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Omron R88D-1SN ECT Series User Manual

Omron R88D-1SN ECT Series
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9 Details on Servo Parameters
9 - 24
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the torque command and gives the command value.
Gives the torque command value which is generated in the Servo Drive.
Sets the torque command in the Cyclic synchronous torque mode.
Mirror object of 6071 hex
Sets the offset for the Target torque.
Mirror object of 60B2 hex
Sets the velocity limit in the torque control.
Sets the velocity limit in the torque control.
9-2-11 3030 hex: Torque Command
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
3030 --- Torque Com-
mand
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- F2 hex --- 1 byte
(U8)
RO --- --- ---
81 Torque --- 0.1% --- --- 4 bytes
(INT32)
RO --- --- cst
F1 Target Torque -5,000 to
5,000
0.1% 0 A 2 bytes
(INT16)
W --- --- cst
F2 Torque Offset -5,000 to
5,000
0.1% 0 A 2 bytes
(INT16)
W --- --- csp, csv,
cst, pp, pv
Subindex 81 hex: Torque
Subindex F1 hex: Target Torque
Subindex F2 hex: Torque Offset
9-2-12 3031 hex: Velocity Limit in Torque Control
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
3031 --- Velocity Limit in
Torque Control
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 81 hex --- 1 byte
(U8)
RO --- --- ---
01 Velocity Limit
Value
0 to
20,000
r/min 20,000 A 4 bytes
(INT32)
RW --- --- cst
81 Status --- --- --- --- 4 bytes
(INT32)
RO --- --- cst
Subindex 01 hex: Velocity Limit Value

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Omron R88D-1SN ECT Series Specifications

General IconGeneral
FeedbackIncremental encoder, Absolute encoder
Position ControlYes
Speed ControlYes
Torque ControlYes
Communication InterfaceEtherCAT
Power Supply Voltage200 to 240 VAC
Output Power0.1 to 1.5 kW
Input Voltage Range170 to 264 VAC
Control MethodSine-wave PWM control
Main Circuit Power Supply200-240 VAC
Applicable Motor Capacity0.1 to 1.5 kW
Protection FunctionsOvercurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature0 to 55°C
Vibration Resistance4.9 m/s² (10 to 55 Hz)
Shock Resistance98 m/s2
WeightVaries by model

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