Omron R88D-1SN01H-ECT, Руководство пользователя

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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-9
Monit
o
rin
g
-relat
ed Obj
ect
s
9
9-
9-1
41
10 hex:
M
oni
to
r Dat
a vi
a P
D
O
9-9 Monitoring-related Objects
These objects are used for the monitoring setting.
Sets the object for monitoring. You can monitor any object by mapping the monitor data to a TxPDO.
• Sets the object for monitoring.
• Set the index in upper two bytes and the subindex in lower two bytes.
z Description of Set Values
• Gives the object value set in Target Object.
• The given value is always four bytes. If the size of the set object is less than four bytes, the data size
will be extended to four bytes by the sign extension. If the size of the set object is four bytes or more,
lower four bytes of the object will be given.
Precautions for Correct Use
Objects whose data type is BOOL, U, or INT can be set in Target Object. Do not set objects
whose data type is VS or OS.
9-9-1 4110 hex: Monitor Data via PDO
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
4110 --- Monitor Data
via PDO --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 84 hex --- 1 byte
(U8)
RO --- --- ---
01 to
04
Target Object 1
to 4 00000000
to
FFFFFFFF
hex
--- 00000000
hex
A 4 bytes
(U32)
RW --- --- ---
81 to
84
Monitor Data 1
to 4 --- --- --- --- 4 bytes
(INT32)
RO TxPDO --- ---
Subindex 01 to 04 hex: Target Object 1 to 4
Set value Description
Upper 2 bytes Index
of the target object
Lower 2 bytes Subindex of the target object
Subindex 81 to 84 hex: Monitor Data 1 to 4