Omron R88D-KN series User Manual

6-3
6 Basic Control Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
6-1 Cyclic Synchronous Position Mode
6
6-1-1 Related Objects
*1 The Following error window object can be set to between 0 and 134,217,728, or 4,294,967,295. If the object is set to
4,294,967,295, the detection of Following error will be disabled. If it is set to 0, a Following error will always occur. If the
set value is between 134,217,729 and 4,294,967,294, it is set to 134,217,728. In this case, 134,217,728 will be returned
when the object is read.
6-1-1 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
607A hex 00 hex Target position RW INT32 Command units 2,147,483,648 to
2,147,483,647
0000 hex
6065 hex
*1
00 hex Following error
window
RW U32 Command units 0 to 134,217,728,
or 4,294,967,295
100000
6072 hex 00 hex Max torque RW U16 0.1% 0 to 5,000 5000
60B0 hex 00 hex Position offset RW INT32 Command units 2,147,483,648 to
2,147,483,647
0000 hex
60B1 hex 00 hex Velocity offset RW INT32 Command
units/s
2,147,483,648 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 units 2,147,483,648 to
2,147,483,647
0000 hex
606C hex 00 hex Velocity actual
value
RO INT32 Command
units/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
60F4 hex 00 hex Following error
actual value
RO INT32 Command units 2,147,483,648 to
2,147,483,647
0000 hex

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English