Omron R88D-1SN ECT Series

Appendices
A - 96
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
605B 00 Shutdown option code -7 to 0 --- -5 E 2 bytes
(INT16)
---
605C 00 Disable operation option
code
-6 to 0 --- -4 E 2 bytes
(INT16)
---
605D 00 Halt option code 1 to 3 --- 1 E 2 bytes
(INT16)
---
605E 00 Fault reaction option
code
-7 to 0 --- -4 E 2 bytes
(INT16)
---
6060 00 Modes of operation 0 to 10 --- 0 A 1 byte
(INT8)
RxPDO
6061 00 Modes of operation dis-
play
--- --- --- --- 1 byte
(INT8)
TxPDO
6062 00 Position demand value --- Command unit --- --- 4 bytes
(INT32)
TxPDO
6063 00 Position actual internal
value
--- Encoder unit --- --- 4 bytes
(INT32)
TxPDO
6064 00 Position actual value --- Command unit --- --- 4 bytes
(INT32)
TxPDO
6065 00 Following error window 0 to
4,294,967,295
Command unit 84,000,000 A 4 bytes
(INT32)
---
6067 00 Position window 1 to
2,147,483,647
Command unit 8,000 A 4 bytes
(U32)
---
606B 00 Velocity demand value --- Command unit/s --- --- 4 bytes
(INT32)
TxPDO
606C 00 Velocity actual value --- Command unit/s --- --- 4 bytes
(INT32)
TxPDO
6071 00 Target torque -5,000 to 5,000 0.1% 0 A 2 bytes
(INT16)
RxPDO
6072 00 Max torque 0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RxPDO
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)
---
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map