Omron R88M-K Series User Manual page 277

Torque offset
60B2 hex
−5000 to 5000
Range
Size 2 bytes (INT16)
The value obtained by adding the value of this object (60B2 hex) and the torque feed-forward
value calculated from the Control effort (60FA hex) and related objects (3112 hex and 3113 hex)
is used as a torque feed-forward input value for the torque command which is calculated by
comparing the Control effort (60FA hex) and the speed feedback. The Block Diagram for Position
Control Mode on page 6-7 shows the relationship of above description. Refer to 11-11 Feed-
forward Function on page 11-29 for details.
Touch probe function (Latch function)
60B8 hex
Range
Size 2 bytes (U16)
This object sets and controls the latch function.
There are two channels, Latch 1 (bits 1 to 7) and Latch 2 (bits 8 to 15).
Bits 0 and 8 execute latching when changed from 0 to 1.
To change the settings, set bit 0 or 8 to 0 and then to 1 again.
Latching is disabled in the following cases.
When communications is in the Init state.
When the Statusword (6041 hex) bit 9 (remote) is 0 (local).
For details on the latch function, refer to Touch Probe Function (Latch Function) on page 6-9.
Bit Descriptions
Bit Code
0
1
2
3 to 7
8
9
10
11 to 15
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Unit
Access
−
Unit
Access
0 Latch 1 is disabled.
1 Latch 1 is enabled.
0 Trigger first event (Latch on the first trigger).
1 Continuous (Latch continuously on trigger input).
Latch on the signal selected in the Touch Probe Trigger
0
Selection (3758 hex).
1 Latch on the encoder's phase-Z signal.
0 Reserved (always set to 0).
0 Latch 2 is disabled.
1 Latch 2 is enabled.
0 Trigger first event (Latch on the first trigger).
1 Continuous (Latch continuously on trigger input).
Latch on the signal selected in the Touch Probe Trigger
0
Selection (3758 hex).
1 Latch on the encoder's phase-Z signal.
0 Reserved (always set to 0).
0.1% Default
RW PDO map
−
Default
RW PDO map
Description
6-7 Object Dictionary
csp
0 Attribute A
Possible
All
0 Attribute A
Possible
6-46
6