Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
A - 38 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Subindex 02 hex Cycle Time gives the sync0 event cycle in nanoseconds.
• Subindex 03 hex Shift Time sets the timing of input signal recognition from Sync0.
• Subindex 04 hex Synchronization Types supported gives the types of synchronization supported
by this Servo Drive.
• Subindex 05 hex Minimum Cycle Time gives the time required for this Servo Drive to process the
reception or transmission PDO.
• Subindex 06 hex Calc and Copy Time gives the internal processing time from input signal recogni-
tion to transmission PDO setting.
• Subindex 0B hex Cycle Time Too Small gives the number of times which input data could not be
updated because the internal processing was not completed before the next SM event.
For details on servo parameters, refer to Section 9 Details on Servo Parameters .
• This object is used to notify and clear the data of the Sysmac Error Status.
• Subindex 01 hex
Sysmac Error Status notifies that the Servo Drive detected an error.
If you connect the Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit, map
this object to the PDO.
• Subindex 02 hex Sysmac Error Status Clear enables a Machine Automation Controller
NJ/NX-series CPU Unit to reset the error that occurred in the Servo Drive.
Additional Information
Sysmac Studio, by default, uses the 512th transmit PDO Mapping (1BFF hex) assignment to
map the Sysmac Error Status (subindex 01 hex) automatically to the PDO.
Value Description
0000 hex Free Run
0001 hex Synchronous
0002 hex DC Sync0
0003 hex DC Sync1
Bit Description
1 Synchronous Supported
2 to 4 DC Type Supported DC (1: Sync0)
5 to 6 Shift Settings (1: Input Shift with local timer)
A-2-7 Manufacturer Specific Objects
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
2002 --- Sysmac Error --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Sysmac Error
Status --- --- --- --- 1 byte
(U8)
RO TxPDO --- ---
02 Sysmac Error
Status Clear 00 to 01
hex
--- 00 hex A 1 byte
(U8)
W --- --- ---