Omron R88D-1SN ECT Series User Manual

CONTENTS
12
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-8 Error- and Warning-related Objects................................................................................. 9-81
9-8-1 4000 hex: Error Full Code.......................................................................................................9-81
9-8-2 4020 hex: Warning Customization..........................................................................................9-82
9-8-3 4021 hex: Warning Output 1 Setting.......................................................................................9-85
9-8-4 4022 hex: Warning Output 2 Setting.......................................................................................9-86
9-8-5 4030 hex: Information Customization .....................................................................................9-87
9-9 Monitoring-related Objects............................................................................................... 9-88
9-9-1 4110 hex: Monitor Data via PDO ............................................................................................9-88
9-9-2 4120 hex: EtherCAT Communications Error Count ................................................................ 9-89
9-9-3 4130 hex: Safety Status Monitor.............................................................................................9-89
9-9-4 4131 hex: Safety Command Monitor 1 ................................................................................... 9-91
9-9-5 4132 hex: Safety Command Monitor 2 ................................................................................... 9-92
9-9-6 4140 hex: Lifetime Information ...............................................................................................9-93
9-9-7 4150 hex: Overload ................................................................................................................ 9-95
9-10 Display-related Objects.....................................................................................................9-97
9-11 Power Device-related Objects .......................................................................................... 9-98
9-11-1 4310 hex: Regeneration .........................................................................................................9-98
9-11-2 4320 hex: Main Circuit Power Supply..................................................................................... 9-99
9-12 External Device-related Objects..................................................................................... 9-101
9-12-1 4410 hex: Motor Identity ....................................................................................................... 9-101
9-12-2 4412 hex: Motor Advanced Setting.......................................................................................9-102
9-13 Encoder-related Objects ................................................................................................. 9-104
9-14 I/O-related Objects........................................................................................................... 9-107
9-14-1 4600 hex: I/O Monitor ........................................................................................................... 9-107
9-14-2 4601 hex: Function Input ...................................................................................................... 9-108
9-14-3 4602 hex: Function Output ................................................................................................... 9-110
9-14-4 4604 hex: Control Input Change Count .................................................................................9-111
9-14-5 4605 hex: Control Output Change Count ............................................................................. 9-112
9-14-6 4610 hex: Brake Interlock Output .........................................................................................9-113
9-14-7 4620 hex: Encoder Dividing Pulse Output ............................................................................ 9-114
9-15 General-purpose Input Setting Objects......................................................................... 9-116
9-15-1 Setting................................................................................................................................... 9-116
9-15-2 4630 hex: Positive Drive Prohibition Input ............................................................................ 9-117
9-15-3 4631 hex: Negative Drive Prohibition Input .......................................................................... 9-117
9-15-4 4632 hex: External Latch Input 1 .......................................................................................... 9-117
9-15-5 4633 hex: External Latch Input 2 .......................................................................................... 9-118
9-15-6 4634 hex: Home Proximity Input...........................................................................................9-118
9-15-7 4635 hex: Positive Torque Limit Input................................................................................... 9-118
9-15-8 4636 hex: Negative Torque Limit Input ................................................................................. 9-119
9-15-9 4637 hex: Error Stop Input.................................................................................................... 9-119
9-15-10 4638 hex: Monitor Input 1 ..................................................................................................... 9-119
9-15-11 4639 hex: Monitor Input 2 .....................................................................................................9-120
9-15-12 463A hex: Monitor Input 3.....................................................................................................9-120
9-15-13 463B hex: Monitor Input 4..................................................................................................... 9-120
9-15-14 463C hex: Monitor Input 5 .................................................................................................... 9-121
9-15-15 463D hex: Monitor Input 6 .................................................................................................... 9-121
9-15-16 463E hex: Monitor Input 7..................................................................................................... 9-121
9-15-17 463F hex: Monitor Input 8.....................................................................................................9-122
9-16 General-purpose Output Setting Objects...................................................................... 9-123
9-16-1 Setting................................................................................................................................... 9-123
9-16-2 4650 hex: Error Output .........................................................................................................9-124
9-16-3 4651 hex: Servo Ready Output ............................................................................................9-124
9-16-4 4652 hex: Positioning Completion Output 1 .........................................................................9-124
9-16-5 4653 hex: Positioning Completion Output 2 .........................................................................9-125
9-16-6 4654 hex: Velocity Attainment Detection Output...................................................................9-125
9-16-7 4655 hex: Torque Limit Output.............................................................................................. 9-125
9-16-8 4656 hex: Zero Speed Detection Output ..............................................................................9-126
9-16-9 4657 hex: Velocity Conformity Output .................................................................................. 9-126
9-16-10 4658 hex: Warning Output 1 .................................................................................................9-126
9-16-11 4659 hex: Warning Output 2.................................................................................................9-127

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