Omron R88D-1SN ECT Series User Manual

A - 23
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-5 PDO Mapping Objects
• This object gives the mapping for an application that uses only the Cyclic synchronous position con-
trol (csp
).
• The touch probe function is available.
• The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex), and
Physical outputs (60FE hex)
• This is the mapping for an application that uses one of the following modes with switching them:
Cyclic synchronous position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic syn-
chronous torque mode (cst).
• The touch probe function is available.
• The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Target torque
(6071 hex), Modes of operation (6060 hex), Touch probe function (60B8 hex), and Max profile
velocity (607F hex)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1701 --- 258th receive
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of
objects in this
PDO
--- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 1st Output
Object to be
mapped
--- --- 60400010
hex
--- 4 bytes
(U32)
RO --- --- ---
02 2nd Output
Object to be
mapped
--- --- 607A0020
hex
--- 4 bytes
(U32)
RO --- --- ---
03 3rd Output
Object to be
mapped
--- --- 60B80010
hex
--- 4 bytes
(U32)
RO --- --- ---
04 4th Output
Object to be
mapped
--- --- 60FE0120
hex
--- 4 bytes
(U32)
RO --- --- ---
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1702 --- 259th receive
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of
objects in this
PDO
--- --- 07 hex --- 1 byte
(U8)
RO --- --- ---
01 1st Output Object
to be mapped
--- --- 60400010
hex
--- 4 bytes
(U32)
RO --- --- ---
02 2nd Output
Object to be
mapped
--- --- 607A0020
hex
--- 4 bytes
(U32)
RO --- --- ---
03 3rd Output Object
to be mapped
--- --- 60FF0020
hex
--- 4 bytes
(U32)
RO --- --- ---
04 4th Output Object
to be mapped
--- --- 60710010
hex
--- 4 bytes
(U32)
RO --- --- ---
05 5th Output Object
to be mapped
--- --- 60600008
hex
--- 4 bytes
(U32)
RO --- --- ---
06 6th Output Object
to be mapped
--- --- 60B80010
hex
--- 4 bytes
(U32)
RO --- --- ---
07 7th Output Object
to be mapped
--- --- 607F0020
hex
--- 4 bytes
(U32)
RO --- --- ---

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