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)
9-5 Torque Output Setting Objects
9
9-5-1 3310 hex: Torque Compensation
9-5 Torque Output Setting Objects
These objects are used for the torque output setting.
Sets the torque compensation.
• Adjusts the amount of viscous friction compensation torque.
• Sets the amount of torque at 10,000 r/min.
• Sets the amount of unbalanced load torque compensation.
• Sets the amount of dynamic friction compensation in the positive direction.
9-5-1 3310 hex: Torque Compensation
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
3310 --- Torque Compen-
sation
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 84 hex --- 1 byte
(U8)
RO --- --- ---
01 Viscous Friction
Coefficient
0 to
10,000
0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Unbalanced
Load Compensa-
tion
-1,000 to
1,000
0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
03 Positive Dynamic
Friction Compen-
sation
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
04 Negative
Dynamic Friction
Compensation
0 to 1,000 0.1% 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
81 Viscous Friction
Coefficient Dis-
play
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
82 Unbalanced
Load Compensa-
tion Display
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
83 Positive Dynamic
Friction Compen-
sation Display
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
84 Negative
Dynamic Friction
Compensation
Display
--- 0.1% --- --- 4 bytes
(INT32)
RO --- --- csp, csv,
cst, pp,
pv, hm
Subindex 01 hex: Viscous Friction Coefficient
Subindex 02 hex: Unbalanced Load Compensation
Subindex 03 hex: Positive Dynamic Friction Compensation

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