Omron R88D-KN01L-ECT-L User Manual page 10

CONTENTS
4-5 Regenerative Energy Absorption......................................................................................... 4-47
4-5-1 Calculating the Regenerative Energy........................................................................................ 4-47
4-5-2 Servo Drive Regeneration Absorption Capacity........................................................................ 4-49
4-5-3 Regenerative Energy Absorption with an External Regeneration Resistor............................... 4-50
4-5-4 Connecting an External Regeneration Resistor ........................................................................ 4-51
Section 5 EtherCAT Communications
5-1 Display Area and Settings ...................................................................................................... 5-2
5-1-1 Node Address Setting ................................................................................................................. 5-2
5-1-2 Status Indicators ......................................................................................................................... 5-3
5-2 Structure of the CAN Application Protocol over EtherCAT................................................. 5-4
5-3 EtherCAT State Machine ......................................................................................................... 5-5
5-4 Process Data Objects (PDOs) ................................................................................................ 5-6
5-4-1 PDO Mapping Settings................................................................................................................ 5-6
5-4-2 Sync Manager PDO Assignment Settings .................................................................................. 5-7
5-4-3 Fixed PDO Mapping.................................................................................................................... 5-7
5-4-4 Variable PDO Mapping ............................................................................................................... 5-9
5-4-5 Multiple PDO Mapping .............................................................................................................. 5-10
5-5 Service Data Objects (SDOs)................................................................................................ 5-12
5-6 Synchronization with Distributed Clocks............................................................................ 5-13
5-7 Emergency Messages ........................................................................................................... 5-14
5-8 Sysmac Device Features ...................................................................................................... 5-15
Section 6 Basic Control Functions
6-1 Cyclic Synchronous Position Mode....................................................................................... 6-2
6-1-1 Related Objects........................................................................................................................... 6-3
6-1-2 Block Diagram for Position Control Mode ................................................................................... 6-4
6-2 Cyclic Synchronous Velocity Mode ....................................................................................... 6-5
6-2-1 Related Objects........................................................................................................................... 6-6
6-2-2 Objects Requiring Settings.......................................................................................................... 6-6
6-2-3 Related Functions ....................................................................................................................... 6-6
6-2-4 Block Diagram for Speed Control Mode...................................................................................... 6-7
6-3 Cyclic Synchronous Torque Mode......................................................................................... 6-8
6-3-1 Related Objects........................................................................................................................... 6-9
6-3-2 Objects Requiring Settings.......................................................................................................... 6-9
6-3-3 Related Functions ..................................................................................................................... 6-10
6-3-4 Block Diagram for Force Control Mode..................................................................................... 6-10
6-4 Profile Position Mode ............................................................................................................ 6-11
6-4-1 Related Objects......................................................................................................................... 6-12
6-4-2 Description of Function ............................................................................................................. 6-13
6-4-3 Controlword (6040 hex) in Profile Position Mode...................................................................... 6-14
6-4-4 Statusword (6041 hex) in Profile Position Mode ....................................................................... 6-14
6-5 Homing Mode ......................................................................................................................... 6-15
6-6 Connecting with OMRON Controllers.................................................................................. 6-16
Section 7 Applied Functions
7-1 Sequence I/O Signals .............................................................................................................. 7-2
7-1-1 Input Signals ............................................................................................................................... 7-2
7-1-2 Output Signals............................................................................................................................. 7-5
7-2 Positive and Negative Drive Prohibition Functions ............................................................. 7-8
8 G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications