Omron R88D-1SN ECT Series User Manual

6 - 19
6 Basic Control Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-6 Profile Position Mode
6
Precautions for Correct Use
Depending on the positional relationship between the position actual value and target position,
operation is performed in the direction with a shorter travel distance.
The bits in Controlword used in the Profile position mode are explained below.
For the bits that are common to all modes, refer to A-1 CiA 402 Drive Profile on page A-2.
Controlword (6040 hex) in Profile Position Mode
Bit Name Description
4 New set-point Starts positioning at the rising edge, from 0 to 1, of the signal.
In this timing, the values of Target position (607A hex) and Profile
velocity (6081 hex) are obtained.
5 Change set immediately Always set to 1 (Change set immediately).
If set to 0, positioning does not occur due to a Command Warning.
6 Absolute/relative (abs/rel) Always set to 0 (abs).
If set to 1 (rel), positioning does not occur due to a Command Warn-
ing.
8 Halt When set to 0, positioning starts or continues.
When set to 1, positioning stops according to the Halt option code
(605D hex) setting.
9 Change on Set-point Unused for 1S-series Servo Drives.
7FFFFFF FH ex
80000000Hex
Position [Command unit]
Position
actual value
Operation in the direction with a
shorter travel distance
Target position

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