Omron R88D-1SN30F-ECT User Manual

A - 41
Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-2 CoE Objects
A
A-2-8 Servo Drive Profile Object
This section explains the CiA402 drive profile supported by 1S-series Servo Drives.
• This object gives the code of the latest existing event or warning which exists in the Servo Drive.
• When more than one error or warning occurs at the same time, the highest-priority one is given.
• The given error is from the manufacturer specific area FF00 to FFFF hex.
• The lower word of FF00 to FFFF hex gives the main error number.
• This object is used to control the state machine of the Servo Drive (PDS).
 Description of Set Values
A-2-8 Servo Drive Profile Object
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
603F --- Error code --- --- --- --- 2 bytes
(U16)
RO TxPDO Not possi-
ble
---
Index (hex) Name Data type Specifications
603F Error code U16 0000 hex : No error
FF01 hex : Main error number 1
FF02 hex : Main error number 2
::
FF99 hex : Main error number 99
FFA0 hex : Warning A0 hex
::
FFC0 hex : Information C0 hex
Others : Reserved
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Com-
plete
access
Modes of
operation
6040 --- Controlword 0000 to
FFFF hex
--- 0000 hex A 2 bytes
(U16)
W RxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Bit Name Description
0 Switch on The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if it is set
to 0.
For details, refer to State Control Commands on page A-3.
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific These bits are specific to the operation mode.
7 Fault reset Errors and warnings are reset when this bit turns ON.
8 Operation mode specific This bit is specific to the operation mode.
9 Operation mode specific This bit is specific to the operation mode.
10 Reserved
11 P_CL These bits switch the torque limit function. They are normally set to 0.
Refer toTorque Limit Switching on page 7-31 for details.
12 N_CL
13 to 15 Manufacturer specific These are manufacturer specific bits. Always keep them at 0.

Omron R88D-1SN30F-ECT Specifications

General

Brand	Omron
Model	R88D-1SN30F-ECT
Category	Controller
Language	English