Omron R88D-1SN ECT Series User Manual

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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
9-2-13 3040 hex: Profile Command
• Gives the velocity limit status in the torque control.
 Description of Set Values
Sets the profile command.
• Sets the velocity limit value in the Cyclic synchronous torque mode (cst), Profile position mode (pp),
and Profile velocity mode (pv).
• Mirror object of 607F hex
• Sets the velocity in the Profile position mode (pp).
• Mirror object of 6081 hex
• Sets the acceleration rate in the Profile position mode (pp) and Profile velocity mode (pv).
• Mirror object of 6083 hex
• Sets the deceleration rate in the Profile position mode (pp) and Profile velocity mode (pv).
• Mirror object of 6084 hex
Subindex 81 hex: Status
Set
value
Description
0 Velocity limit not applied
1 Velocity limit applied
9-2-13 3040 hex: Profile Command
Index
(hex)
Sub-
index
(hex)
Object
name
Setting range Unit
Default set-
ting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes
of oper-
ation
3040 --- Profile
Com-
mand
--- --- --- --- --- --- --- Possible ---
00 Number
of entries
--- --- F4 hex --- 1 byte
(U8)
RO --- --- ---
F1 Max Pro-
file
Velocity
0 to
2,147,483,647
Command
unit/s
2,147,483,647 A 4 bytes
(U32)
W --- --- cst, pp,
pv
F2 Profile
Velocity
0 to
2,147,483,647
Command
unit/s
0 A4 bytes
(U32)
W --- --- pp
F3 Profile
Acceler-
ation
1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
W --- --- pp, pv
F4 Profile
Deceler-
ation
1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
W --- --- pp, pv
Subindex F1 hex: Max Profile Velocity
Subindex F2 hex: Profile Velocity
Subindex F3 hex: Profile Acceleration
Subindex F4 hex: Profile Deceleration

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