Omron R88D-KN series User Manual page 461

Position demand value
6062 hex
2,147,483,648
Range
to 2,147,483,647
Size 4 bytes (INT32)
• This object gives the Servo Drive's internal command position.
Position actual internal value
6063 hex
2,147,483,648
Range
to 2,147,483,647
Size 4 bytes (INT32)
• This object gives the Servo Drive's present internal position.
• The value is in external encoder units.
Position actual value
6064 hex
2,147,483,648
Range
to 2,147,483,647
Size 4 bytes (INT32)
• This object gives the present position.
Following error window
6065 hex
Range 0 to 134,217,728,
4,294,967,295
Size 4 bytes (U32)
• This object sets the threshold for following errors.
• If it is set to 4,294,967,295 (FFFF FFFF hex), detection of following errors is disabled.
• If it is set to 0, there will always be a following error.
• When it is set to between 134,217,729 and 4,294,967,294, the set value becomes 134,217,728.
Position window
6067 hex
Range 0 to 262,144
Size 4 bytes (U32)
• Select the position error threshold at which the positioning completion signal (INP 1) is output.
The default unit is command units, but Position Setting Unit Selection (3520 hex) can be used to
convert to external encoder units. If the unit is converted, the unit of Following error window
(6065 hex) will also be converted.
• This setting is also used for the Target reached flag in the EtherCAT communications status. The unit,
however, is always command units regardless of the setting of Position Setting Unit Selection (3520
hex).
Velocity actual value
606C hex
2,147,483,647
Range
to 2,147,483,647
Size 4 bytes (U32)
• This object gives the present speed.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit Command
units
Access
Unit Pulses
Access
Unit Command
units
Access
Unit Command
units
Access
Unit Command
units
Access
Unit Command
units/s
Access
Default 0
RO PDO map
Default 0
RO PDO map
Default 0
RO PDO map
Default 100,000
RW PDO map
Default 10
RW PDO map
Default 0
RO PDO map
Appendicies
csp pp hm

Attribute
Possible
All

Attribute
Possible
All

Attribute
Possible
csp pp hm
Attribute A
Not possible
csp pp hm
Attribute A
Not possible
All

Attribute
Possible
A-61