Omron R88D-KN series

A-53
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-11 Manufacturer Specific Objects
• This object shows errors that have occurred in the Servo Drive.
• This object enables changing objects with data attribute C.
• This function can be executed by writing 666e 6f63 hex using SDO mailbox communications.
• The Servo will be forced OFF if Configuration is executed in the Servo ON state.
• The Servo Drive moves to a Fault state (Error No. 27.7) after this process is completed.
• In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 666e 6f63 hex.
Writing when there is a Control Power Supply Undervoltage Error (Error No. 11.0).
• Set the mode during coordinate system setting.
• Set the position information during coordinate system setting.
4001 hex
Sub Error Code
Range 0000 to
FFFF hex
Unit  Default 0000 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Possible
4100 hex
Config
Range 0000 0000 to
FFFF FFFF hex
Unit  Default 0000 0000 hex Attribute A
Size 4 bytes (U32) Access RW PDO map Not possible
4103 hex
Coordinate System Setting Mode
Range 0000 to
FFFF hex
Unit  Default 0083 hex Attribute B
Size 2 bytes (U16) Access RO PDO map Possible
4104 hex
Coordinate System Setting Position
Range  2,147,483,648 to
2,147,483,647 hex
Unit Command
units
Default 0 Attribute B
Size 4 bytes (INT32) Access RO PDO map Possible
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