Omron R88M-K User Manual

A-5
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-3 Communications Cycles and Corresponding Modes of Operation
This section describes the Modes of operation that can be used for each combination of
communications cycle and PDO mapping set in the RxPDO.
When the RxPDO is set to 1600 hex, the combination of the communications cycle and the available
Modes of operation varies depending on the total size of mapped objects. In the table below, the total
size of mapped objects is shown in parentheses. For details on the RxPDO (1600 hex), refer to 5-4-4
Variable PDO Mapping.
• Semi-closed Control
Any of 1701 to 1705 hex or 1600 hex can be set in the RxPDO when 0 to 5 (semi-closed control) is
set for the Control Mode Selection (3001 hex). The following table shows the Modes of operation that
can be used for each combination of communications cycle and RxPDO.
*1 The communications cycle is set in the controller. Refer to the manual of the controller that is connected for the
setting procedure.
*2 The Function Setting Error (Error No. 93.4) will occur if a setting labeled “− (Not supported)” is set.
*3 If the total size of mapped objects exceeds 24 bytes, a Function Setting Error (Error No. 93.4) will occur.
Note For unit version 2.0, the electronic gear ratio can be set only to 1:1. A Function Setting Error (Error No. 93.4)
does not occur even when a value other than 1:1 is set.
Profile position mode (pp) and an object 1600 hex are supported for unit version 2.1 or later.
• Fully-closed Control
Only 1701 hex can be set in the RxPDO when 6 (fully-closed control) is set for the Control Mode
Selection (3001 hex). The following table shows the Modes of operation that can be used for each
combination of communications cycle and RxPDO.
*1 The communications cycle is set in the controller. Refer to the manual of the controller that is connected for the
setting procedure.
*2 The Function Setting Error (Error No. 93.4) will occur if a setting labeled “− (Not supported)” is set.
*3 If the total size of mapped objects exceeds 24 bytes, a Function Setting Error (Error No. 93.4) will occur.
A-1-3 Communications Cycles and Corresponding Modes of Operation
Communications
cycle (µs)
*1
RxPDO
When electronic gear ratio is 1:1
When electronic gear ratio
is not 1:1
1701, 1702, 1703, 1705,
1600 hex (20 bytes or less)
1704, 1600 hex
(20 to 24 bytes)
*3
1701, 1702, 1703, 1704, 1705,
1600 hex (24 bytes or less)
*3
250 csp, csv, cst
−
*2
−
*2
500 csp, csv, cst csp, csv, cst
−
*2
1000 csp, csv, cst, pp, hm csp, csv, cst, pp, hm csp, csv, cst, pp, hm
2000 csp, csv, cst, pp, hm csp, csv, cst, pp, hm csp, csv, cst, pp, hm
4000 csp, csv, cst, pp, hm csp, csv, cst, pp, hm csp, csv, cst, pp, hm
Communications
cycle (µs)
*1
RxPDO
*3
When electronic gear ratio is 1:1 When electronic gear ratio is not 1:1
1701, 1600 hex
(12 bytes or less)
1702, 1705, 1600 hex
(13 to 24 bytes)
1701, 1600 hex
(12 bytes or less)
1702, 1705, 1600 hex
(13 to 24 bytes)
*3
250
−
*2
−
*2
−
*2
−
*2
500 csp
−
*2
−
*2
−
*2
1000 csp, pp, hm
−
*2
csp
−
*2
2000 csp, pp, hm
−
*2
csp, pp, hm
−
*2
4000 csp, pp, hm
−
*2
csp, pp, hm
−
*2

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English