Omron R88D-1SN ECT Series User Manual

5 - 1
5
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
This section explains EtherCAT communications under the assumption that the Servo
Drive is connected to a Machine Automation Controller NJ/NX-series CPU Unit or Posi-
tion Control Unit (Model: CJ1W-NC8).
5-1 Display Area and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-1 Node Address Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-2 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-2 Structure of the CAN Application Protocol over EtherCAT . . . . . . . . . . . . 5-5
5-3 EtherCAT State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
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
EtherCAT Communications

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