Omron R88D-KN01L-ECT-L

A - 65
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-12 Servo Drive Profile Objects
• This object gives the feedback force value. The values are the same as for the internal force
command value.
• Set the value in units of 0.1% of the rated force (100%).
• This object sets the target position in the Cyclic synchronous position mode.
• This object sets the position of the external encoder when an absolute external encoder is in use and
the amount of offset for the machine coordinate position.
• 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.
6077 hex
Torque actual value
Setting
range
–5,000 to 5,000
Unit
0.1%
Default
setting
0 Data
attribute
–
Size 2 bytes (INT16) Access RO PDO map Possible
607A hex
Target position
Setting
range
–2,147,483,648 to
2,147,483,647
Unit
Command unit
Default
setting
0 Data
attribute
A
Size 4 bytes (INT32) Access RW PDO map Possible
607C hex
Home offset
Setting
range
–1,073,741,823 to
1,073,741,823
Unit
Command unit
Default
setting
0 Data
attribute
C
Size 4 bytes (INT32) Access RW PDO map Not possible
607D hex
Software position limit
Sub-index 00 hex Number of entries
Setting
range
–
Unit
–
Default
setting
02 hex Data
attribute
–
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Min position limit
Setting
range
–1,073,741,823 to
1,073,741,823
Unit
Command unit
Default
setting
–500,000 Data
attribute
A
Size 4 bytes (INT32) Access RW PDO map Not possible
Sub-index 02 hex Max position limit
Setting
range
–1,073,741,823 to
1,073,741,823
Unit
Command unit
Default
setting
500,000 Data
attribute
A
Size 4 bytes (INT32) Access RW PDO map Not possible
All
csp
pp
All
All