Omron R88D-1SN ECT Series

Appendices
A - 76
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3000 81 Function Status --- --- --- --- 4 bytes
(INT32)
TxPDO
82 Motor Stop Cause --- --- --- --- 4 bytes
(INT32)
---
83 Modes of Operation Dis-
play (Mirror object of
6061 hex)
--- --- --- --- 1 byte
(INT8)
---
84 Supported Functions
(Mirror object of 60D9
hex)
--- --- 00000001 hex --- 4 bytes
(U32)
---
85 Supported Drive Modes
(Mirror object of 6502
hex)
--- --- 000003A5 hex --- 4 bytes
(U32)
---
F1 Controlword (Mirror
object of 6040 hex)
0000 to FFFF
hex
--- 0000 hex A 2 bytes
(U16)
---
F2 Modes of Operation (Mir-
ror object of 6060 hex)
0 to 10 --- 0 A 1 byte
(INT8)
---
FF Statusword (Mirror object
of 6041 hex)
--- --- --- --- 2 bytes
(U16)
---
3001 --- Machine --- --- --- --- --- ---
01 Inertia Ratio
0 to 30,000
*2
% 250 A 4 bytes
(INT32)
---
02 Backlash Compensation
Selection
0 to 2 --- 0 R 4 bytes
(INT32)
---
03 Backlash Compensation
Amount
-262,144 to
262,143
Command unit 0 E 4 bytes
(INT32)
---
04 Backlash Compensation
Time Constant
0 to 6,400 0.01 ms 0 E 4 bytes
(INT32)
---
05 Motor Revolutions (Mir-
ror object of 6091-01
hex)
0 to
1,073,741,824
--- 1 R 4 bytes
(U32)
---
06 Shaft Revolutions (Mirror
object of 6091-02 hex)
1 to
1,073,741,824
--- 1 R 4 bytes
(U32)
---
81 Inertia Ratio Display --- % --- --- 4 bytes
(INT32)
---
3002 --- Optimized Parameters --- --- --- --- --- ---
F1 Apply Parameters --- --- 00000000 hex A 4 bytes
(INT32)
---
F2 Execution Status --- --- --- --- 4 bytes
(INT32)
---
3010 --- Position Command --- --- --- --- --- ---
81 Position Demand Value
(Mirror object of 6062
hex)
--- Command unit --- --- 4 bytes
(INT32)
---
82 Position Demand Inter-
nal Value (Mirror object
of 60FC hex)
--- Encoder unit --- --- 4 bytes
(INT32)
---
83 Velocity --- Command unit/s --- --- 4 bytes
(INT32)
---
84 Motor Velocity --- r/min --- --- 4 bytes
(INT32)
---
85 Motor Velocity After
Position Command Fil-
tering
--- r/min --- --- 4 bytes
(INT32)
---
86 Motor Velocity After
Damping Filtering
--- r/min --- --- 4 bytes
(U32)
---
87 Reference Position for
csp
--- Command unit 0 --- 4 bytes
(U32)
TxPDO
91 Following Error --- Command unit --- --- 4 bytes
(U32)
---
92 Following Error After
Interpolation
*3
--- Command unit --- --- 4 bytes
(U32)
TxPDO
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit Default setting
Data
attri-
bute
Size PDO map