Omron R88D-KN series User Manual

A-61
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object gives the Servo Drive's internal command position.
• This object gives the Servo Drive's present internal position.
• The value is in external encoder units.
• This object gives the present position.
• This object sets the threshold for following errors.
• 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 134,217,729 and 4,294,967,294, the set value becomes 134,217,728.
• Select the position error threshold at which the positioning completion signal (INP 1) is output.
The default unit is command units, but Position Setting Unit Selection (3520 hex) can be used to
convert to external encoder units. If the unit is converted, the unit of Following error window
(6065 hex) will also be converted.
• This setting is also used for the Target reached flag in the EtherCAT communications status. The unit,
however, is always command units regardless of the setting of Position Setting Unit Selection (3520
hex).
• This object gives the present speed.
6062 hex
Position demand value
Range 2,147,483,648
to 2,147,483,647
Unit Command
units
Default 0 Attribute 
Size 4 bytes (INT32) Access RO PDO map Possible
6063 hex
Position actual internal value
Range 2,147,483,648
to 2,147,483,647
Unit Pulses Default 0 Attribute 
Size 4 bytes (INT32) Access RO PDO map Possible
6064 hex
Position actual value
Range 2,147,483,648
to 2,147,483,647
Unit Command
units
Default 0 Attribute 
Size 4 bytes (INT32) Access RO PDO map Possible
6065 hex
Following error window
Range 0 to 134,217,728,
4,294,967,295
Unit Command
units
Default 100,000 Attribute A
Size 4 bytes (U32) Access RW PDO map Not possible
6067 hex
Position window
Range 0 to 262,144 Unit Command
units
Default 10 Attribute A
Size 4 bytes (U32) Access RW PDO map Not possible
606C hex
Velocity actual value
Range 2,147,483,647
to 2,147,483,647
Unit Command
units/s
Default 0 Attribute 
Size 4 bytes (U32) Access RO PDO map Possible
csp
pp
hm
All
All
csp
pp
hm
csp
pp
hm
All

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English