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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Features and System Configuration
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/
Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices
whose tips tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically
according to the rotation direction and also via an external signal. In addition, the settings can
be made easily by setting the damping frequency and filter values. You are assured of stable
operation even if the set values are inappropriate.
What Is EtherCAT?
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE
802.3). Each node achieves a short cycle time by transmitting Ethernet frames at high speed.
A mechanism that allows sharing clock information enables high-precision synchronization
control with low communications jitter.
EtherCAT is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT
technology is protected by patents.
Object Dictionary
OMNUC G5-series Servo Drives with Built-in EtherCAT Communications use the object
dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.
An object is a special data structure inside a device that consists of data, parameters, and
methods.
An object dictionary is a data structure that describes the data type objects, communications
objects, and application objects.
All objects are assigned four-digit hexadecimal numbers in the areas shown in the following
table.
Indexes Area Contents
0000 to 0FFF hex Data Type Area Definitions of data types.
1000 to 1FFF hex CoE Communications Area Definitions of variables that can be used by all
servers for designated communications.
2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all
OMRON products.
3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all
OMNUC G5-series Servo Drives (servo
parameters).
6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive's CiA402
drive profile.
A000 to FFFF hex Reserved Area Area reserved for future use.
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