Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
A - 96 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
60D0 01 Touch probe 1 source 1 to 6 --- 1 A 2 bytes
(INT16)
---
02 Touch probe 2 source 1 to 6 --- 2 A 2 bytes
(INT16)
---
60D9 00 Supported functions --- --- 00000001 hex --- 4 bytes
(U32)
---
60DA 00 Function Settings 00000000 to
FFFFFFFF hex
--- 00000001 hex A 4 bytes
(U32)
---
60E0 00 Positive torque limit
value 0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RxPDO
60E1 00 Negative torque limit
value 0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RxPDO
60E3 --- Supported homing meth-
ods --- --- --- --- --- ---
01 1st supported homing
method --- --- 8 --- 2 bytes
(INT16)
---
02 2nd supported homing
method --- --- 12 --- 2 bytes
(INT16)
---
03 3rd supported homing
method --- --- 19 --- 2 bytes
(INT16)
---
04 4th supported homing
method --- --- 20 --- 2 bytes
(INT16)
---
05 5th supported homing
method --- --- 33 --- 2 bytes
(INT16)
---
06 6th supported homing
method --- --- 34 --- 2 bytes
(INT16)
---
07 7th supported homing
method --- --- 37 --- 2 bytes
(INT16)
---
60F4 00 Following error actual
value --- Command unit --- --- 4 bytes
(INT32)
TxPDO
60FA 00 Control effort --- Command unit/s --- --- 4 bytes
(INT32)
TxPDO
60FC 00 Position demand inter-
nal value --- Encoder unit --- --- 4 bytes
(INT32)
TxPDO
60FD 00 Digital inputs --- --- --- --- 4 bytes
(U32)
TxPDO
60FE --- Digital outputs --- --- --- --- --- ---
01 Physical outputs 00000000 to
FFFFFFFF hex
--- 00000000 hex A 4 bytes
(U32)
RxPDO
02 Bit mask 00000000 to
FFFFFFFF hex
--- 00000000 hex A 4 bytes
(U32)
---
60FF 00 Target velocity -2,147,483,648
to
2,147,483,647
Command unit/s 0 A 4 bytes
(INT32)
RxPDO
6402 00 Motor Type --- --- 3 --- 2 bytes
(U16)
---
6404 00 Motor manufacturer --- --- OMRON --- 20 bytes
(VS)
---
6502 00 Supported drive modes --- --- 000003A5 hex --- 4 bytes
(U32)
---
6620 --- safety controlword --- --- --- --- --- ---
01 safety controlword 1st
Byte --- --- --- --- 1 byte
(U8)
---
02 safety controlword 2nd
Byte --- --- --- --- 1 byte
(U8)
---
6621 --- safety statusword --- --- --- --- --- ---
01 safety statusword 1st
Byte --- --- --- --- 1 byte
(U8)
---
02 safety statusword 2nd
Byte --- --- --- --- 1 byte
(U8)
---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map