Omron R88M-K - Functional Differences Among Unit Versions

A-169
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-5 Functional Differences among Unit Versions
App
A-5 Functional Differences among Unit
Versions
The following table shows the functional differences among unit versions.
*1 The function to show the serial number controlled by OMRON in 1018h-04 hex.
*2 Setting the communications cycle to 500 µ s or less does not enable the FIR filter function, although doing so does not cause any error.
*3 Setting this to an electronic gear ratio other than 1:1 simply causes the G5-series AC Servo Drive to operate at 1:1 without any errors.
*4 If Fully-closed Control is not available, a Function Setting Error (Error No. 93.4) will occur.
*5 This is applicable only when the total size of the objects mapped to RxPDO is 12 bytes or less. For details, refer to A-1-3
Communications Cycles and Corresponding Modes of Operation.
*6 There are objects added (3013 hex/3522 hex) to or renamed (3525 hex/3526 hex) from unit version 1.0.
For details of these objects, refer to Torque Limit Selection (3521 hex) in Extended Objects of each manual.
*7 Only the following Servo Drive models support DC power input:
• R88D-KN75H-ECT • R88D-KN150H-ECT
Item
Unit version
Ver.1.0 Ver.2.0 Ver.2.1
Servo Drive model R88D-KN-ECT-R R88D-KN-ECT
Sysmac
Device
Features
Sysmac Error Status Not supported Supported
Saving the Node Address Setting Not supported Supported
Serial Number Display
*1
Not supported Supported
ESI Specification (Version 1.0) Not supported Supported
SII Data Check Not supported Supported
Fixed PDO mapping Not supported Supported
Variable PDO mapping (1600 hex, 1A00 hex) Not supported Supported
Available
operation
modes
csp: Cyclic synchronous position
mode
Supported
csv: Cyclic synchronous velocity mode Not supported Supported
cst: Cyclic synchronous torque mode Not supported Supported
pp: Profile position mode Not supported Supported
hm: Homing mode Not supported Supported
FIR filter function Not supported
Supported
*2
(Available when the communications cycle is 1 ms or above)
Error
detection
function
Excessive Speed Deviation Error Not supported Supported
Interruptions Error Not supported Supported
Electronic gear function Supported
Not supported
*3
(only to 1:1)
Supported
Fully-closed Control
*4
Supported Available when the
communications cycle is
500 µs or above in csp
and 1 ms or above in hm.
csp: Available when the
communications cycle is
500
µ s or above at an
electronic gear ratio of 1:1
and 1 ms or above at a
gear ratio other than 1:1.
pp, hm: Available when
the communications cycle
is 1 ms or above at an
electronic gear ratio of 1:1
and 2 ms or above at a
gear ratio other than 1:1.
*5
Torque limit objects PDO mapping to 60E0/
60E1 hex is not possible.
PDO mapping to 60E0/60E1 hex is possible.
*6
Positioning Completion Range (6067 hex) Disabled Enabled
Reference Position for CSP (4020 hex) Not supported Supported
Data Setting Warning Detection Setting (3781 hex) Not supported Supported
DC power input Not supported
Supported
*7
Reference manual I573 I576