Omron R88D-1SN ECT Series User Manual

Appendices
A - 28
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• You can change these objects only when the EtherCAT communications state is Pre-Operational.
• The mapping you changed is not saved in the non-volatile memory. To use the mapping other than
the default setting, specify objects each time you turn ON the power supply.
• You can map up to 10 objects in a PDO mapping. If you attempt to map 11 or more objects, an
TxPDO Setting Error (Error. No. 90.6) will occur.
• The communications cycle you can set varies depending on the total size of mapped objects. For
details, refer to A-1-3 Modes of Operation and Applied/Adjustment Functions on page A-5.
• If the same object is mapped more than once, the value of the last object is used.
• If any of the following operation is attempted, an ABORT code is returned.
a) Writing when the EtherCAT communications state is Safe-Operational or Operational
b) Writing with non-existent objects specified
c) Writing with incorrect object size specified
d) Writing with objects that cannot be mapped in the PDO mapping specified
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default set-
ting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
1A00 --- 1st transmit
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of
objects in this
PDO
00 to 0A
hex
--- 07 hex D 1 byte
(U8)
W --- --- ---
01 1st Output
Object to be
mapped
--- --- 60410010
hex
D 4 bytes
(U32)
W --- --- ---
02 2nd Output
Object to be
mapped
--- --- 60640020
hex
D 4 bytes
(U32)
W --- --- ---
03 3rd Input
Object to be
mapped
--- --- 60B90010
hex
D 4 bytes
(U32)
W --- --- ---
04 4th Input
Object to be
mapped
--- --- 60BA0020
hex
D 4 bytes
(U32)
W --- --- ---
05 5th Input
Object to be
mapped
--- --- 60BC0020
hex
D 4 bytes
(U32)
W --- --- ---
06 6th Input
Object to be
mapped
--- --- 603F0010
hex
D 4 bytes
(U32)
W --- --- ---
07 7th Input
Object to be
mapped
--- --- 60FD0020
hex
D 4 bytes
(U32)
W --- --- ---
08 8th Output
Object to be
mapped
--- --- 00000000
hex
D 4 bytes
(U32)
W --- --- ---
09 9th Input
Object to be
mapped
--- --- 00000000
hex
D 4 bytes
(U32)
W --- --- ---
0A 10th Input
Object to be
mapped
--- --- 00000000
hex
D 4 bytes
(U32)
W --- --- ---

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