Omron R88D-1SN ECT Series User Manual

7 Applied Functions
7 - 32
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
The following table shows the operations that are performed according to the setting of the Torque
Limit - Switching Selection (3330-01 hex).
For the Positive torque limit value (60E0 hex or 3330-03 hex) and Negative torque limit value
(60E1 hex or 3330-04 hex), the values of 60E0 hex and 60E1 hex are used if 60E0 hex and 60E1 hex
are mapped to a PDO. If they are not mapped to a PDO, the values of 3330-03 hex and 3330-04hex
are used.
The positive torque limit and negative torque limit are limited by the maximum torque regardless of the
settings.
7-8-3 Torque Limit Switching Method
Torque limit
switching
selection
Positive torque limit Negative torque limit
iPCL
*1
OFF
*1. iPCL = Logical OR of the general-purpose input signal (PCL) and P_CL (Controlword)
iPCL
*1
ON iNCL
*2
OFF
*2. iNCL = Logical OR of the general-purpose input signal (NCL) and N_CL (Controlword)
iNCL
*2
ON
0 Positive torque limit value
(60E0 hex or 3330-03 hex)
Negative torque limit value
(60E1 hex or 3330-04 hex)
1 Positive Torque Limit
Value 2
(3330-05 hex)
Positive torque limit
value
(60E0 hex or
3330-03 hex)
Negative Torque
Limit Value 2
(3330-06 hex)
Negative torque limit
value
(60E1 hex or
3330-04 hex)
2 Positive torque limit
value
(60E0 hex or
3330-03 hex)
Positive Torque Limit
Value 2
(3330-05 hex)
Negative torque limit
value
(60E1 hex or
3330-04 hex)
Negative Torque
Limit Value 2
(3330-06 hex)

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