Omron R88D-1SN ECT Series User Manual

9 Details on Servo Parameters
9 - 104
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-13 Encoder-related Objects
These objects are used for the encoder setting.
• Selects the operating method for the absolute encoder.
 Description of Set Values
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
4510 --- Encoder --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- FF hex --- 1 byte
(U8)
RO --- --- ---
01 Operation Selec-
tion when Using
Absolute
Encoder
0 to 2 --- 2 R 4 bytes
(INT32)
RW --- --- ---
02 Absolute
Encoder Counter
Overflow Warn-
ing Level
0 to 32,767 rotation 32,000 A 4 bytes
(INT32)
RW --- --- ---
81 Serial Number --- --- --- --- 16 bytes
(VS)
RO --- --- ---
82 Resolution per
Rotation
--- --- --- --- 4 bytes
(INT32)
RO --- --- ---
84 One-rotation
Data
--- Encoder
unit
--- --- 4 bytes
(U32)
RO --- --- ---
85 Multi-rotation
Data
--- rotation --- --- 4 bytes
(INT32)
RO --- --- ---
86 Encoder Com-
munications
Error Count
--- --- --- --- 4 bytes
(INT32)
RO --- --- ---
87 Electric Angle --- ° --- --- 4 bytes
(INT32)
RO --- --- ---
88 Mechanical
Angle
--- ° --- --- 4 bytes
(U32)
RO --- --- ---
89 Encoder Tem-
perature
--- °C --- --- 4 bytes
(INT32)
RO --- --- ---
F1 Absolute
Encoder Setup
00000000
to
FFFFFFFF
hex
--- 0 A 4 bytes
(U32)
W --- --- ---
F2 Encoder Com-
munications
Error Count
Clear
00000000
to
FFFFFFFF
hex
--- 0 A 4 bytes
(U32)
W --- --- ---
FF Clear Status --- --- --- --- 4 bytes
(U32)
RO --- --- ---
Subindex 01 hex: Operation Selection when Using Absolute
Encoder
Set value Description
0 Use as the absolute encoder
1 Use as the incremental encoder
2 Used as the absolute encoder and ignore the absolute encoder counter overflow.

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