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)
A
-2 Co
E Ob
ject
s
A
A-2
-8 Servo Dr
ive Pro
file Object
This section explains the CiA402 drive profile supported by 1S-series Servo Drives.
• This object gives the code of the latest existing event or warning which exists in the Servo Drive.
• When more than one error or warning occurs at the same time, the highest-priority one is given.
• The given error is from the manufacturer specific area FF00 to FFFF hex.
• The lower word of FF00 to FFFF hex gives the main error number.
• This object is used to control the state machine of the Servo Drive (PDS).
z Description of Set Values
A-2-8 Servo Drive Profile Object
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
603F --- Error code --- --- --- --- 2 bytes
(U16)
RO TxPDO Not possi-
ble
---
Index (hex) Name Data type Specifications
603F Error code U16 0000 hex : No error
FF01 hex : Main error number 1
FF02 hex : Main error number 2
: :
FF99 hex : Main error number 99
FFA0 hex : Warning A0 hex
: :
FFC0 hex : Information C0 hex
Others : Reserved
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
6040 --- Controlword 0000 to
FFFF hex
--- 0000 hex A 2 bytes
(U16)
W RxPDO Not pos-
sible
csp, csv,
cst, pp,
pv, hm
Bit Name Description
0 Switch on The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if it is set
to
0 .
For details, refer to State Control Commands on page A-3.
1 Enable voltage
2 Quick stop
3 Enable operation
4 to 6 Operation mode specific These bits are specific to the operation mode.
7 Fault reset Errors and warnings are reset when this bit turns ON.
8 Operation mode specific This bit is specific to the operation mode.
9 Operation mode specific This bit is specific to the operation mode.
10 Reserved
11 P_CL These bits switch the torque limit function. They are normally set to 0 .
Refer to Torque Limit Switching on page 7-30 for details.
12 N_CL
13 to 15 Manufacturer specific These are manufacturer specific bits. Always keep them at 0 .