Omron R88D-1SN ECT Series User Manual

Appendices
A - 24
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This is the mapping for an application that uses one of the following modes with switching them:
Cyclic synchronous position mode (csp) and Cyclic synchronous velocity mode (csv).
• The touch probe function and torque limit are available.
• The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of oper-
ation (6060 hex), Touch probe function (60B8 hex), Positive torque limit value (60E0 hex), and
Negative torque limit value (60E1 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
1703 --- 260th 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
--- --- 60600008
hex
--- 4 bytes
(U32)
RO --- --- ---
05 5th Output
Object to be
mapped
--- --- 60B80010
hex
--- 4 bytes
(U32)
RO --- --- ---
06 6th Output
Object to be
mapped
--- --- 60E00010
hex
--- 4 bytes
(U32)
RO --- --- ---
07 7th Output
Object to be
mapped
--- --- 60E10010
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