Related Objects - Omron R88D-KN series User Manual

6 Basic Control Functions
The following diagram shows the control function configuration of Profile position mode.
Position demand value (6062 hex)
Following error window (6065 hex)
Max torque (6072 hex)
6-4-1

Related Objects

Index Sub-index
6040 hex 00 hex
6060 hex 00 hex
*1 00 hex
6065 hex
6072 hex 00 hex
*2 00 hex
607A hex
607D hex 01 hex
02 hex
6081 hex 00 hex
6083 hex 00 hex
6084 hex 00 hex
6086 hex 00 hex
6041 hex 00 hex
6062 hex 00 hex
6064 hex 00 hex
606C hex 00 hex
6077 hex 00 hex
60F4 hex 00 hex
60FA hex 00 hex
60FC hex 00 hex
*1 The Following error window object can be set to between 0 and 134,217,728, or 4,294,967,295. If the object is set to
4,294,967,295, the detection of Following error will be disabled. If it is set to 0, a Following error will always occur. If the
set value is between 134,217,729 and 4,294,967,294, it is assumed that 134,217,728 is set. In this case, 134,217,728 will
be returned when the object is read.
*2 For the Servo Drive to accept commands without fail, the object value must always be retained for two communications
cycles or more.
6-12
Limit
function
Name Access
Controlword RW
Modes of operation RW
Following error RW
window
Max torque RW
Target position RW
Min position limit RW
Max position limit RW
Profile velocity RW
Profile acceleration RW
Profile deceleration RW
Motion profile type RW
Statusword RO
Position demand value RO
Position actual value RO
Velocity actual value RO
Torque actual value RO
Following error actual RO
value
Control effort RO
Position demand RO
internal value
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Velocity actual value (606C hex)
Control
function
Torque actual value (6077 hex)
(=Torque demand)
Control effort (60FA hex)
Size Unit

U16

INT8
U32 Command 0 to 134,217,728,
units or 4,294,967,295
U16 0.1%
INT32 Command
units to 2,147,483,647
INT32 Command
units to 1,073,741,823
INT32 Command
units to 1,073,741,823
U32 Command
units/s
U32 Command 1 to 655,350,000
2
units/s
U32 Command 1 to 655,350,000
2
units/s

INT16

U16
INT32 Command
units to 2,147,483,647
INT32 Command
units to 2,147,483,647
INT32 Command
units/s to 2,147,483,647
INT16 0.1%
INT32 Command
units to 2,147,483,647
INT32 Command
units/s
INT32 External
encoder units to 2,147,483,647
Default
Setting range
setting
0 to FFFF hex 0000 hex
0 to 10 0
100000
0 to 5000 5000
2,147,483,648
0000 hex
1,073,741,823
-500000
1,073,741,823
500000
0 to 0000 hex
2,147,483,647
1000000
1000000
1 to 0
0
0 to FFFF hex 0000 hex
2,147,483,648
0000 hex
2,147,483,648
0000 hex
2,147,483,648
0000 hex
-5,000 to 5,000 0000 hex
2,147,483,648
0000 hex
1,073,741,823
0000 hex
to 1073741823
2,147,483,648
0000 hex