Omron R88M-K - Page 462

9 Details on Servo Parameter Objects
9-58
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• Warning masks
The following table shows the warning you can mask by setting each warning mask bit of the
Communications Control object (3800 hex).
To mask a warning, set the corresponding warning bit to 1.
• Default setting
The following table shows the default setting for each unit version.
• Select whether to enable or disable the software position limit function.
• When it is enabled, set the software limit values in the Max position limit (607D-02 hex) and the Min
position limit (607D-01 hex).
Explanation of Set Value
Precautions for Correct UsePrecautions for Correct Use
EtherCAT communications status will be 0 for limit signals that are disabled. The status will also
be 0 if an origin return has not been performed.
Communications
Control (3800 hex)
Warning
Warning
number
Warning name Warning occurrence conditions
Bit 4 B0 hex Data setting warning • The set value in the command argument is
out of the specified range.
• Object write processing failed.
• The command set value is incorrect.
Bit 5 B1 hex Command warning • The command transmission conditions are
not met.
• The sub-command transmission conditions
are not met.
• An operation command is given in the prohib-
ited direction after the motor made an emer-
gency stop due to a drive prohibition input.
Bit 6 B2 hex EtherCAT
communications
warning
EtherCAT communications errors occurred one
or more times.
Unit version Default setting Description
Ver. 2.0 0 The above masks are disabled.
Bit 14 is reserved for system use. Do not change the default
setting.
Ver. 2.1 16384 Because bit 14 is 1 in the default setting, only Command Errors
(Error No. 91.1) due to the data setting warning (B0 hex) are
masked.
3801 hex
Software Position Limit Function
Setting range 0 to 3 Unit − Default setting 3 Data Attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 Enable the software limits in both directions.
1 Disable the forward software limit, but enable the reverse software limit.
2 Enable the forward software limit, but disable the reverse software limit.
3 Disable the software limits in both directions.
All