Omron R88D-KN series User Manual page 466

Appendicies
Homing speeds
6099 hex
Sub-index 00 hex

Range
Size
Sub-index 01 hex
Range 100 to
3,276,700
Size 4 bytes (U32)
Sub-index 02 hex
Range 100 to
3,276,700
Size 4 bytes (U32)
• This object sets the homing speed.
• For Speed during search for switch (Sub-index 01 hex), set the operation speed during the homing
operation from the start of the homing operation until the Origin Proximity Input turns ON.
• For Speed during search for zero (Sub-index 02 hex), set the operation speed during the homing
operation from when the Origin Proximity Input turns ON until the latch signal is detected after the
Origin Proximity Input again turns OFF.
Position offset
60B0 hex
2,147,483,648
Range
to 2,147,483,647
Size 4 bytes (INT32)
• This object sets the position command offset.
• In Cyclic synchronous position mode (csp), the offset value is added to the Target position (607A hex)
for use as the target position in controlling the position.
• Set the relationship between the Target position (607A hex) and Position offset (60B0 hex) so that the
following expression is fulfilled. If the relational expression is not met, the operation may be
performed in the direction opposite to the command increment direction.
Absolute value of (Current position command additional value  Previous position command
additional value)  Maximum motor speed  2,147,483,647
Velocity offset
60B1 hex
2,147,483,648
Range
to 2,147,483,647
Size 4 bytes (INT32)
• In Cyclic synchronous position mode (csp), the value of this object is added to the Speed Feed-
forward Gain (3110 hex) for use as the speed feed-forward input value in controlling the speed.
60B2 hex Torque offset
5,000 to 5,000
Range
Size 2 bytes (INT16)
• In Cyclic synchronous position mode (csp) or Cyclic synchronous velocity mode (csv), the value of
this object is added to the Force Feed-forward Gain (3112 hex) for use as the force feed-forward input
value in controlling the torque.
• In Cyclic synchronous torque mode (cst), the value of this object is used as the offset value of the
Target torque (6071 hex) to control the torque.
A-66
Number of entries
Unit
1 byte (U8) Access
Speed during search for switch
Unit Command
units/s
Access
Speed during search for zero
Unit Command
units/s
Access
Unit Command
Access
Unit Command
Access
Unit
Access
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Default
RO
Default
RO
Default
RO
Default
units
RW
Default
units/s
RW
0.1% Default
RW
02 hex Attribute
PDO map Not possible
5,000 Attribute
PDO map Not possible
5,000 Attribute
PDO map Not possible
0 Attribute
PDO map Possible
csp csv
0 Attribute
PDO map Possible
csp
csv
0 Attribute
PDO map Possible
hm

B
B
csp
A
A
cst
A