Omron R88D-1SN15H-ECT - Page 848

Appendices
A - 62
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
 Bit Description of Subindex 02 hex
• This object sets the command velocity in Cyclic synchronous velocity mode (csp) and Profile velocity
mode (pp).
• This object gives the type of connected motor.
• It is always 3 (PM synchronous motor) for 1S-series Servo Drives.
• This object gives the motor manufacturer name.
Bit Signal name Symbol Value Description
0
NC Contact Brake Interlock Output
*1
*1. Even when Bit mask for Brake Interlock Output is 0 (output disabled), the Servo Drive can perform the brake
control.
BKIR_b 0 Output disabled
1 Output enabled
16 Remote Output 1 R-OUT1 0 Output disabled
1 Output enabled
17 Remote Output 2 R-OUT2 0 Output disabled
1 Output enabled
18 Remote Output 3 R-OUT3 0 Output disabled
1 Output enabled
24 Gain Switching G-SEL 0 Setting disabled
1 Setting enabled
28
NO Contact Brake Interlock Output
*1*2
*2. This bit is available for the unit version 1.4 or later.
BKIR_a 0 Output disabled
1 Output enabled
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
60FF --- Target veloc-
ity
-2,147,483,648
to
2,147,483,647
Com-
mand
unit/s
0 A 4 bytes
(INT32)
W RxPDO Not pos-
sible
csv, pv
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
6402 --- Motor type --- --- 3 --- 2 bytes
(U16)
RO --- Not possi-
ble
---
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
6404 --- Motor manu-
facturer
--- --- OMRON --- 20 bytes
(VS)
RO --- Not possi-
ble
---