Omron R88M-1M Series User Manual page 843

• In the free-run mode only, the setting is updated, and in the synchronous mode, the EtherCAT com-
munications are automatically set as the interpolation time period.
• Interpolation time period = Interpolation time period value × 10
• The set interpolation time period is used to perform linear interpolation for the target position and cal-
culate the command position.
• If the set value exceeds 100 ms, then 100 ms is used to calculate the command position.
Interpolation time period
Target position
PDO receive
Sub-
Index
index Object name
(hex)
(hex)
60D0 --- Touch probe
source
00 Number of
entries
01 Touch probe 1
source
02 Touch probe 2
source
• This object selects the trigger to be used for the latch function.
 Description of Set Values
Value
1 External Latch Input 1
(EXT1)
External Latch Input 2
2
(EXT2)
6 Encoder Phase Z
Sub-
Index
index Object name
(hex)
(hex)
60D9 --- Supported
functions
• This object gives the extended functions which are supported by the Servo Drive.
Set value
Bit 0
Bits 1 to 31
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Command position
Setting Default
Unit
range setting
--- --- ---
--- --- 02 hex
1 to 6 --- 1
1 to 6 --- 2
Description
Setting Default
Unit
range setting
--- --- 00000001
hex
Description
Status Toggle
0: Not supported
1: Supported
Reserved
(Interpolation time index)
Data
attri- Size Access
bute
--- --- ---
--- 1 byte RO
(U8)
A 2 bytes RW
(INT16)
A 2 bytes RW
(INT16)
Data
attri- Size Access
bute
--- 4 bytes RO
(U32)
Appendices
seconds.
Com-
PDO Modes of
plete
map operation
access
--- Possible ---
--- --- ---
--- --- ---
--- --- ---
Com-
PDO Modes of
plete
map operation
access
--- Not pos- ---
sible
A - 57
A