Omron R88D-1SN ECT Series User Manual

9 - 15
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-2 Common Control Objects
9
9-2-4 3010 hex: Position Command
Sets the position command and gives the command value.
• Gives the command position which is generated in the Servo Drive, in units of command.
• Mirror object of 6062 hex
• Gives the command position which is generated in the Servo Drive, in units of encoder.
• Mirror object of 60FC hex
• Gives the command velocity which is generated in the Servo Drive, in units of command/s.
9-2-4 3010 hex: Position Command
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
3010 --- Position Com-
mand
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- F2 hex --- 1 byte
(U8)
RO --- --- ---
81 Position
Demand Value
--- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
82 Position
Demand Inter-
nal Value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
83 Velocity --- Command
unit/s
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
84 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
85 Motor Velocity
After Position
Command Fil-
tering
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
86 Motor Velocity
After Damping
Filtering
--- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
87 Reference
Position for csp
--- Command
unit
0 --- 4 bytes
(INT32)
RO TxPDO --- csp, csv,
cst, pp,
pv, hm
91 Following Error --- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
92 Following Error
After Interpola-
tion
*1
*1. This object is available for the unit version 1.4 or later.
--- Command
unit
--- --- 4 bytes
(INT32)
RO TxPDO --- csp, pp,
hm
F1 Target Position -2,147,483,
648 to
2,147,483,
647
Command
unit
0 A 4 bytes
(INT32)
W --- --- csp, pp
F2 Position Offset -2,147,483,
648 to
2,147,483,
647
Command
unit
0 A 4 bytes
(INT32)
W --- --- csp
Subindex 81 hex: Position Demand Value
Subindex 82 hex: Position Demand Internal Value
Subindex 83 hex: Velocity

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