Omron R88D-1SN ECT Series User Manual

Appendices
A - 108
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
78210000 Brake Interlock Error The Brake Interlock Output
(BKIR) was output by the
Timeout at Servo OFF.
• The Brake Interlock Output
(BKIR) was output because
the motor rotation speed did
not decrease to or less than
the speed set in the Thresh-
old Speed at Servo OFF
within the time set in the
Timeout at Servo OFF
when Servo OFF was per-
formed during the motor
operation
√ P. A-157
78230000 Command Error A mistake was made in
using a command.
• When bit 9 (Remote) of the
Statusword was set to 1
(remote), and the Servo
Drive was in Operation
enabled state (Servo ON),
the Servo Drive received a
command to change the
communications state from
Operational to another state
(Init, Pre-Operational, or
Safe-Operational)
• A mode of operation other
than the hm mode was set
during the homing operation
• Modes of operation was set
to pp, pv or hm mode when
the communications period
was set to shorter than
250 μs
√ P. A-158
84B10000 EtherCAT State
Change Error
A communications state
change command was
received for which the cur-
rent communications state
could not be changed.
• A communications state
change command was
received for which the cur-
rent communications state
could not be changed
√ P. A-159
84B20000 EtherCAT Illegal
State Change Error
An undefined communica-
tions state change com-
mand was received.
• An undefined communica-
tions state change com-
mand was received
√ P. A-159
84B40000 Synchronization
Error
A signal for synchronous
communications could not
be detected.
•Noise
• Error of the EtherCAT slave
communications controller
√ P. A-160
84B50000 Sync Manager WDT
Error
PDO communications were
interrupted for the allow-
able period or longer.
• An EtherCAT communica-
tions cable is disconnected,
loose, or broken
• Host controller error
√ P. A-160
84B60000 ESC Initialization
Error
The initialization of Ether-
CAT slave communications
controller failed.
• Data was incorrectly over-
written in the non-volatile
memory of the EtherCAT
slave communications con-
troller
• Failure of the EtherCAT
slave communications con-
troller
√ P. A-161
Event code
(hex)
Event name Description Assumed cause
Level
Refer-
ence
Min
Obs
Info

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