Omron R88D-KN01H-ECT-L, Руководство пользователя

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6 - 9
6 Basic Control Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
6-
3 Cyclic Syn
chro
nou
s To
rqu
e Mod
e
6
6-
3-1 Re
lated
Objects
Restricts the speed as the protection during force control.
Controls that the speed does not exceed the Speed Limit during force control.
6-3-1 Related Objects
Index Sub-index Name Access Size Unit Setting range
Default
setting
6040 hex 00 hex Controlword RW U16 – 0 to FFFF hex 0000 hex
6060 hex 00 hex Modes of operation RW INT8 – 0 to 10 0
6071 hex 00 hex Target torque RW INT16 0.1% –5,000 to 5,000 0000 hex
6072 hex 00 hex Max torque RW U16 0.1% 0 to 5,000 5,000
607F hex 00 hex Max profile velocity RW U32 Command
unit/s
0 to
2,147,483,647
0000 hex
60B2 hex 00 hex Torque offset RW INT16 0.1% –5,000 to 5,000 0
6041 hex 00 hex Statusword RO U16 – 0 to FFFF hex 0000 hex
6064 hex 00 hex Position actual value RO INT32 Command
unit
–2,147,483,648
to 2,147,483,647
0000 hex
606C hex 00 hex Velocity actual value RO INT32 Command
unit/s
–2,147,483,648
to 2,147,483,647
0000 hex
6077 hex 00 hex Torque actual value RO INT16 0.1% –5,000 to 5,000 0000 hex
6-3-2 Objects Requiring Settings
Index Name Description Reference
3317 hex Speed Limit Selection Select the input location for the speed limit. P. 9-26
Speed Limit Selection (3317 hex)
Index Name Description Setting range Unit
3317 hex Speed Limit Selection Selects the input type of the Speed
Limit during force control.
0: Control the speed by the Speed
Limit Value Setting (3321 hex).
1: Control the speed by either one
of the smaller value: the Max
Profile Velocity (607F hex) by
EtherCAT communications, or
the Speed Limit Value Setting
(3321 hex).
0 to 1 –