Omron R88D-KN04H-ECT-R User Manual

9-36
9-6 Extended Objects
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 Select the setting unit of Position Completion Range 2 (3442 hex) and Following error window
(6065 hex).
Explanation of Set Values
Precautions for Correct Use
 Detection of the Positioning Completed status in EtherCAT communications is always performed
using command units, regardless of the setting on this object.
 Normally, use the default setting of 0 (command units).
 Select the method to set the forward and reverse torque limits.
 Refer to 7-7 Torque Limit Switching on page 7-21.
Explanation of Set Values
Torque FF: Torque feed-forward function
*1. When either the external input signal (PCL or NCL) or the EtherCAT communications torque control
command (P-CL or N-CL) is ON.
*2. When both the external input signal (PCL or NCL) or the EtherCAT communications torque control
command (P-CL or N-CL) are OFF.
 When this object is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted by
the Positive torque limit value (60E0 hex).
3520 hex
Position Setting Unit Selection
Setting
range
0 to 1 Unit −
Default
setting
0
Data
attribute
C
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
Set value Description
0 Command units
1 Encoder units (External encoder units)
3521 hex
Torque Limit Selection
Setting
range
0 to 7 Unit −
Default
setting
6
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp
Set value
Position Control/Fully-closed Control
Forward torque limit value Reverse torque limit value
Torque FF
PCL ON
*1
PCL OFF
*2
NCL ON
*1
NCL OFF
*2
0,1 60E0 hex
Disabled
2 60E0 hex 60E1 hex
3 60E1 hex 60E0 hex 60E1 hex 60E0 hex
4
60E0 hex 60E1 hex
5
6 3525 hex 60E0 hex 3526 hex 60E1 hex
7 60E0 hex 3525 hex 60E1 hex 3526 hex

Omron R88D-KN04H-ECT-R Specifications

General

Brand	Omron
Model	R88D-KN04H-ECT-R
Category	Servo Drives
Language	English