Omron R88D-1SN ECT Series User Manual

A - 35
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-6 Sync Manager Communication Objects
Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
• The Sync Manager has the following settings.
• This object gives the reception PDOs used by this Sync Manager.
• 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.
• If any of the following operation is attempted, an ABORT code for SDO communications will be
returned.
a) Writing when the communications state is other than Pre-Operational
b) Writing a value other than 1600 hex, 1701 to 1705 hex, and 1710 hex
A-2-6 Sync Manager Communication Objects
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
1C00 --- Sync Manager
Communication
Type
--- --- --- --- --- --- --- Possible ---
00 Number of used
Sync Manager
channels
--- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
01 Communication
Type Sync Man-
ager 0
--- --- 01 hex --- 1 byte
(U8)
RO --- --- ---
02 Communication
Type Sync Man-
ager 1
--- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
03 Communication
Type Sync Man-
ager 2
--- --- 03 hex --- 1 byte
(U8)
RO --- --- ---
04 Communication
Type Sync Man-
ager 3
--- --- 04 hex --- 1 byte
(U8)
RO --- --- ---
SM0 : Mailbox receive (Master to Slave)
SM1 : Mailbox send (Slave to Master)
SM2 : Process data output (Master to Slave)
SM3 : Process data input (Slave to Master)
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
1C12 --- Sync Manager
2 PDO Assign-
ment
--- --- --- --- --- --- --- Possible ---
00 Number of
assigned PDOs
00 to 03
hex
--- 01 hex D 1 byte
(U8)
W --- --- ---
01 1st PDO Map-
ping Object
Index of
assigned PDO
0000 to
17FF hex
--- 1701 hex D 2 bytes
(U16)
W --- --- ---
02 2nd PDO Map-
ping Object
Index of
assigned PDO
0000 to
17FF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---
03 3rd PDO Map-
ping Object
Index of
assigned PDO
0000 to
17FF hex
--- 0000 hex D 2 bytes
(U16)
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