Appendices
A-92
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*1 6081 hex is supported for unit version 2.1 or later.
Index
Sub-
Index
Name Default setting
Setting
range
Unit Size
Data
attribute
PDO map
Corresponding
Pn number
607D hex Software position limit −−−−−−−
00 hex Number of entries 2 02 hex − 1 byte
(U8)
RO Not
possible.
−
01 hex Min position limit −500000
−
1073741823
to
1073741823
Command
units
4 bytes
(INT32)
ANot
possible.
Pn743
02 hex Max position limit 500000
−
1073741823
to
1073741823
Command
units
4 bytes
(INT32)
ANot
possible.
Pn744
607F hex 00 hex Max profile velocity 0
0 to
2147483647
Command
units/s
4 bytes
(U32)
ARxPDO −
6081 hex
*1
00 hex Profile velocity 0
0 to
2147483647
Command
units/s
4 bytes
(U32)
ARxPDO −
6083 hex 00 hex Profile acceleration 1000000 1 to
655350000
Command
units/s
2
4 bytes
(U32)
BNot
possible.
Pn745
6084 hex 00 hex Profile deceleration 1000000 1 to
655350000
Command
units/s
2
4 bytes
(U32)
BNot
possible.
Pn746
6086 hex 00 hex Motion profile type 0 −1 to 0 − 2 bytes
(INT16)
BRxPDO −
6091 hex Gear ratio −−−−−−−
00 hex Number of entries 02 hex −−1 byte
(U8)
RO Not
possible.
−
01 hex Motor revolutions 1
0 to
1073741824
− 4 bytes
(U32)
CNot
possible.
Pn748
02 hex Shaft revolutions 1
1 to
1073741824
− 4 bytes
(U32)
CNot
possible.
Pn749
6098 hex 00 hex Homing method 0 −128 to 127 − 1 byte
(INT8)
BNot
possible.
Pn750
6099 hex Homing speeds −−−−−−−
00 hex Number of entries 02 hex −−1 byte
(U8)
RO Not
possible.
−
01 hex Speed during search for switch 5000 100 to
3276700
Command
units/s
4 bytes
(U32)
BNot
possible.
Pn751
02 hex Speed during search for zero 5000 100 to
3276700
Command
units/s
4 bytes
(U32)
BNot
possible.
Pn752
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)
ARxPDO −
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