Omron R88D-KN10F-ECT-L User Manual

8
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
CONTENTS
4-5 Regenerative Energy Absorption......................................................................................... 4-47
4-5-1 Calculating the Regenerative Energy........................................................................................4-47
4-5-2 Servo Drive Regeneration Absorption Capacity........................................................................4-49
4-5-3 Regenerative Energy Absorption with an External Regeneration Resistor...............................4-50
4-5-4 Connecting an External Regeneration Resistor........................................................................4-51
Section 5 EtherCAT Communications
5-1 Display Area and Settings ...................................................................................................... 5-2
5-1-1 Node Address Setting.................................................................................................................5-2
5-1-2 Status Indicators .........................................................................................................................5-3
5-2 Structure of the CAN Application Protocol over EtherCAT................................................. 5-4
5-3 EtherCAT State Machine......................................................................................................... 5-5
5-4 Process Data Objects (PDOs) ................................................................................................ 5-6
5-4-1 PDO Mapping Settings................................................................................................................5-6
5-4-2 Sync Manager PDO Assignment Settings ..................................................................................5-7
5-4-3 Fixed PDO Mapping....................................................................................................................5-7
5-4-4 Variable PDO Mapping ...............................................................................................................5-9
5-4-5 Multiple PDO Mapping..............................................................................................................5-10
5-5 Service Data Objects (SDOs)................................................................................................ 5-12
5-6 Synchronization with Distributed Clocks............................................................................ 5-13
5-7 Emergency Messages...........................................................................................................5-14
5-8 Sysmac Device Features ...................................................................................................... 5-15
Section 6 Basic Control Functions
6-1 Cyclic Synchronous Position Mode....................................................................................... 6-2
6-1-1 Related Objects...........................................................................................................................6-3
6-1-2 Block Diagram for Position Control Mode ...................................................................................6-4
6-2 Cyclic Synchronous Velocity Mode....................................................................................... 6-5
6-2-1 Related Objects...........................................................................................................................6-6
6-2-2 Objects Requiring Settings..........................................................................................................6-6
6-2-3 Related Functions.......................................................................................................................6-6
6-2-4 Block Diagram for Speed Control Mode......................................................................................6-7
6-3 Cyclic Synchronous Torque Mode......................................................................................... 6-8
6-3-1 Related Objects...........................................................................................................................6-9
6-3-2 Objects Requiring Settings..........................................................................................................6-9
6-3-3 Related Functions.....................................................................................................................6-10
6-3-4 Block Diagram for Force Control Mode.....................................................................................6-10
6-4 Profile Position Mode............................................................................................................ 6-11
6-4-1 Related Objects.........................................................................................................................6-12
6-4-2 Description of Function .............................................................................................................6-13
6-4-3 Controlword (6040 hex) in Profile Position Mode......................................................................6-14
6-4-4 Statusword (6041 hex) in Profile Position Mode .......................................................................6-14
6-5 Homing Mode......................................................................................................................... 6-15
6-6 Connecting with OMRON Controllers.................................................................................. 6-16
Section 7 Applied Functions
7-1 Sequence I/O Signals ..............................................................................................................7-2
7-1-1 Input Signals ...............................................................................................................................7-2
7-1-2 Output Signals.............................................................................................................................7-5
7-2 Positive and Negative Drive Prohibition Functions ............................................................. 7-8

Omron R88D-KN10F-ECT-L Specifications

General

Brand	Omron
Model	R88D-KN10F-ECT-L
Category	Servo Drives
Language	English