Omron R88D-1SN ECT Series User Manual

Appendices
A - 2
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-1 CiA 402 Drive Profile
This section describes the profile that is used to control the Servo Drive.
The state of 1S-series Servo Drives with built-in EtherCAT communications is called “PDS state.”
The PDS state is controlled by Controlword (6040 hex).
Each PDS state is shown in Statusword (6041 hex).
The state of an 1S-series Servo Drive changes as shown below.
Each  box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
Refer to State Descriptions on page A-3 for details on the states, and State Control Commands on page
A-3 for details on the state control.
Note Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
A-1-1 Controlling the State Machine of the Servo Drive
State Machine
Power turned OFF or Reset
Not ready to switch on
1: After initialization is completed
Start
ON
Control circuit
power supply
Main circuit
power supply
Servo
ON/OFF
ON
ON
ON
ON ON
OFF
OFF
ON
or
OFF
0: After the control power is turned ON
Switch on
disabled
Fault
Shutdown: 2
7: Disable Voltage
Ready to
switch on
Switch on: 3
Switched on
6: Shutdown
Disable Voltage: 10
Enable operation: 4
5: Disable
operation
15: Fault reset
Operation
enabled
8: Shut down
9: Disable Voltage
13: Error occurs
Fault reaction
active
14: Error
response
operation
completed

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