Omron R88D-1SN ECT Series User Manual

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Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-7 Manufacturer Specific Objects
• This object gives data of the existing observation.
• Subindexes 01 to 05 hex Observation 1 to 5 give the code of the existing observation-level event.
• The format of the observation is shown below.
• This object gives data of the existing minor fault.
• Subindexes 01 to 05 hex Minor Fault 1 to 5 give the code of the existing minor-fault-level event.
• The format of the minor fault is shown below.
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
2003 --- Sysmac
Observation
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 05 hex --- 1 byte
(U8)
RO --- --- ---
01 Observation 1 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
02 Observation 2 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
03 Observation 3 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
04 Observation 4 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
05 Observation 5 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
Item Data type Details
Error code UINT32 The event code is stored in little-endian format.
Error detail type UINT32 Byte 2 to 3: Type of the detailed data
Byte 1: Size of the detailed data
Byte 0: 00 hex (no detailed data), 01 hex (detailed data)
Error detail UINT32 Detailed data
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
2004 --- Sysmac Minor
Fault
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 05 hex --- 1 byte
(U8)
RO --- --- ---
01 Minor Fault 1 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
02 Minor Fault 2 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
03 Minor Fault 3 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
04 Minor Fault 4 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
05 Minor Fault 5 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
Item Data type Details
Error code UINT32 The event code is stored in little-endian format.
Error detail type UINT32 Byte 2 to 3: Type of the detailed data
Byte 1: Size of the detailed data
Byte 0: 00 hex (no detailed data), 01 hex (detailed data)
Error detail UINT32 Detailed data

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