Omron R88D-1SN ECT Series Startup Guide

32
3.6 Program making and transfer to the CPU Unit
Create the instructions to perform linear interpolation of two axes.
The following instructions are created. To do so, we will use axis variables, an axes group, and
motion control instructions.
Rung 0: Axes Servo ON
Rung 1: Axes homing to zero position preset
Rung 2: Axis group enable
Rung 3: Absolute position assigned to input variables
Rung 4: Movement cycle (50mm>2sec>50mm>2sec repeating)
Please refer to A-2 Appendix for the equivalent Structured Text program example
Refer to the NJ/NX-series Startup Guide for CPU Units (Cat. No. W513) for details on how to create ladder
diagrams.
Precautions for Correct Use
The sample programming that is provided in this Guide includes only the programming
that is required to operate the Servomotors. When programming actual applications,
also program EtherCAT communications, device interlocks, I/O with other devices, and
other control procedures.

Omron R88D-1SN ECT Series Specifications

General

Feedback	Incremental encoder, Absolute encoder
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Communication Interface	EtherCAT
Power Supply Voltage	200 to 240 VAC
Output Power	0.1 to 1.5 kW
Input Voltage Range	170 to 264 VAC
Control Method	Sine-wave PWM control
Main Circuit Power Supply	200-240 VAC
Applicable Motor Capacity	0.1 to 1.5 kW
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature	0 to 55°C
Vibration Resistance	4.9 m/s² (10 to 55 Hz)
Shock Resistance	98 m/s2
Weight	Varies by model