Omron R88D-1SN ECT Series User Manual

A - 49
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-8 Servo Drive Profile Object
• This object gives the present position in units of encoder.
• This object gives the present position in units of command.
• This object sets the threshold for a following error.
• When the following error is more than or equal to this set value, an Excessive Position Deviation
Error (Error No. 24.00) is detected.
 Description of Set Values
• If it is set to 4,294,967,295 (FFFF FFFF hex), detection of following errors is disabled.
• If it is set to 0, there will always be a following error.
• When it is set to between 2,147,483,648 and 4,294,967,294, the set value becomes 2,147,483,648.
• When the following error is less than or equal to the set value of this object, the Positioning Comple-
tion Output 1 (INP1) turns ON.
• This setting is also used as the threshold for detecting Target reached flag in the EtherCAT communi-
cations status.
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
6063 --- Position actual
internal value
--- Encod
er unit
--- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, hm
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
6064 --- Position actual
value
--- Com-
mand
unit
--- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, hm
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
6065 --- Following error
window
0 to
4,294,967,295
Com-
mand
unit
84,000,000 A 4 bytes
(U32)
RW --- Not pos-
sible
csp, pp,
hm
Set value Description
0 to 2,147,483,647 Enabled at the value set in the Following error window
2,147,483,648 to 4,294,967,294 Enabled at 2,147,483,647 hex as the value set in the Following error win-
dow
4,294,967,295 Excessive position deviation detection disabled
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
6067 --- Position win-
dow
1 to
2,147,483,647
Com-
mand
unit
8000 A 4 bytes
(U32)
RW --- Not pos-
sible
csp, pp,
hm

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