Omron R88D-1SN ECT Series, User Manual, Page: 11 / 974

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CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-4 Process Data Objects (PDOs) ............................................................................................ 5-7
5-4-1 PDO Mapping Settings............................................................................................................. 5-7
5-4-2 Sync Manager PDO Assignment Settings................................................................................ 5-8
5-4-3 Fixed PDO Mapping ................................................................................................................. 5-8
5-4-4 Variable PDO Mapping ............................................................................................................5-11
5-4-5 Sync Manager PDO Mapping Assignment Settings ............................................................... 5-12
5-5 Service Data Objects (SDOs)............................................................................................ 5-13
5-6 Synchronization Mode and Communications Cycle ...................................................... 5-14
5-6-1 Distributed Clock (DC) Mode.................................................................................................. 5-14
5-6-2 Free-Run Mode ...................................................................................................................... 5-14
5-7 Emergency Messages ....................................................................................................... 5-15
5-8 Sysmac Device Features .................................................................................................. 5-16
5-9 Cable Redundancy Function ............................................................................................ 5-20
5-9-1 Objects Requiring Settings..................................................................................................... 5-20
5-9-2 Description of Operation......................................................................................................... 5-20
5-9-3 Procedure of Checking Operation .......................................................................................... 5-21
5-9-4 Slave Communications Statuses When Cable Redundancy Function Is Used...................... 5-23
5-9-5 Relation between the Network Configuration Information and the Actual Configuration........ 5-24
Section 6 Basic Control Functions
6-1 Outline of Control Functions.............................................................................................. 6-2
6-1-1 Basic Control and Control Methods.......................................................................................... 6-2
6-1-2 Control Method......................................................................................................................... 6-3
6-2 Control Blocks ..................................................................................................................... 6-5
6-2-1 Block Diagram for Position Control .......................................................................................... 6-5
6-2-2 Block Diagram for Velocity Control........................................................................................... 6-7
6-2-3 Block Diagram for Torque Control ............................................................................................ 6-9
6-3 Cyclic Synchronous Position Mode ................................................................................ 6-10
6-4 Cyclic Synchronous Velocity Mode ................................................................................. 6-12
6-5 Cyclic Synchronous Torque Mode................................................................................... 6-14
6-6 Profile Position Mode........................................................................................................ 6-16
6-7 Profile Velocity Mode ........................................................................................................ 6-21
6-8 Homing Mode..................................................................................................................... 6-24
6-9 Connecting with OMRON Controllers.............................................................................. 6-25
Section 7 Applied Functions
7-1 General-purpose Input Signals .......................................................................................... 7-3
7-1-1 Objects Requiring Settings....................................................................................................... 7-4
7-1-2 Default Setting.......................................................................................................................... 7-6
7-1-3 Function Input Details............................................................................................................... 7-7
7-2 General-purpose Output Signals ....................................................................................... 7-8
7-2-1 Objects Requiring Settings....................................................................................................... 7-8
7-2-2 Default Setting........................................................................................................................ 7-10
7-2-3 Function Output Details...........................................................................................................7-11
7-3 Drive Prohibition Functions ............................................................................................. 7-15
7-3-1 Objects Requiring Settings..................................................................................................... 7-15
7-3-2 Description of Operation......................................................................................................... 7-16
7-4 Software Position Limit Functions .................................................................................. 7-17
7-4-1 Operating Conditions.............................................................................................................. 7-17
7-4-2 Objects Requiring Settings..................................................................................................... 7-17
7-4-3 Description of Operation......................................................................................................... 7-18