6-44
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
This object sets the target position in the Cyclic synchronous position mode.
This object sets the amount of offset from the origin of the absolute encoder or absolute external
encoder to the zero position of the Position actual value (6064 hex).
This object sets the software limit.
Ranges for the Position demand value and Position actual value are restricted. New target
positions are checked against these ranges.
The software limit is always relative to the mechanical origin.
The Min position limit is the limiting value for reverse rotation and the Max position limit is the
limiting value for forward rotation.
Precautions for Correct Use
Make sure that the Max position limit is larger than the Min position limit.
The software position limit is disabled when an origin return has not been completed.
607C hex
Home offset
Range
−1073741823 to
1073741823
Unit
Command
units
Default 0 Attribute C
Size 4 bytes (INT32) Access RW PDO map Not possible
All
607D hex
Software position limit
Sub-index 0 Number of entries
Range − Unit − Default 02 hex Attribute -
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 1 Min position limit
Range
−1073741823 to
1073741823
Unit
Command
units
Default −500000 Attribute A
Size 4 bytes (INT32) Access RW PDO map Not possible
Sub-index 2 Max position limit
Range
−1073741823 to
1073741823
Unit
Command
units
Default 500000 Attribute A
Size 4 bytes (INT32) Access RW PDO map Not possible
All
6091 hex
Gear ratio
Sub-index 0 Number of entries
Range − Unit − Default 02 hex Attribute −
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 1 Motor revolutions
Range 0 to 1073741824 Unit − Default 1 Attribute C
Size 4 bytes (U32) Access RW PDO map Not possible
Sub-index 2 Shaft revolutions
Range 1 to 1073741824 Unit − Default 1 Attribute C
Size 4 bytes (U32) Access RW PDO map Not possible
All
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