Omron R88D-1SN ECT Series User Manual

9
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-4 Process Data Objects (PDOs) ............................................................................................ 5-7
5-4-1 PDO Mapping Settings............................................................................................................. 5-7
5-4-2 Sync Manager PDO Assignment Settings................................................................................ 5-8
5-4-3 Fixed PDO Mapping................................................................................................................. 5-8
5-4-4 Variable PDO Mapping............................................................................................................5-11
5-4-5 Sync Manager PDO Mapping Assignment Settings ............................................................... 5-12
5-5 Service Data Objects (SDOs)............................................................................................ 5-13
5-6 Synchronization Mode and Communications Cycle ...................................................... 5-14
5-6-1 Distributed Clock (DC) Mode.................................................................................................. 5-14
5-6-2 Free-Run Mode ...................................................................................................................... 5-14
5-7 Emergency Messages ....................................................................................................... 5-15
5-8 Sysmac Device Features .................................................................................................. 5-16
5-9 Cable Redundancy Function ............................................................................................ 5-20
5-9-1 Objects Requiring Settings..................................................................................................... 5-20
5-9-2 Description of Operation......................................................................................................... 5-20
5-9-3 Procedure of Checking Operation .......................................................................................... 5-21
5-9-4 Slave Communications Statuses When Cable Redundancy Function Is Used...................... 5-23
5-9-5 Relation between the Network Configuration Information and the Actual Configuration........ 5-24
Section 6 Basic Control Functions
6-1 Outline of Control Functions.............................................................................................. 6-2
6-1-1 Basic Control and Control Methods.......................................................................................... 6-2
6-1-2 Control Method......................................................................................................................... 6-3
6-2 Control Blocks ..................................................................................................................... 6-5
6-2-1 Block Diagram for Position Control .......................................................................................... 6-5
6-2-2 Block Diagram for Velocity Control........................................................................................... 6-7
6-2-3 Block Diagram for Torque Control ............................................................................................ 6-9
6-3 Cyclic Synchronous Position Mode ................................................................................ 6-10
6-4 Cyclic Synchronous Velocity Mode ................................................................................. 6-12
6-5 Cyclic Synchronous Torque Mode................................................................................... 6-14
6-6 Profile Position Mode........................................................................................................6-16
6-7 Profile Velocity Mode ........................................................................................................6-21
6-8 Homing Mode..................................................................................................................... 6-24
6-9 Connecting with OMRON Controllers.............................................................................. 6-25
Section 7 Applied Functions
7-1 General-purpose Input Signals .......................................................................................... 7-3
7-1-1 Objects Requiring Settings....................................................................................................... 7-4
7-1-2 Default Setting.......................................................................................................................... 7-6
7-1-3 Function Input Details............................................................................................................... 7-7
7-2 General-purpose Output Signals ....................................................................................... 7-8
7-2-1 Objects Requiring Settings....................................................................................................... 7-8
7-2-2 Default Setting........................................................................................................................ 7-10
7-2-3 Function Output Details...........................................................................................................7-11
7-3 Drive Prohibition Functions ............................................................................................. 7-15
7-3-1 Objects Requiring Settings..................................................................................................... 7-15
7-3-2 Description of Operation......................................................................................................... 7-16
7-4 Software Position Limit Functions .................................................................................. 7-17
7-4-1 Operating Conditions.............................................................................................................. 7-17
7-4-2 Objects Requiring Settings..................................................................................................... 7-17
7-4-3 Description of Operation......................................................................................................... 7-18

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