Omron R88D-1SN ECT Series

A - 59
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-8 Servo Drive Profile Object
• This object gives the supported homing methods.
• This object gives the amount of following error.
• This object gives the velocity command value which is generated in the position control of the Servo
Drive.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• This object gives the command position which is generated in the Servo Drive.
• This object gives each function I/O status of the Servo Drive.
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
60E3 --- Supported hom-
ing methods
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 07 hex --- 1 byte
(U8)
RO --- --- ---
01 1st supported
homing method
--- --- 8 --- 2 bytes
(INT16)
RO --- --- hm
02 2nd supported
homing method
--- --- 12 --- 2 bytes
(INT16)
RO --- --- hm
03 3rd supported
homing method
--- --- 19 --- 2 bytes
(INT16)
RO --- --- hm
04 4th supported
homing method
--- --- 20 --- 2 bytes
(INT16)
RO --- --- hm
05 5th supported
homing method
--- --- 33 --- 2 bytes
(INT16)
RO --- --- hm
06 6th supported
homing method
--- --- 34 --- 2 bytes
(INT16)
RO --- --- hm
07 7th supported
homing method
--- --- 37 --- 2 bytes
(INT16)
RO --- --- hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
60F4 --- Following error
actual value
--- Com-
mand
unit
--- --- 4 bytes
(INT16)
RO TxPDO Not possi-
ble
csp, pp,
hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
60FA --- Control effort --- Com-
mand
unit/s
--- --- 4 bytes
(INT32)
RO TxPDO Not possi-
ble
csp, pp,
hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
60FC --- Position
demand internal
value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO TxPDO Not possi-
ble
csp, pp,
hm
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
60FD --- Digital inputs --- --- --- --- 4 bytes
(U32)
RO TxPDO Not possi-
ble
---