Omron R88M-1M Series User Manual page 808

Appendices
• You can map the following objects to the receive PDO mapping.
Subindex
Index (hex)
3112
3113
3213
3214
3223
3224
3233
3234
6040
6060
6071
6072
607A
607F
6081
6083
6084
60B0
60B1
60B2
60B8
60E0
60E1
60FE
60FF
A - 22
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Bit length
(hex) (hex)
E1 20 ODF Velocity Feed-forward - Gain
E2 20 ODF Velocity Feed-forward - LPF Cutoff Frequency
E1 20 ODF Torque Feed-forward - Gain
E2 20 ODF Torque Feed-forward - LPF Cutoff Frequency
E1 20 1st Position Control Gain - Proportional Gain
E1 20 2nd Position Control Gain - Proportional Gain
E1 20 1st Velocity Control Gain - Proportional Gain
E2 20 1st Velocity Control Gain - Integral Gain
E1 20 2nd Velocity Control Gain - Proportional Gain
E2 20 2nd Velocity Control Gain - Integral Gain
E1 20 1st Torque Command Filter - Cutoff Frequency
E1 20 2nd Torque Command Filter - Cutoff Frequency
00 10 Controlword
00 08 Modes of operation
00 10 Target torque
00 10 Max torque
00 20 Target position
00 20 Max profile velocity
00 20 Profile velocity
00 20 Profile acceleration
00 20 Profile deceleration
00 20 Position offset
00 20 Velocity offset
00 10 Torque offset
00 10 Touch probe function
00 10 Positive torque limit value
00 10 Negative torque limit value
01 20 Physical outputs
00 20 Target velocity
Object name