Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 78
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Sets the operation of the load characteristic estimation. Refer to 11-8 Load Characteristic Estimation on
page 11-18 for details.
• Selects whether to estimate load characteristics and update a value of the inertia ratio.
 Description of Set Values
• Selects whether to estimate load characteristics and update a value of the viscous friction coefficient.
9-7-15 3B80 hex: Load Characteristic Estimation
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
3B80 --- Load Character-
istic Estimation
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- FF hex --- 1 byte
(U8)
RO --- --- ---
01 Inertia Ratio
Update Selection
0 to 1 --- 1 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Viscous Friction
Compensation
Update Selection
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
03 Unbalanced
Load Compensa-
tion Update
Selection
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
04 Dynamic Friction
Compensation
Update Selection
0 to 1 --- 0 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
05 Viscous Friction
Tuning Coeffi-
cient
0 to 200 % 100 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
06 Estimation Sensi-
tivity Selection
0 to 2 --- 1 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
FF Estimation Status --- --- --- --- 4 bytes
(INT32)
RO --- --- ---
Subindex 01 hex: Inertia Ratio Update Selection
Set
value
Description
0 Use the present set value.
1 Update with the estimation result.
Subindex 02 hex: Viscous Friction Compensation Update Selection
Set
value
Description
0 Use the present set value.
1 Update with the estimation result.

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