Omron R88D-1SN ECT Series User Manual

A - 59
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 supported homing methods.
• This object gives the amount of following error.
• This object gives the velocity command value which is generated in the position control of 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 command position which is generated in the Servo Drive.
• This object gives each function I/O status of the Servo Drive.
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
60E3 --- Supported hom-
ing methods
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 07 hex --- 1 byte
(U8)
RO --- --- ---
01 1st supported
homing method
--- --- 8 --- 2 bytes
(INT16)
RO --- --- hm
02 2nd supported
homing method
--- --- 12 --- 2 bytes
(INT16)
RO --- --- hm
03 3rd supported
homing method
--- --- 19 --- 2 bytes
(INT16)
RO --- --- hm
04 4th supported
homing method
--- --- 20 --- 2 bytes
(INT16)
RO --- --- hm
05 5th supported
homing method
--- --- 33 --- 2 bytes
(INT16)
RO --- --- hm
06 6th supported
homing method
--- --- 34 --- 2 bytes
(INT16)
RO --- --- hm
07 7th supported
homing method
--- --- 37 --- 2 bytes
(INT16)
RO --- --- 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
60F4 --- Following error
actual value
--- Com-
mand
unit
--- --- 4 bytes
(INT16)
RO TxPDO Not possi-
ble
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
60FA --- Control effort --- Com-
mand
unit/s
--- --- 4 bytes
(INT32)
RO TxPDO Not possi-
ble
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
60FC --- Position
demand internal
value
--- Encoder
unit
--- --- 4 bytes
(INT32)
RO TxPDO Not possi-
ble
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
60FD --- Digital inputs --- --- --- --- 4 bytes
(U32)
RO TxPDO Not possi-
ble
---

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