Omron R88D-1SN ECT Series User Manual

9 - 91
9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-9 Monitoring-related Objects
9
9-9-4 4131 hex: Safety Command Monitor 1
• Gives the status of the safety function.
• Mirror object of 6621-02 hex
 Description of Set Values
• Gives the FSoE slave address.
• Mirror object of F980-01 hex
Monitors the safety command.
• Gives the command which is sent from the slave.
• Mirror object of E600-01 hex
• Gives the connection ID which is sent from the slave.
• Mirror object of E600-02 hex
Subindex A2 hex: Safety Statusword 2nd Byte
Set value Description
Bit 7 Gives the safety connection status
0 Without safety connection
1 With safety connection
Subindex B1 hex: FSoE Address
9-9-4 4131 hex: Safety Command Monitor 1
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
4131 --- Safety Com-
mand Monitor 1
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 93 hex --- 1 byte
(U8)
RO --- --- ---
81 FSoE Slave CMD --- --- --- --- 1 byte
(U8)
RO --- --- ---
82 FSoE Slave Con-
n_ID
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
83 FSoE Slave
CRC_0
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
91 FSoE Master
CMD
--- --- --- --- 1 byte
(U8)
RO --- --- ---
92 FSoE Master
Conn_ID
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
93 FSoE Master
CRC_0
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
Subindex 81 hex: FSoE Slave CMD
Subindex 82 hex: FSoE Slave Conn_ID

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