Omron R88D-1SN ECT Series User Manual

A - 1
A
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
The appendices provide explanation for the profile that is used to control the Servo
Drive, lists of objects, and Sysmac error status codes.
A-1 CiA 402 Drive Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A-1-1 Controlling the State Machine of the Servo Drive . . . . . . . . . . . . . . . . . . . . . . A-2
A-1-2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
A-1-3 Modes of Operation and Applied/Adjustment Functions . . . . . . . . . . . . . . . . . A-5
A-1-4 Changing the Mode of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
A-1-5 Homing Mode Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
A-2 CoE Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12
A-2-1 Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12
A-2-2 Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12
A-2-3 Object Description Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13
A-2-4 Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-14
A-2-5 PDO Mapping Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A-2-6 Sync Manager Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-35
A-2-7 Manufacturer Specific Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-38
A-2-8 Servo Drive Profile Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-41
A-2-9 Safety Function Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-64
A-3 Object List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-68
A-4 Sysmac Error Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-100
A-4-1 Error List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-100
A-4-2 Error Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-113
A-5 Response Time in EtherCAT Process Data Communications . . . . . . . . A-178
A-5-1 Input Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-178
A-5-2 Output Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-178
A-6 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-179
A-6-1 Relationship between Unit Versions and Sysmac Studio Versions . . . . . . A-179
A-6-2 Functions That Were Added or Changed for Each Unit Version . . . . . . . . . A-181
Appendices

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