Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 16
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Gives the command velocity which is generated in the Servo Drive, in units of r/min.
• Gives the command velocity after position command filtering in units of r/min.
• Gives the command velocity after damping filtering, in units of r/min.
• Gives the reference position for when the Cyclic synchronous velocity mode or Cyclic synchronous
torque mode is switched to the Cyclic synchronous position mode.
• Gives the following error between the command position and the present position.
• Gives the following error between the command position after interpolation and the present position.
• Sets the command position in the Cyclic synchronous position mode (csp) and Profile position mode
(pp).
• Mirror object of 607A hex
• Sets the offset for the Target position.
• Mirror object of 60B0 hex
Subindex 84 hex: Motor Velocity
Subindex 85 hex: Motor Velocity After Position Command Filtering
Subindex 86 hex: Motor Velocity After Damping Filtering
Subindex 87 hex: Reference Position for csp
Subindex 91 hex: Following Error
Subindex 92 hex: Following Error After Interpolation
Subindex F1 hex: Target Position
Subindex F2 hex: Position Offset

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