Omron R88D-1SN ECT Series User Manual

Appendices
A - 36
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This object gives the transmission 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 1A00 hex, 1B01 to 1B04 hex, 1B10 hex, or 1BFF hex
• This object gives the parameters for synchronization of Sync Manager 2.
• Subindex 01 hex Synchronization Type gives the synchronization mode of Sync Manager 2.
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
1C13 --- Sync Manager
3 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
1BFF hex
--- 1B01 hex D 2 bytes
(U16)
W --- --- ---
02 2nd PDO Map-
ping Object
Index of
assigned PDO
0000 to
1BFF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---
03 3rd PDO Map-
ping Object
Index of
assigned PDO
0000 to
1BFF hex
--- 0000 hex D 2 bytes
(U16)
W --- --- ---
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
1C32 --- Sync Manager
2 Synchroniza-
tion
--- --- --- --- --- --- --- Possible ---
00 Number of
Synchroniza-
tion Parame-
ters
--- --- 0C hex --- 1 byte
(U8)
RO --- --- ---
01 Synchroniza-
tion Type
0000 to
0003 hex
--- 0000 hex A 2 bytes
(U16)
W --- --- ---
02 Cycle Time --- ns 00000000
hex
--- 4 bytes
(U32)
RO --- --- ---
03 Shift Time 0 to
FFFFFFFF
hex
ns 0 A 4 bytes
(U32)
W --- --- ---
04 Synchroniza-
tion Types sup-
ported
--- --- 0006 hex --- 2 bytes
(U16)
RO --- --- ---
05 Minimum
Cycle Time
--- ns 125,000 --- 4 bytes
(U32)
RO --- --- ---
06 Calc and Copy
Time
--- ns 125,000 --- 4 bytes
(U32)
RO --- --- ---
09 Delay Time --- ns 31,250 --- 4 bytes
(U32)
RO --- --- ---
0B Cycle Time Too
Small
--- --- --- --- 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