Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 4
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-1 Object Description Format
The 1S-series Servo Drives with built-in EtherCAT communications use the servo parameters that are
defined with objects. For information on the objects, refer to 1-1-3 Object Dictionary on page 1-4.
In this manual, objects are described in the following format.
Data is indicated in pointed brackets <>. Details on data are as follows.
Index
(hex)
Subindex
(hex)
Object
name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
<Index> <Subindex> <Object
name>
<Range> <Unit> <Default> <Attri-
bute>
<Size> <Access> <PDO
map>
<Complete
access>
<Modes of
operation>
Item Description
Index Object index given by a four-digit hexadecimal number.
Subindex Object subindex given by a two-digit hexadecimal number.
Object name The object name. For a subindex, the subindex name is given.
Setting range Indicates the range of data that can be set for a writable object.
Unit Physical units.
Default setting Default value set before shipment.
Data attribute The timing when a change in the contents is updated for a writable object.
A: Always updated
D: Possible to change only when the EtherCAT communications state is Pre-Opera-
tional
E: Servo ON
R: Updated after the control power is reset or restarted
–: Write prohibited
Size Gives the object size.
Access Indicates whether the object is to read only, or read and write.
RO: Read only
RW: Read and write (Saved in non-volatile memory)
W: Read and write (Not saved in non-volatile memory)
PDO map Indicates the PDO mapping attribute.
RxPDO: Reception PDOs can be mapped
TxPDO: Transmission PDOs can be mapped
–: PDOs cannot be mapped
Complete access Indicates whether Complete access is allowed or not.
Modes of operation The profile mode in which the object is enabled.
–: Independent of the Modes of operation
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
pv: Profile velocity mode
hm: Homing mode

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