Omron R88M-K User Manual page 615

Profile acceleration
6083 hex
Range 1 to
655,350,000
Size 4 bytes (U32)
• This object sets the acceleration rate in the Cyclic synchronous torque mode (cst).
• The setting resolution is 4,000. For example, if you set 5,000, the resolution will be 4,000.
Profile deceleration
6084 hex
Range 1 to
655,350,000
Size 4 bytes (U32)
• This object sets the deceleration rate in the Cyclic synchronous torque mode (cst).
• The setting resolution is 4000. For example, if you set 5000, the resolution will be 4,000.
Motion profile type
6086 hex
−1 to 0
Range
Size 2 bytes (INT16)
• This object enables and disables the position command FIR filter.
• When this object is set to −1, the value of Position Command FIR Filter Time Constant (3818 hex) is
enabled.
• When this object is set to 0, the position command FIR filter is disabled.
• The position command FIR filter can be used in Cyclic synchronous position mode (csp), Profile
position mode (pp), and Homing mode (hm).
Note Profile position mode (pp) is supported for unit version 2.1 or later.
• When the communications cycle is set to 250 µs or 500 µs, the position command FIR filter is
disabled regardless of this setting.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit Command
2
units/s
Access
Unit Command
2
units/s
Access
−
Unit
Access
Default 1,000,000
RW PDO map
Default 1,000,000
RW PDO map
Default 0
RW PDO map
Appendices
pp hm
Attribute B
Not possible
pp hm
Attribute B
Not possible
csp pp hm
Attribute B
Possible
A-65