Omron R88M-K User Manual page 612

Appendices
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 encoder units or external encoder units.
Other than fully-closed control
Fully-closed control
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 (INP1) is output.
The default unit is command units, but 3520 hex (Position Setting Unit Selection) can be used to
convert to encoder units. If the unit is converted, the unit of 6065 hex (Following error window) 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 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.
A-62
Unit
Access
: Encoder units
: External encoder units
Unit Command
Access
Unit Command
Access
Unit Command
Access
Unit Command
Access
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Pulses Default
RO
Default
units
RO
Default
units
RW
Default
units
RW
Default
units/s
RO
0 Attribute
PDO map Possible
0 Attribute
PDO map Possible
csp pp hm
100,000 Attribute
PDO map Not possible
csp pp hm
10 Attribute
PDO map Not possible
0 Attribute
PDO map Possible
All
−
All
−
A
A
All
−