Omron R88D-KN series User Manual page 462

Appendicies
Target torque
6071 hex
5,000 to 5,000
Range
Size 2 bytes (U16)
• This object sets the force command in the Cyclic synchronous torque mode.
Max torque
6072 hex
Range 0 to 5,000
Size 2 bytes (U16)
• This object sets the maximum force.
• Set the value in units of 0.1% of the rated force (100%).
Torque demand
6074 hex
5,000 to 5,000
Range
Size 2 bytes (INT16)
• This object gives the Servo Drive's internal force command value.
• Set the value in units of 0.1% of the rated force (100%).
Torque actual value
6077 hex
5,000 to 5,000
Range
Size 2 bytes (INT16)
• This object gives the feedback force value. The values are the same as for the internal force
command value.
• Set the value in units of 0.1% of the rated force (100%).
Target position
607A hex
2,147,483,648
Range
to 2,147,483,647
Size 4 bytes (INT32)
• This object sets the target position in the Cyclic synchronous position mode.
Home offset
607C hex
1,073,741,823
Range
to 1,073,741,823
Size 4 bytes (INT32)
• This object sets the position of the external encoder when an absolute external encoder is in use and
the amount of offset for the machine coordinate position.
A-62
Unit 0.1%
Access
Unit 0.1%
Access
Unit 0.1%
Access
Unit 0.1%
Access
Unit Command
units
Access
Unit Command
units
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Default 0
RW PDO map
Default 5,000
RW PDO map
Default 0
RO PDO map
Default 0
RO PDO map
Default 0
RW PDO map
Default 0
RW PDO map
cst
Attribute A
Possible
All
Attribute A
Possible
All

Attribute
Possible
All

Attribute
Possible
csp pp
Attribute A
Possible
All
Attribute C
Not possible