Omron R88D-1SN ECT Series User Manual

11
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects ................................................................................................... 9-6
9-2-1 3000 hex: Basic Functions ....................................................................................................... 9-6
9-2-2 3001 hex: Machine ................................................................................................................. 9-12
9-2-3 3002 hex: Optimized Parameters........................................................................................... 9-13
9-2-4 3010 hex: Position Command ................................................................................................9-15
9-2-5 3011 hex: Position Command Filter........................................................................................ 9-17
9-2-6 3012 hex: Damping Control.................................................................................................... 9-18
9-2-7 3013 hex: Damping Filter 1 .................................................................................................... 9-19
9-2-8 3014 hex: Damping Filter 2 .................................................................................................... 9-20
9-2-9 3020 hex: Velocity Command................................................................................................. 9-22
9-2-10 3021 hex: Velocity Command Filter........................................................................................9-23
9-2-11 3030 hex: Torque Command .................................................................................................. 9-24
9-2-12 3031 hex: Velocity Limit in Torque Control ............................................................................. 9-24
9-2-13 3040 hex: Profile Command................................................................................................... 9-25
9-2-14 3041 hex: Command Dividing Function ................................................................................. 9-26
9-3 Control Method Objects.................................................................................................... 9-28
9-3-1 3112 hex: ODF Velocity Feed-forward.................................................................................... 9-28
9-3-2 3113 hex: ODF Torque Feed-forward ..................................................................................... 9-29
9-3-3 3120 hex: TDF Position Control ............................................................................................. 9-30
9-3-4 3121 hex: TDF Velocity Control.............................................................................................. 9-31
9-4 Control Loop Objects........................................................................................................ 9-33
9-4-1 3210 hex: Internal Position Command ................................................................................... 9-33
9-4-2 3211 hex: Position Detection.................................................................................................. 9-34
9-4-3 3212 hex: Gain Switching in Position Control ........................................................................ 9-34
9-4-4 3213 hex: 1st Position Control Gain.......................................................................................9-35
9-4-5 3214 hex: 2nd Position Control Gain...................................................................................... 9-36
9-4-6 3220 hex: Internal Velocity Command.................................................................................... 9-36
9-4-7 3221 hex: Velocity Detection .................................................................................................. 9-37
9-4-8 3222 hex: Gain Switching in Velocity Control......................................................................... 9-38
9-4-9 3223 hex: 1st Velocity Control Gain .......................................................................................9-38
9-4-10 3224 hex: 2nd Velocity Control Gain ......................................................................................9-39
9-4-11 3230 hex: Internal Torque Command ..................................................................................... 9-40
9-4-12 3231 hex: Torque Detection.................................................................................................... 9-40
9-4-13 3232 hex: Filter Switching in Torque Control.......................................................................... 9-
40
9-4-14 3233 hex: 1st Torque Command Filter ................................................................................... 9-41
9-4-15 3234 hex: 2nd Torque Command Filter .................................................................................. 9-42
9-5 Torque Output Setting Objects ........................................................................................ 9-43
9-5-1 3310 hex: Torque Compensation............................................................................................ 9-43
9-5-2 3320 hex: Adaptive Notch Filter ............................................................................................. 9-45
9-5-3 3321 hex: 1st Notch Filter ...................................................................................................... 9-46
9-5-4 3322 hex: 2nd Notch Filter ..................................................................................................... 9-48
9-5-5 3323 hex: 3rd Notch Filter ...................................................................................................... 9-50
9-5-6 3324 hex: 4th Notch Filter ...................................................................................................... 9-52
9-5-7 3330 hex: Torque Limit ........................................................................................................... 9-54
9-6 Homing Objects ................................................................................................................. 9-56
9-7 Applied Function Objects ................................................................................................. 9-60
9-7-1 3B10 hex: Drive Prohibition.................................................................................................... 9-60
9-7-2 3B11 hex: Software Position Limit.......................................................................................... 9-61
9-7-3 3B20 hex: Stop Selection....................................................................................................... 9-63
9-7-4 3B21 hex: Deceleration Stop.................................................................................................. 9-67
9-7-5 3B30 hex: Touch Probe 1 ....................................................................................................... 9-67
9-7-6 3B31 hex: Touch Probe 2 ....................................................................................................... 9-70
9-7-7 3B40 hex: Zone Notification 1 ................................................................................................ 9-71
9-7-8 3B41 hex: Zone Notification 2 ................................................................................................ 9-72
9-7-9 3B50 hex: Position Detection Function .................................................................................. 9-73
9-7-10 3B51 hex: Positioning Completion Notification....................................................................... 9-73
9-7-11 3B52 hex: Positioning Completion Notification 2.................................................................... 9-74
9-7-12 3B60 hex: Speed Detection Function..................................................................................... 9-75
9-7-13 3B70 hex: Vibration Detection ................................................................................................ 9-76
9-7-14 3B71 hex: Runaway Detection ............................................................................................... 9-77
9-7-15 3B80 hex: Load Characteristic Estimation ............................................................................. 9-78

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