Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 34
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Gives the position detection value.
• Gives the present position in units of command.
• Mirror object of 6064 hex
• Gives the present position in units of encoder.
• Mirror object of 6063 hex
• Gives the time when the present position is obtained.
Sets the gain switching function in the position control.
9-4-2 3211 hex: Position Detection
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
3211 --- Position Detec-
tion
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 83 hex --- 1 byte
(U8)
RO --- --- ---
81 Position Actual
Value
--- Com-
mand
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
82 Position Actual
Internal Value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
83 Present Position
Time Stamp
--- ns --- --- 8 bytes
(U64)
RO TxPDO --- csp, csv,
cst, pp,
pv, hm
Subindex 81 hex: Position Actual Value
Subindex 82 hex: Position Actual Internal Value
Subindex 83 hex: Present Position Time Stamp
9-4-3 3212 hex: Gain Switching in Position 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
3212 --- Gain Switching in
Position Control
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 Mode Selection 0 to 3 --- 0 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
02 Delay Time 0 to
10,000
0.1 ms 50 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
03 Speed 0 to
20,000
r/min 50 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm
04 Time 0 to
10,000
0.1 ms 100 E 4 bytes
(INT32)
RW --- --- csp, pp,
hm

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