Omron R88M-K - Page 643

A-93
Appendices
CJ2 CPU Unit Hardware User’s Manual
A-2 Object List
App
*1 Default setting: 0000 03A0 hex for unit version 2.0, 0000 03A1 hex for unit version 2.1.
Index
Sub-
Index
Name Default setting
Setting
range
Unit Size
Data
attribute
PDO map
Corresponding
Pn number
60E1 hex 00 hex Negative torque limit value 5000 0 to 5000 0.1% 2 bytes
(U16)
ARxPDO −
60E3 hex Supported homing method −−−−−−−
00 hex Number of entries 07 hex −−1 byte
(U8)
RO Not
possible.
−
01 hex 1st supported homing method 8 −−2 bytes
(U16)
RO Not
possible.
−
02 hex 2st supported homing method 12 −−2 bytes
(U16)
RO Not
possible.
−
03 hex 3rd supported homing method 19 −−2 bytes
(U16)
RO Not
possible.
−
04 hex 4th supported homing method 20 −−2 bytes
(U16)
RO Not
possible.
−
05 hex 5th supported homing method 33 −−2 bytes
(U16)
RO Not
possible.
−
06 hex 6st supported homing method 34 −−2 bytes
(U16)
RO Not
possible.
−
07 hex 7th supported homing method 35 −−2 bytes
(U16)
RO Not
possible.
−
60F4 hex 00 hex Following error actual value 0
− 536870912
to 536870912
Command
units
4 bytes
(INT32)
RO TxPDO −
60FA hex 00 hex Control effort 0
-1073741823
to
1073741823
Command
units/s
4 bytes
(INT32)
RO TxPDO −
60FC hex 00 hex Position demand internal value 0
− 1073741823
to
1073741823
Encoder
units
4 bytes
(INT32)
RO TxPDO −
60FD hex 00 hex Digital inputs 0000 0000 hex 0000 0000
to FFFF
FFFF hex
− 4 bytes
(U32)
RO TxPDO −
60FE hex Digital outputs −−−−−−−
00 hex Number of entries 02 hex −−1 byte
(U8)
RO Not
possible.
−
01 hex Physical outputs 0000 0000 hex 0000 0000
to FFFF
FFFF hex
− 4 bytes
(U32)
ARxPDO −
02 hex Bit mask 0000 0000 hex 0000 0000
to FFFF
FFFF hex
− 4 bytes
(U32)
BNot
possible.
−
60FF hex 00 hex Target velocity 0
-2147483647
to
2147483647
Command
units/s
4 bytes
(INT32)
ARxPDO −
6402 hex 00 hex Motor type 3 −−2 bytes
(U16)
RO Not
possible.
−
6502 hex 00 hex Supported drive modes
*1
−−4 bytes
(U32)
RO Not
possible.
−