Omron R88D-1SN20F-ECT User Manual

A - 49
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 present position in units of encoder.
• This object gives the present position in units of command.
• This object sets the threshold for a following error.
• When the following error is more than or equal to this set value, an Excessive Position Deviation
Error (Error No. 24.00) is detected.
 Description of Set Values
• If it is set to 4,294,967,295 (FFFF FFFF hex), detection of following errors is disabled.
• If it is set to 0, there will always be a following error.
• When it is set to between 2,147,483,648 and 4,294,967,294, the set value becomes 2,147,483,648.
• When the following error is less than or equal to the set value of this object, the Positioning Comple-
tion Output 1 (INP1) turns ON.
• This setting is also used as the threshold for detecting Target reached flag in the EtherCAT communi-
cations status.
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
6063 --- Position actual
internal value
--- Encod
er unit
--- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, 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
6064 --- Position actual
value
--- Com-
mand
unit
--- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, 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
6065 --- Following error
window
0 to
4,294,967,295
Com-
mand
unit
84,000,000 A 4 bytes
(U32)
RW --- Not pos-
sible
csp, pp,
hm
Set value Description
0 to 2,147,483,647 Enabled at the value set in the Following error window
2,147,483,648 to 4,294,967,294 Enabled at 2,147,483,647 hex as the value set in the Following error win-
dow
4,294,967,295 Excessive position deviation detection disabled
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
6067 --- Position win-
dow
1 to
2,147,483,647
Com-
mand
unit
8000 A 4 bytes
(U32)
RW --- Not pos-
sible
csp, pp,
hm

Omron R88D-1SN20F-ECT Specifications

General

Brand	Omron
Model	R88D-1SN20F-ECT
Category	Controller
Language	English