Omron R88D-KN series User Manual

A-91
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-2 Object List
App
60B0 hex 00 hex
Position offset
0

2147483648
to
2147483647
Command
units
4 bytes
(INT32)
ARxPDO 
60B1 hex 00 hex
Velocity offset
0

2147483648
to
2147483647
Command
units/s
4 bytes
(INT32)
ARxPDO 
60B2 hex 00 hex
Torque offset
0
5000 to
5000
0.1%
2 bytes
(INT16)
ARxPDO 
60B8 hex 00 hex
Touch probe function
0 
2 bytes
(U16)
ARxPDO 
60B9 hex 00 hex
Touch probe status
0 
2 bytes
(U16)
RO TxPDO 
60BA hex 00 hex
Touch probe pos1 pos value
0

2147483648
to
2147483647
Command
units
4 bytes
(INT32)
RO TxPDO 
60BC hex 00 hex
Touch probe pos2 pos value
0

2147483648
to
2147483647
Command
units
4 bytes
(INT32)
RO TxPDO 
60E0 hex 00 hex
Positive torque limit value
5000 0 to 5000 0.1%
2 bytes
(U16)
B
Not
possible.

60E1 hex 00 hex Negative torque limit value 5000 0 to 5000 0.1% 2 bytes
(U16)
BNot
possible.

60E3 hex Supported homing method 
00 hex Number of entries 07 hex 1 byte
(U8)
RO Not
possible.

01 hex 1st supported homing method 8 2 bytes
(U16)
RO Not
possible.

02 hex 2nd supported homing method 12 2 bytes
(U16)
RO Not
possible.

03 hex 3rd supported homing method 19 2 bytes
(U16)
RO Not
possible.

04 hex 4th supported homing method 20 2 bytes
(U16)
RO Not
possible.

05 hex 5th supported homing method 33 2 bytes
(U16)
RO Not
possible.

06 hex 6th supported homing method 34 2 bytes
(U16)
RO Not
possible.

07 hex 7th supported homing method 35 2 bytes
(U16)
RO Not
possible.

60F4 hex 00 hex Following error actual value 0
 536870912
to
536870912
Command
units
4 bytes
(INT32)
RO TxPDO 
60FA hex 00 hex Control effort 0
-1073741823
to
1073741823
Command
units/s
4 bytes
(INT32)
RO TxPDO 
60FE hex Digital outputs 
00 hex Number of entries 02 hex 1 byte
(U8)
RO Not
possible.

01 hex Physical outputs 0000 0000 hex 0000 0000
to FFFF
FFFF hex
 4 bytes
(U32)
ARxPDO 
02 hex Bit mask 0000 0000 hex 0000 0000
to FFFF
FFFF hex
 4 bytes
(U32)
BNot
possible.

Index
Sub-
Index
Name Default setting
Setting
range
Unit Size
Data
attribute
PDO map
Corresponding
Pn number

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English