What Is Ethercat; Object Dictionary - Omron R88D-KN series User Manual

Suppressing Vibration of Low-rigidity Mechanisms during
Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips
tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically according to
the operation direction and also via an external signal. In addition, the settings can be made easily by
setting the damping frequency and filter values. You are assured of stable operation even if the set
values are inappropriate.
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What is EtherCAT?

EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3).
Each node achieves a short cycle time by transmitting Ethernet frames at high speed. A mechanism
that allows sharing clock information enables high-precision synchronization control with low
communications jitter.
®
EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
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Object Dictionary

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type use the object
dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.
An object is a special data structure inside a device that consists of data, parameters, and methods.
An object dictionary is a data structure that describes the data type objects, communications objects,
and application objects.
All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.
Indexes
0000 to 0FFF hex
1000 to 1FFF hex
2000 to 2FFF hex
3000 to 5FFF hex
6000 to 9FFF hex
A000 to FFFF hex
*1 G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999 hex. Indexes 3 hex
correspond to G5-series Servo Drive parameters Pn. For example, object 3504 hex is the same as
parameter Pn504.
Pn uses decimal numbers but object 3 hex is a hexadecimal number.
For details on servo parameters, refer to Section 9 Servo Parameter Objects.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Area
Data Type Area
CoE Communications Area
Manufacturer Specific Area 1
Manufacturer Specific Area 2
Device Profile Area
Reserved Area
1 Features and System Configuration
Contents
Definitions of data types.
Definitions of variables that can be used by all servers for
designated communications.
Variables with common definitions for all OMRON
products.
Variables with common definitions for all G5-series Servo
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Drives (servo parameters).
Variables defined in the Servo Drive's CiA402 drive profile.
Area reserved for future use.
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