Omron R88D-1SN ECT Series User Manual

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5 EtherCAT Communications
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-2 Structure of the CAN Application Protocol over EtherCAT
5
5-2 Structure of the CAN Application
Protocol over EtherCAT
This section explains the structure of the CAN application protocol over EtherCAT (CoE) for a 1S-series
Servo Drive with built-in EtherCAT communications.
Normally, EtherCAT can transmit different protocols. 1S-series Servo Drives with Built-in EtherCAT
Communications use the IEC 61800-7 (CiA 402) drive profile.
The object dictionary in the application layer contains parameters and application data as well as infor-
mation on the PDO mapping between the process data servo interface and Servo Drive application.
The process data object (PDO) consists of the object dictionary that can be used for PDO mapping.
The contents of the process data are defined by the PDO mapping.
Process data communications cyclically reads and writes the PDO. Mailbox communications (SDO)
uses asynchronous message communications where all objects in the object dictionary can be read
and written.
FMMU
SyncManager
PDO (Cyclic)
PDO mapping
SDO
EtherCAT physical layer
EtherCAT data link layer
Servo Drive
Application layer
EtherCAT State
Machine
Servo Drive application
Process dataMailboxRegister
(Mailbox)
Object dictionary

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