Omron R88D-1SN ECT Series User Manual

6 Basic Control Functions
6 - 4
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Use Control Method Selection (3000-03 hex) to switch between TDF control and ODF control.
TDF Control Structure Diagram
ODF Control Structure Diagram
Related Objects
Index (hex)
Subindex
(hex)
Name Description
Refer-
ence
3000 --- Basic Functions Set the basic functions. P. 9-6
03 Control Method Selection Switches the control method between
one-degree-of-freedom control and
two-degree-of-freedom control.
0: ODF control
1: TDF control
P. 9 - 7
Torque offset
Velocity offset
Target position
TDF control section
Position
control
Velocity
control
Torque
control
+
+
+
+
+
-
+
-
+
+
+
Velocity
detection
Motor
En-
coder
Torque offset
Velocity offset
Target position
Position
control
Velocity
control
Torque
control
+
-
+
-
+
+
+
Motor
En-
coder
Velocity
detection

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