Orientalmotor AZX Series Operating Manual page 159

z Following error window (6065h)
This is used to set the condition under which the position deviation alarm is generated.
Index Sub Type Access
6065h 00h U32 RW
z Position window (6067h)
This is used to set the output range of the positioning completion output (IN-POS). It is the same as the "IN-POS
positioning completion signal range" parameter of the AZX Series and AZ Series.
In the Profile position mode, after positioning operation is properly completed, the Target Reached (6041h: bit 10) of
the Statusword changes to 1 when the actual position has converged in a range of the Position window (6067h) with
respect to the Position demand value (command position).
The IN-POS output range can be offset by the IN-POS positioning completion signal offset (4704h).
Index Sub Type Access
6067h 00h U32 RW
z Velocity demand value (606Bh)
This indicates the present command speed (Hz).
Index Sub Type Access
606Bh 00h INT32
z Velocity actual value (606Ch)
This indicates the present feedback speed (Hz).
Index Sub Type Access
606Ch 00h INT32
z Max torque (6072h)
Sets the torque limiting value for the operation data.
Index Sub Type Access
6072h 00h U16 RW
z Torque actual value (6077h)
This indicates the output torque presently generated as a percentage of the rated torque. (1=0.1 %)
It is the same as the Torque monitor (406Bh).
Index Sub Type Access
6077h 00h INT16
z Target position (607Ah)
This is used to set the target position in the Cyclic synchronous position mode and the Profile position mode.
Index Sub Type Access
607Ah 00h INT32 RW
z Home offset (607Ch)
This is used to offset the home after return-to-home operation is completed in the Homing mode. The command
position and the feedback position after completion of return-to-home will be the value set in the Home offset. Since
the offset value is written to the same register as the Preset position (41C6h), if the Home offset (607Ch) is changed,
the Preset position (41C6h) will be the same value.
Index Sub Type Access
607Ch 00h INT32 RW
PDO Save Initial value
No 300

PDO Save Initial value
No 18

PDO Save Initial value
RO TxPDO −
PDO Save Initial value
RO TxPDO −
PDO Save Initial value
RxPDO

PDO Save Initial value
RO TxPDO −
PDO Save Initial value
RxPDO −
PDO Save Initial value
No 0

Range
1 to 30,000 (1=0.01 rev)
Range Update
1 to 180 (1=0.1°)
Range Update
− − −
Range Update
− − −
Range
1,000 0 to 10,000 (1=0.1 %)
Range Update
− − −
Range
0 −2,147,483,648 to 2,147,483,647 (step)
Range
−2,147,483,648 to 2,147,483,647 (step)
Objects of profile area
Update
A
A
Update
A
Update
A
Update
A
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