Omron OMNUC G5 Series User Manual

6-45
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
 These objects set the gear ratio.
 Set the numerator of the electronic gear in the object for sub-index 1 (Motor revolutions). If the set
value is 0, the encoder resolution will be set as the numerator.
 Set the denominator of the electronic gear in the object for sub-index 2 (Shaft revolutions).
 Set the gear ratio to between 1/1,000 and 1,000. If the gear ratio is out of range, an Object Setting
Error (Error No. 93.0) will occur.
 If the set value of Motor revolutions is 0, the encoder resolution will be set as the numerator, even
for fully-closed control.
 Refer to Electronic Gear Function on page 7-18 for details.
 This object sets the position command offset.
 In Cyclic synchronous position mode (csp), the offset value is added to the Target position (607A
hex) for use as the target position in controlling the position.
 The value obtained by adding the value of this object (60B1 hex) and speed feed-forward value
calculated from the internal position command and related objects (3110 hex and 3111 hex) is
used as a speed feed-forward input value for the speed command which is calculated by
comparing the internal position command and the position feedback. The Block Diagram for
Position Control Mode on page 6-7 shows the relationship of above description. Refer to 11-11
Feed-forward Function on page 11-29 for details.
60B0 hex
Position offset
Range
−2147483648 to
2147483647
Unit
Command
units
Default 0 Attribute A
Size 4 bytes (INT32) Access RW PDO map Possible
csp
60B1 hex
Velocity offset
Range
−2147483648 to
2147483647
Unit
Command
units/s
Default 0 Attribute A
Size 4 bytes (INT32) Access RW PDO map Possible
csp

Omron OMNUC G5 Series Specifications

General

Brand	Omron
Model	OMNUC G5 Series
Category	Servo Drives
Language	English