Omron OMNUC G5 Series User Manual page 185

Drive Profile
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
This chapter describes the profile that is used to control the Servo Drive.
6-1 Controlling the State Machine of the Servo Drive .....6-1
6-2 Modes of Operation ......................................................6-4
6-3 Cyclic Synchronous Position Mode............................6-5
6-4 Torque Limit ..................................................................6-8
6-5 Touch Probe Function (Latch Function) ....................6-9
6-6 Fully-closed Control ...................................................6-12
6-7 Object Dictionary ........................................................6-19
6-8 Connecting with OMRON Controllers.......................6-53
6