Omron R88D-1SN ECT Series

CONTENTS
8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3-4-4 Resistance to Bending of Flexible Cable .............................................................................. 3-118
3-4-5 Connector Specifications ...................................................................................................... 3-120
3-4-6 EtherCAT Communications Cable Specifications .................................................................3-124
3-5 Specifications of External Regeneration Resistors and External Regeneration
Resistance Units.............................................................................................................. 3-127
3-5-1 General Specifications..........................................................................................................3-127
3-5-2 Characteristics......................................................................................................................3-128
3-5-3 External Regeneration Resistance Unit Specifications.........................................................3-130
3-6 External Dynamic Brake Resistor .................................................................................. 3-132
3-6-1 General Specifications..........................................................................................................3-132
3-6-2 Characteristics......................................................................................................................3-132
3-7 Reactor Specifications.................................................................................................... 3-133
3-7-1 General Specifications..........................................................................................................3-133
3-7-2 Characteristics......................................................................................................................3-133
3-7-3 Terminal Block Specifications ...............................................................................................3-134
3-8 Noise Filter Specifications.............................................................................................. 3-135
3-8-1 General Specifications..........................................................................................................3-135
3-8-2 Characteristics......................................................................................................................3-136
3-8-3 Terminal Block Specifications ...............................................................................................3-137
Section 4 Configuration and Wiring
4-1 Installation Conditions........................................................................................................ 4-2
4-1-1 Servo Drive Installation Conditions...........................................................................................4-2
4-1-2 Servomotor Installation Conditions ........................................................................................... 4-7
4-1-3 Decelerator Installation Conditions ......................................................................................... 4-11
4-1-4 External Regeneration Resistor and External Regeneration Resistance Unit
Installation Conditions............................................................................................................. 4-14
4-1-5 Footprint-type Noise Filter Installation Conditions .................................................................. 4-15
4-1-6 External Dynamic Brake Resistor Installation Condition.........................................................4-16
4-2 Wiring ................................................................................................................................. 4-17
4-2-1 Peripheral Equipment Connection Examples .........................................................................4-18
4-2-2 Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp
to Servo Drive.........................................................................................................................4-34
4-2-3 Connector Attachment Procedure...........................................................................................4-40
4-2-4 Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40................. 4-44
4-2-5 Terminal Block Wiring Procedure for Footprint-type Noise Filter ............................................4-46
4-3 Wiring Conforming to EMC Directives ............................................................................ 4-47
4-3-1 Peripheral Equipment Connection Examples .........................................................................4-48
4-3-2 Selecting Connection Component .......................................................................................... 4-62
4-4 Regenerative Energy Absorption..................................................................................... 4-72
4-4-1 Calculating the Regenerative Energy .....................................................................................4-72
4-4-2 Servo Drive Regeneration Absorption Capacity ..................................................................... 4-75
4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device...............4-76
4-4-4 Connecting an External Regeneration Resistor......................................................................4-77
4-5 Adjustment for Large Load Inertia................................................................................... 4-78
4-6 Machine Accuracy for Servomotor .................................................................................. 4-79
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 ............................................. 5-5
5-3 EtherCAT State Machine ..................................................................................................... 5-6