Omron R88L-EC Series User Manual page 516

Appendices
Max profile velocity
607F hex
Setting 0 to 2,147,483,647
range
Size 4 bytes (U32)
• This object sets the maximum velocity in the Cyclic synchronous torque mode.
Profile Velocity
6081 hex
Setting 0 to 2,147,483,647
range
Size 4 bytes (U32)
• This object sets the target velocity for Profile position mode (pp).
Profile acceleration
6083 hex
Setting 1 to 655,350,000
range
Size 4 bytes (U32)
• This object sets the acceleration rate in the Cyclic synchronous torque mode (cst).
• The setting resolution is 4,000. For example, if you set 5,000, the resolution will be 4,000.
Profile deceleration
6084 hex
Setting 1 to 655,350,000
range
Size 4 bytes (U32)
• This object sets the deceleration rate in the Cyclic synchronous torque mode (cst).
• The setting resolution is 4,000. For example, if you set 5,000, the resolution will be 4,000.
Motion profile type
6086 hex
Setting –1 to 0
range
Size 2 bytes (INT16)
• This object enables and disables the position command FIR filter.
• When this object is set to "–1", the value of Position Command FIR Filter Time Constant (3818 hex) is
enabled.
• When this object is set to "0", the position command FIR filter is disabled.
• The position command FIR filter can be used in Cyclic synchronous position mode (csp), Profile
position mode (pp), and Homing mode (hm).
• When the communications cycle is set to 250 µs or 500 µs, the position command FIR filter is
disabled regardless of this setting.
A - 66
Command unit/s
Unit
Access
Command unit/s
Unit
Access
2
Command unit/s
Unit
Access
2
Command unit/s
Unit
Access
–
Unit
Access
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Default 0
setting
RW PDO map
Default 0
setting
RW PDO map
Default 1,000,000
setting
RW PDO map
Default 1,000,000
setting
RW PDO map
Default 0
setting
RW PDO map
cst
Data A
attribute
Possible
pp
Data A
attribute
Possible
pp
hm
Data B
attribute
Not possible
pp hm
Data B
attribute
Not possible
csp pp hm
Data B
attribute
Possible