Functional Differences Among Unit Versions - Omron R88M-K User Manual

A-5 Functional Differences among Unit
Versions
The following table shows the functional differences among unit versions.
Item
Servo Drive model
Sysmac Sysmac Error Status
Device
Saving the Node Address Setting
Features
Serial Number Display
ESI Specification (Version 1.0)
SII Data Check
Fixed PDO mapping
Variable PDO mapping (1600 hex, 1A00 hex)
Available csp: Cyclic synchronous position
operation mode
modes
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
hm: Homing mode
FIR filter function
Error Excessive Speed Deviation Error
detection
Interruptions Error
function
Electronic gear function
*4
Fully-closed Control
Torque limit objects
Positioning Completion Range (6067 hex)
Reference Position for CSP (4020 hex)
Data Setting Warning Detection Setting (3781 hex)
DC power input
Reference manual
*1 The function to show the serial number controlled by OMRON in 1018h-04 hex.
*2 Setting the communications cycle to 500 µs or less does not enable the FIR filter function, although doing so does not cause any error.
*3 Setting this to an electronic gear ratio other than 1:1 simply causes the G5-series AC Servo Drive to operate at 1:1 without any errors.
*4 If Fully-closed Control is not available, a Function Setting Error (Error No. 93.4) will occur.
*5 This is applicable only when the total size of the objects mapped to RxPDO is 12 bytes or less. For details, refer to A-1-3
Communications Cycles and Corresponding Modes of Operation.
*6 There are objects added (3013 hex/3522 hex) to or renamed (3525 hex/3526 hex) from unit version 1.0.
For details of these objects, refer to Torque Limit Selection (3521 hex) in Extended Objects of each manual.
*7 Only the following Servo Drive models support DC power input:
• R88D-KN75H-ECT
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Ver.1.0
R88D-KN -ECT-R
*1
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Supported
Supported
PDO mapping to 60E0/
60E1 hex is not possible.
I573
• R88D-KN150H-ECT
Unit version
Ver.2.0
R88D-KN -ECT
Not supported
Not supported
Not supported
Not supported
Not supported
Supported
Not supported
Supported
Supported
Supported
Not supported
Supported
Supported
(Available when the communications cycle is 1 ms or above)
Supported
Supported
*3
Not supported
(only to 1:1)
Available when the
communications cycle is
500 µs or above in csp
and 1 ms or above in hm.
PDO mapping to 60E0/60E1 hex is possible.
Disabled
Not supported
Not supported
Not supported
Appendices
Ver.2.1
Supported
Supported
Supported
Supported
Supported
Supported
Supported
*2
Supported
csp: Available when the
communications cycle is
500 µs or above at an
electronic gear ratio of 1:1
and 1 ms or above at a
gear ratio other than 1:1.
pp, hm: Available when
the communications cycle
is 1 ms or above at an
electronic gear ratio of 1:1
and 2 ms or above at a
*5
gear ratio other than 1:1.
*6
Enabled
Supported
Supported
*7
Supported
I576
A-169