Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 12
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the mechanical system which is connected to the motor.
• Sets the ratio of load inertia to the motor rotor inertia.
• Inertia ratio = (Load inertia ÷ Rotor inertia) × 100%
• Selects whether to enable or disable backlash compensation in the position control, and the opera-
tion direction for the compensation.
 Description of Set Values
• Sets the backlash compensation amount in the position control.
9-2-2 3001 hex: Machine
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes
of oper-
ation
3001 --- Machine --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 81 hex --- 1 byte
(U8)
RO --- --- ---
01 Inertia Ratio
0 to 30,000
*1
*1. The default setting is 30 for the unit version 1.3 or earlier.
% 250 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Backlash Com-
pensation
Selection
0 to 2 --- 0 R 4 bytes
(INT32)
RW --- --- csp, pp,
hm
03 Backlash Com-
pensation
Amount
-262,144 to
262,143
Com-
mand unit
0 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
04 Backlash Com-
pensation Time
Constant
0 to 6,400 0.01 ms 0 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
05 Motor Revolu-
tions
0 to
1,073,741,824
--- 1 R 4 bytes
(U32)
RW --- --- csp, csv,
cst, pp,
pv, hm
06 Shaft Revolu-
tions
1 to
1,073,741,824
--- 1 R 4 bytes
(U32)
RW --- --- csp, csv,
cst, pp,
pv, hm
81 Inertia Ratio
Display
--- % --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Inertia Ratio
Subindex 02 hex: Backlash Compensation Selection
Set
value
Description
0 Disabled
1 Compensate at the first positive operation after servo ON
2 Compensate at the first negative operation after servo ON
Subindex 03 hex: Backlash Compensation Amount

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