Omron R88D-KN series User Manual

A-69
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 negative force limit.
• It is limited by the maximum force of the connected motor.
• Set the value in units of 0.1% of the rated force (100%).
For details refer to Force Limit Switching on page 7-22.
• This object shows the supported Homing methods.
60E1 hex
Negative torque limit value
Range 0 to 5000 Unit 0.1% Default 5000 Attribute B
Size 2 bytes (U16) Access RW PDO map Not possible
60E3 hex
Supported homing method
Sub-index 00 hex Number of entries
Range  Unit  Default 07 hex Attribute 
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex 1st supported homing method
Range  Unit  Default 0008 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 02 hex 2nd supported homing method
Range  Unit  Default 0012 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 03 hex 3rd supported homing method
Range  Unit  Default 0019 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 04 hex 4th supported homing method
Range  Unit  Default 0020 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 05 hex 5th supported homing method
Range  Unit  Default 0033 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 06 hex 6th supported homing method
Range  Unit  Default 0034 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
Sub-index 07 hex 7th supported homing method
Range  Unit  Default 0035 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Not possible
All
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Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English