Related Objects - Omron R88M-K User Manual

6 Basic Control Functions
The following diagram shows the control function configuration of Profile position mode.
Position demand value (6062 hex)
Following error window (6065 hex)
Max torque (6072 hex)
6-4-1

Related Objects

Index Sub-index
6040 hex 00 hex
6060 hex 00 hex
*1 00 hex
6065 hex
6072 hex 00 hex
*2 00 hex
607A hex
607D hex 01 hex
02 hex
6081 hex 00 hex
6083 hex 00 hex
6084 hex 00 hex
6086 hex 00 hex
6041 hex 00 hex
6062 hex 00 hex
6064 hex 00 hex
606C hex 00 hex
6077 hex 00 hex
60F4 hex 00 hex
60FA hex 00 hex
60FC hex 00 hex
*1 The Following error window object can be set to between 0 and 134,217,728, or 4,294,967,295. If the object is set to
4,294,967,295, the detection of Following error will be disabled. If it is set to 0, a Following error will always occur. If the
set value is between 134,217,729 and 4,294,967,294, it is assumed that 134,217,728 is set. In this case, 134,217,728 will
be returned when the object is read.
*2 For the Servo Drive to accept commands without fail, the object value must always be retained for two communications
cycles or more.
6-12
Limit
function
Name
Controlword
Modes of operation
Following error
window
Max torque
Target position
Min position limit
Max position limit
Profile velocity
Profile acceleration
Profile deceleration
Motion profile type
Statusword
Position demand value
Position actual value
Velocity actual value
Torque actual value
Following error actual
value
Control effort
Position demand
internal value
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Velocity actual value (606C hex)
Control
function
Torque actual value (6077 hex)
(=Torque demand)
Control effort (60FA hex)
Access Size Unit
−
RW U16
−
RW INT8
RW U32 Command
units
RW U16 0.1%
RW INT32 Command
units
RW INT32 Command
units
RW INT32 Command
units
RW U32 Command
units/s
RW U32 Command
units/s
RW U32 Command
units/s
−
RW INT16
−
RO U16
RO INT32 Command
units
RO INT32 Command
units
RO INT32 Command
units/s
RO INT16 0.1%
RO INT32 Command
units
RO INT32 Command
units/s
RO INT32 Encoder
units
Default
Setting range
setting
0 to FFFF hex 0000 hex
0 to 10
0 to 134,217,728, 100000
or 4,294,967,295
0 to 5000
−2,147,483,648
0000 hex
to 2,147,483,647
−1,073,741,823
-500000
to 1,073,741,823
−1,073,741,823
500000
to 1,073,741,823
0 to 0000 hex
2,147,483,647
1 to 655,350,000 1000000
2
1 to 655,350,000 1000000
2
−1 to 0
0 to FFFF hex 0000 hex
−2,147,483,648
to 2,147,483,647
−2,147,483,648
0000 hex
to 2,147,483,647
−2,147,483,648
0000 hex
to 2,147,483,647
-5,000 to 5,000 0000 hex
−2,147,483,648
0000 hex
to 2,147,483,647
−1,073,741,823
0000 hex
to 1073741823
−2,147,483,647
to 2,147,483,647
0
5000
0
0
0