT16)
TxPDO
607A 00 Target position -2,147,483,648
to
2,147,483,647
Command unit 0 A 4 bytes
(INT32)
RxPDO
607C 00 Home offset -2,147,483,648
to
2,147,483,647
Command unit 0 R 4 bytes
(INT32)
---
607D --- Software position limit --- --- --- --- --- ---
01 Min position limit -2,147,483,648
to
2,147,483,647
Command unit -50,000 E 4 bytes
(INT32)
---
02 Max position limit -2,147,483,648
to
2,147,483,647
Command unit 50,000 E 4 bytes
(INT32)
---
607F 00 Max profile velocity 0 to
2,147,483,647
Command unit/s 2,147,483,647 A 4 bytes
(U32)
RxPDO
6081 00 Profile velocity 0 to
2,147,483,647
Command unit/s 0 A 4 bytes
(U32)
RxPDO
6083 00 Profile acceleration 1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
RxPDO
6084 00 Profile deceleration 1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
RxPDO
6091 --- Gear ratio --- --- --- --- --- ---
01 Motor revolutions 0 to
1,073,741,824
--- 1 R 4 bytes
(U32)
---
02 Shaft revolutions 1 to
1,073,741,824
--- 1 R 4 bytes
(U32)
---
6098 00 Homing method 0 to 37 --- 0 E 1 byte
(INT8)
---
6099 --- Homing speeds --- --- --- --- --- ---
01 Speed during search for
switch 1 to
2,147,483,647
Command unit/s 5,000 A 4 bytes
(U32)
---
02 Speed during search for
zero 1 to
2,147,483,647
Command unit/s 5,000 A 4 bytes
(U32)
---
609A 00 Homing acceleration 1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
---
60B0 00 Position offset -2,147,483,648
to
2,147,483,647
Command unit 0 A 4 bytes
(INT32)
RxPDO
60B1 00 Velocity offset -2,147,483,648
to
2,147,483,647
Command unit/s 0 A 4 bytes
(INT32)
RxPDO
60B2 00 Torque offset -5,000 to 5,000 0.1% 0 A 2 bytes
(INT16)
RxPDO
60B8 00 Touch probe function 0 to 65,535 --- 0 A 2 bytes
(U16)
RxPDO
60B9 00 Touch probe status --- --- --- --- 2 bytes
(U16)
TxPDO
60BA 00 Touch probe 1 positive
edge --- Command unit --- --- 4 bytes
(INT32)
TxPDO
60BC 00 Touch probe 2 positive
edge --- Command unit --- --- 4 bytes
(INT32)
TxPDO
60C2 --- Interpolation time period --- --- --- --- --- ---
01 Interpolation time period
value 0 to 255 --- 1 E 1 byte
(U8)
---
02 Interpolation time index -128 to 63 --- -3 E 1 byte
(INT8)
---
60D0 --- Touch probe source --- --- --- --- --- ---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map