Basic Settings - Omron R88D-KN series User Manual

9 Servo Parameter Objects
9-1

Basic Settings

This section describes objects specific to G5-series Servo Drives with built-in EtherCAT
communications. G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999
hex. Index 3 hex correspond to G5-series Servo Drive parameters Pn. For example, object
3504 hex is the same as parameter Pn504.
Precautions for Correct Use Precautions for Correct Use
• Pn uses decimal numbers but object 3 is a hexadecimal number.
• According to the CiA 402 Drive Profile, the object names listed below may be represented
using the word "torque," instead of force. Read it as "force" when using these objects.
• Some objects are enabled by turning the power supply OFF and then ON again. After changing these
objects, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then
turn ON the power supply again.
• Do not change the objects marked "reserved." Also, do not change the set values that are indicted as
being unused or reserved for the system.
• See below for the data attributes.
A : Always enabled
B : Prohibited to change during motor operation or commands.
If it is changed during motor operation or commands, the update timing will be unknown.
C : Updated after the control power is reset, or after a Config command is executed via EtherCAT
communications.
D : Changeable only when the EtherCAT communications state is Pre-Operational (Pre-Op).
R : Updated when the control power supply is reset.
It is not updated for a Config command via EtherCAT communications.

: Write prohibited.
• The operation modes are shown as follows:
All : All operation modes
csp : Cyclic synchronous position mode
csv : Cyclic synchronous velocity mode
cst : Cyclic synchronous torque mode
pp : Profile position mode
hm : Homing mode
9-2 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type