Omron R88M-K - Page 613

A-63
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object sets the torque command in the Cyclic synchronous torque mode.
• This object sets the maximum torque.
• Set the value in units of 0.1% of the rated torque (100%).
• This object gives the Servo Drive's internal torque command value.
• Set the value in units of 0.1% of the rated torque (100%).
• This object gives the feedback torque value. The values are the same as for the internal torque
command value.
• Set the value in units of 0.1% of the rated torque (100%).
• 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).
6071 hex
Ta r g e t t o r q u e
Range −5,000 to 5,000 Unit 0.1% Default 0 Attribute A
Size 2 bytes (U16) Access RW PDO map Possible
6072 hex
Max torque
Range 0 to 5,000 Unit 0.1% Default 5,000 Attribute A
Size 2 bytes (U16) Access RW PDO map Possible
6074 hex
Torque demand
Range −5,000 to 5,000 Unit 0.1% Default 0 Attribute −
Size 2 bytes (INT16) Access RO PDO map Possible
6077 hex
Torque actual value
Range −5,000 to 5,000 Unit 0.1% Default 0 Attribute −
Size 2 bytes (INT16) Access RO PDO map Possible
607A hex
Target position
Range −2,147,483,648
to 2,147,483,647
Unit Command
units
Default 0 Attribute A
Size 4 bytes (INT32) Access RW PDO map Possible
607C hex
Home offset
Range −1,073,741,823
to 1,073,741,823
Unit Command
units
Default 0 Attribute C
Size 4 bytes (INT32) Access RW PDO map Not possible
cst
All
All
All
csp
pp
All