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OMRON R88D-KN02L-ECT

Type:

R88D-KN02L-ECT

Description:

R88D-KN02L-ECT G5 Series ServoDrive/Motor

Vendor

OMRON Corporation

Documentation

http://www.ia.omron.com/

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 3 revision(s) of this hardware. Here are the known revisions and their differences.

This also includes the send and receive PDOs defined for each revision, and a link to other known devices with identical PDOs.

Revision	r1	r2
Name	R88D-KN02L-ECT G5 Series ServoDrive/Motor
PID	0x00000003
Revision Code	0x00010000	0x00020000	0x00020001
Equivalant Devices	R88D-KN01H-ECT r1 R88D-KN01L-ECT r1 R88D-KN02H-ECT r1 R88D-KN04H-ECT r1 R88D-KN04L-ECT r1 R88D-KN06F-ECT r1 R88D-KN08H-ECT r1 R88D-KN10F-ECT r1 R88D-KN10H-ECT r1 R88D-KN150F-ECT r1 R88D-KN150H-ECT r1 R88D-KN15F-ECT r1 R88D-KN15H-ECT r1 R88D-KN20F-ECT r1 R88D-KN20H-ECT r1 R88D-KN30F-ECT r1 R88D-KN30H-ECT r1 R88D-KN50F-ECT r1 R88D-KN50H-ECT r1 R88D-KN75F-ECT r1 R88D-KN75H-ECT r1 R88D-KNA5L-ECT r1	R88D-KN01H-ECT r2 R88D-KN01L-ECT r2 R88D-KN02H-ECT r2 R88D-KN04H-ECT r2 R88D-KN04L-ECT r2 R88D-KN06F-ECT r2 R88D-KN08H-ECT r2 R88D-KN10F-ECT r2 R88D-KN10H-ECT r2 R88D-KN150F-ECT r2 R88D-KN150H-ECT r2 R88D-KN15F-ECT r2 R88D-KN15H-ECT r2 R88D-KN20F-ECT r2 R88D-KN20H-ECT r2 R88D-KN30F-ECT r2 R88D-KN30H-ECT r2 R88D-KN50F-ECT r2 R88D-KN50H-ECT r2 R88D-KN75F-ECT r2 R88D-KN75H-ECT r2 R88D-KNA5L-ECT r2
TX PDOs			0x1a00: 1st transmit PDO Mapping
			0x6041:00 Statusword UINT (16 bits)
			0x6064:00 Position actual value DINT (32 bits)
			0x60b9:00 Touch probe status UINT (16 bits)
			0x60ba:00 Touch probe pos1 pos value DINT (32 bits)
			0x60bc:00 Touch probe pos2 pos value DINT (32 bits)
			0x603f:00 Error code UINT (16 bits)
			0x60fd:00 Digital inputs UDINT (32 bits)
	0x1b01: 258th transmit PDO Mapping
	0x603f:00 Error code UINT (16 bits)
	0x6041:00 Statusword UINT (16 bits)
	0x6064:00 Position actual value DINT (32 bits)
	0x6077:00 Torque actual value INT (16 bits)
	0x60f4:00 Following error actual value DINT (32 bits)
	0x60b9:00 Touch probe status UINT (16 bits)
	0x60ba:00 Touch probe pos1 pos value DINT (32 bits)
	0x60bc:00 Touch probe pos2 pos value DINT (32 bits)
	0x60fd:00 Digital inputs UDINT (32 bits)
		0x1b02: 259th transmit PDO Mapping
		0x603f:00 Error code UINT (16 bits)
		0x6041:00 Statusword UINT (16 bits)
		0x6064:00 Position actual value DINT (32 bits)
		0x6077:00 Torque actual value INT (16 bits)
		0x6061:00 Modes of operation display SINT (8 bits)
		0x60b9:00 Touch probe status UINT (16 bits)
		0x60ba:00 Touch probe pos1 pos value DINT (32 bits)
		0x60bc:00 Touch probe pos2 pos value DINT (32 bits)
		0x60fd:00 Digital inputs UDINT (32 bits)
		0x1b03: 260th transmit PDO Mapping
		0x603f:00 Error code UINT (16 bits)
		0x6041:00 Statusword UINT (16 bits)
		0x6064:00 Position actual value DINT (32 bits)
		0x6077:00 Torque actual value INT (16 bits)
		0x60f4:00 Following error actual value DINT (32 bits)
		0x6061:00 Modes of operation display SINT (8 bits)
		0x60b9:00 Touch probe status UINT (16 bits)
		0x60ba:00 Touch probe pos1 pos value DINT (32 bits)
		0x60bc:00 Touch probe pos2 pos value DINT (32 bits)
		0x60fd:00 Digital inputs UDINT (32 bits)
		0x1b04: 261th transmit PDO Mapping
		0x603f:00 Error code UINT (16 bits)
		0x6041:00 Statusword UINT (16 bits)
		0x6064:00 Position actual value DINT (32 bits)
		0x6077:00 Torque actual value INT (16 bits)
		0x6061:00 Modes of operation display SINT (8 bits)
		0x60b9:00 Touch probe status UINT (16 bits)
		0x60ba:00 Touch probe pos1 pos value DINT (32 bits)
		0x60bc:00 Touch probe pos2 pos value DINT (32 bits)
		0x60fd:00 Digital inputs UDINT (32 bits)
		0x606c:00 Velocity actual value DINT (32 bits)
			0x1bff: 512th transmit PDO Mapping
RX PDOs			0x1600: 1st receive PDO Mapping
			0x6040:00 Controlword UINT (16 bits)
			0x607a:00 Target position DINT (32 bits)
			0x60b8:00 Touch probe function UINT (16 bits)
	0x1701: 258th receive PDO Mapping
	0x6040:00 Controlword UINT (16 bits)
	0x607a:00 Target position DINT (32 bits)
	0x60b8:00 Touch probe function UINT (16 bits)
	0x60fe:01 Physical outputs UDINT (32 bits)
		0x1702: 259th receive PDO Mapping
		0x6040:00 Controlword UINT (16 bits)
		0x607a:00 Target position DINT (32 bits)
		0x60ff:00 Target velocity DINT (32 bits)
		0x6071:00 Target torque INT (16 bits)
		0x6060:00 Modes of operation SINT (8 bits)
		0x60b8:00 Touch probe function UINT (16 bits)
		0x607f:00 Max profile velocity UDINT (32 bits)
		0x1703: 260th receive PDO Mapping
		0x6040:00 Controlword UINT (16 bits)
		0x607a:00 Target position DINT (32 bits)
		0x60ff:00 Target velocity DINT (32 bits)
		0x6060:00 Modes of operation SINT (8 bits)
		0x60b8:00 Touch probe function UINT (16 bits)
		0x60e0:00 Positive torque limit value UINT (16 bits)
		0x60e1:00 Negative torque limit value UINT (16 bits)
		0x1704: 261th receive PDO Mapping
		0x6040:00 Controlword UINT (16 bits)
		0x607a:00 Target position DINT (32 bits)
		0x60ff:00 Target velocity DINT (32 bits)
		0x6071:00 Target torque INT (16 bits)
		0x6060:00 Modes of operation SINT (8 bits)
		0x60b8:00 Touch probe function UINT (16 bits)
		0x607f:00 Max profile velocity UDINT (32 bits)
		0x60e0:00 Positive torque limit value UINT (16 bits)
		0x60e1:00 Negative torque limit value UINT (16 bits)
		0x1705: 262th receive PDO Mapping
		0x6040:00 Controlword UINT (16 bits)
		0x607a:00 Target position DINT (32 bits)
		0x60ff:00 Target velocity DINT (32 bits)
		0x6060:00 Modes of operation SINT (8 bits)
		0x60b8:00 Touch probe function UINT (16 bits)
		0x60e0:00 Positive torque limit value UINT (16 bits)
		0x60e1:00 Negative torque limit value UINT (16 bits)
		0x60b2:00 Torque offset INT (16 bits)