Omron R88D-1SN ECT Series User Manual

A - 53
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 sets the electronic gear ratio.
• Subindex 01 hex Motor Revolutions sets the numerator of the electronic gear. If the set value is 0,
the encoder resolution is set in the numerator.
• Subindex 02 hex Shaft Revolutions sets the denominator of the electronic gear.
• The electronic gear ratio must be between 1/2,000 to 2,000. If it is set outside the range, an Elec-
tronic Gear Setting Error (Error No. 93.00) will occur.
• For details on the electronic gear setting, refer to 7-7 Electronic Gear Function on page 7-29.
• This object selects the homing method in the Homing mode (hm).
 Description of Set Values
• If the homing operation is started by setting a value other than 8, 12, 19, 20, 33, 34, or 37, a Com-
mand Error (Error No. 91.01) will occur.
• For details on homing, refer to A-1-5 Homing Mode Specifications on page A-7.
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
6091 --- Gear ratio --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Motor revolu-
tions
0 to
1,073,741,824
--- 1 R 4 bytes
(U32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Shaft revolu-
tions
1 to
1,073,741,824
--- 1 R 4 bytes
(U32)
RW --- --- 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
6098 --- Homing
method
0 to 37 --- 0 E 1 byte
(INT8)
RW --- Not possi-
ble
hm
Set
value
Description
0 Not specified
8 Homing by Home Proximity Input and home signal (positive
operation start)
12 Homing by Home Proximity Input and home signal (negative
operation start)
19 Homing without home signal (positive operation start)
20 Homing without home signal (negative operation start)
33 Homing with home signal (negative operation start)
34 Homing with home signal (positive operation start)
37 Present home preset

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