Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 10
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Gives the supported modes of operation.
• Mirror object of 6502 hex
 Description of Set Values
• Controls the state machine of the Servo Drive (PDS).
• Mirror object of 6040-00 hex
 Description of Set Values
Subindex 85 hex: Supported Drive Modes
Bit Supported mode Definition
0 pp (Profile position mode) 1: Supported
1 vl (Velocity mode) 0: Not supported
2 pv (Profile velocity mode) 1: Supported
3 tq (Profile torque mode) 0: Not supported
4Reserved 0
5 hm (Homing mode) 1: Supported
6 ip (Interpolated position mode) 0: Not supported
7 csp (Cyclic synchronous position mode) 1: Supported
8 csv (Cyclic synchronous velocity mode) 1: Supported
9 cst (Cyclic synchronous torque mode) 1: Supported
10 to 31 Reserved 0
Subindex F1 hex: Controlword
Bit Description
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific
7 Fault reset
8Halt
9 Operation mode specific
10 Reserved
11 P_CL
12 N_CL
13 to 15 Manufacturer specific

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