Omron R88D-1SN01H-ECT, Руководство пользователя

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Appendices
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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-2 Co
E Ob
ject
s
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A-2
-7 Manufa
ctur
er S
pecific Object
s
• This object gives data of the existing observation.
• Subindexes 01 to 05 hex
Observation 1 to 5 give the code of the existing observation-level event.
• The format of the observation is shown below.
• This object gives data of the existing minor fault.
• Subindexes 01 to 05 hex
Minor Fault 1 to 5 give the code of the existing minor-fault-level event.
• The format of the minor fault is shown below.
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
2003 --- Sysmac
Observation --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 05 hex --- 1 byte
(U8)
RO --- --- ---
01 Observation 1 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
02 Observation 2 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
03 Observation 3 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
04 Observation 4 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
05 Observation 5 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
Item Data type Details
Error code UINT32 The event code is stored in little-endian format.
Error detail type UINT32 Byte 2 to 3: Type of the detailed data
Byte 1: Size of the detailed data
Byte 0: 00 hex (no detailed data), 01 hex (detailed data)
Error detail UINT32 Detailed data
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
2004 --- Sysmac Minor
Fault --- --- --- --- --- --- --- Possible ---
00 Number of
entries --- --- 05 hex --- 1 byte
(U8)
RO --- --- ---
01 Minor Fault 1 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
02 Minor Fault 2 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
03 Minor Fault 3 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
04 Minor Fault 4 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
05 Minor Fault 5 --- --- --- --- 12 bytes
(OS)
RO --- --- ---
Item Data type Details
Error code UINT32 The event code is stored in little-endian format.
Error detail type UINT32 Byte 2 to 3: Type of the detailed data
Byte 1: Size of the detailed data
Byte 0: 00 hex (no detailed data), 01 hex (detailed data)
Error detail UINT32 Detailed data