Omron R88D-KN01L-ECT-L User Manual page 510

Appendices
Position window
6067 hex
Setting 0 to 262,144
range
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 Position Setting Unit Selection (3520 hex) can be used to
convert to external encoder units. However, note that the unit for the Following error window
(6065 hex) will change as well.
• 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 Position Setting Unit Selection
(3520 hex).
Velocity actual value
606C hex
Setting –2,147,483,647 to
range 2,147,483,647
Size 4 bytes (INT32)
• This object gives the present speed.
Target torque
6071 hex
Setting –5,000 to 5,000
range
Size 2 bytes (INT16)
• This object sets the force command in the Cyclic synchronous torque mode.
Max torque
6072 hex
Setting 0 to 5,000
range
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
Setting –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%).
A - 64
Command unit
Unit
Access
Command unit/s
Unit
Access
0.1%
Unit
Access
0.1%
Unit
Access
0.1%
Unit
Access
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Default 10
setting
RW PDO map
Default 0
setting
RO PDO map
Default 0
setting
RW PDO map
Default 5,000
setting
RW PDO map
Default 0
setting
RO PDO map
csp pp
hm
Data A
attribute
Not possible
A l l
Data –
attribute
Possible
cst
Data A
attribute
Possible
A l l
Data A
attribute
Possible
A l l
Data –
attribute
Possible