Omron R88D-1SN ECT Series User Manual

9 - 33
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-4 Control Loop Objects
9
9-4-1 3210 hex: Internal Position Command
9-4 Control Loop Objects
This section explains the objects related to the control loop.
Gives the position command value which is calculated in the Servo Drive.
• Gives the command position to the feedback control in units of command.
• Gives the command velocity to the feedback control in units of r/min.
• Gives the following error between the command position to the feedback control and the present
position in units of command.
• Mirror object of 60F4 hex
• Gives the following error between the command position to the feedback control and the present
position in units of encoder.
9-4-1 3210 hex: Internal Position Command
Index
(hex)
Sub-
index
(hex)
Object name
Set-
ting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
operation
3210 --- Internal Position
Command
--- --- --- --- --- --- --- Possible ---
00 Number of entries --- --- 92 hex --- 1 byte
(U8)
RO --- --- ---
81 Position --- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
84 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
91 Following Error
Actual Value
--- Command
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
92 Following Error
Actual Internal
Value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, pp,
hm
Subindex 81 hex: Position
Subindex 84 hex: Motor Velocity
Subindex 91 hex: Following Error Actual Value
Subindex 92 hex: Following Error Actual Internal Value

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