3040 Hex: Profile Command - Omron 1 S Series User Manual

9 Details on Servo Parameters
Subindex 81 hex: Status
• Gives the velocity limit status in the torque control.
 Description of Set Values
Set
value
0 Velocity limit not applied
1 Velocity limit applied

9-2-13 3040 hex: Profile Command

Sets the profile command.
Sub-
Index Object
index Setting range
(hex) name
(hex)
3040 --- Profile
Com-
mand
00 Number
of entries
F1 Max Pro-
file 2,147,483,647
Velocity
F2 Profile
Velocity 2,147,483,647
F3 Profile
Acceler- 2,147,483,647
ation
F4 Profile
Deceler- 2,147,483,647
ation
Subindex F1 hex: Max Profile Velocity
• Sets the velocity limit value in the Cyclic synchronous torque mode (cst), Profile position mode (pp),
and Profile velocity mode (pv).
• Mirror object of 607F hex
Subindex F2 hex: Profile Velocity
• Sets the velocity in the Profile position mode (pp).
• Mirror object of 6081 hex
Subindex F3 hex: Profile Acceleration
• Sets the acceleration rate in the Profile position mode (pp) and Profile velocity mode (pv).
• Mirror object of 6083 hex
Subindex F4 hex: Profile Deceleration
• Sets the deceleration rate in the Profile position mode (pp) and Profile velocity mode (pv).
• Mirror object of 6084 hex
9 - 26
Default set-
Unit
ting
--- --- ---
--- --- F4 hex
0 to Command 2,147,483,647
unit/s
0 to Command
unit/s
1 to Command 125,000
2
unit/s
1 to Command 125,000
2
unit/s
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Description
Data
attri- Size Access
bute
--- ---
--- 1 byte
(U8)
A 4 bytes
(U32)
0 A 4 bytes
(U32)
A 4 bytes
(U32)
A 4 bytes
(U32)
Modes
PDO Complete
of oper-
map access
--- --- Possible
RO --- ---
W --- --- cst, pp,
W --- ---
W --- --- pp, pv
W --- --- pp, pv
ation
---
---
pv
pp