Omron R88D-1SN ECT Series User Manual

Appendices
A - 50
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• This object gives the command velocity which is generated in the Servo Drive.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• This object gives the present velocity.
• The displayed value may have an error due to the unit conversion from [r/min] to [command unit/s].
• This object sets the torque command in Cyclic synchronous torque mode (cst).
• Set the value in units of 0.1% of the rated torque (100%).
• This object sets the maximum torque limit value.
• Set the value in units of 0.1% of the rated torque (100%).
• This object is intended for PDO assignment. Use this object to set the maximum torque from a PDO.
• To use the limit value without mapping it to a PDO, set the value in Torque Limit – Max Torque
(3330-02 hex).
• This object gives the torque command value which is generated in the Servo Drive.
• The value is given in units of 0.1% of the rated torque (100%).
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
606B --- Velocity
demand value
--- Command
unit/s
--- --- 4 bytes
(INT32)
RO TxPDO Not pos-
sible
csp, pp,
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
606C --- Velocity actual
value
--- Command
unit/s
--- --- 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
6071 --- Target torque -5,000 to
5,000
0.1% 0 A 2 bytes
(INT16)
W RxPDO Not pos-
sible
cst
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
6072 --- Max torque 0 to 5,000 0.1% 5,000 A 2 bytes
(U16)
RW RxPDO 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
6074 --- Torque demand --- 0.1% --- --- 2 bytes
(INT16)
RO TxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, 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