Omron R88D-KN series

A-63
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 sets the software limit.
• Ranges for the Position demand value and Position actual value are restricted. Whenever a new
target position is set, it is checked against these ranges.
• The software limit is always a relative value to the mechanical origin.
• The Min position limit is the limiting value for negative direction and the Max position limit is the
limiting value for positive direction.
Precautions for Correct UsePrecautions for Correct Use
• Make sure that the Positive position limit is larger than the Negative position limit.
• The software position limit is disabled when an origin return has not been completed.
• This object sets the maximum velocity in the Cyclic synchronous torque mode.
• This object sets the target velocity for Profile position mode (pp).
607D hex
Software position limit
Sub-index 00 hex Number of entries
Range  Unit  Default 02 hex Attribute 
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Min position limit
Range 1,073,741,823
to 1,073,741,823
Unit Command
units
Default 500,000 Attribute A
Size 4 bytes (INT32) Access RW PDO map Not possible
Sub-index 02 hex Max position limit
Range 1,073,741,823
to 1,073,741,823
Unit Command
units
Default 500,000 Attribute A
Size 4 bytes (INT32) Access RW PDO map Not possible
607F hex
Max profile velocity
Range 0 to
2,147,483,647
Unit Command
units/s
Default 0 Attribute A
Size 4 bytes (U32) Access RW PDO map Possible
6081 hex
Profile Velocity
Range 0 to
2,147,483,647
Unit Command
units/s
Default setting 0 Attribute A
Size 4 bytes (U32) Access RW PDO map Possible
All
cst
pp