Omron R88D-1SN ECT Series User Manual

CONTENTS
10
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-5 Backlash Compensation................................................................................................... 7-20
7-5-1 Operating Conditions ..............................................................................................................7-20
7-5-2 Objects Requiring Settings .....................................................................................................7-20
7-5-3 Description of Operation .........................................................................................................7-21
7-6 Brake Interlock................................................................................................................... 7-22
7-6-1 Objects Requiring Settings .....................................................................................................7-22
7-6-2 Description of Operation .........................................................................................................7-24
7-6-3 Operation Timing ....................................................................................................................7-25
7-7 Electronic Gear Function.................................................................................................. 7-29
7-7-1 Objects Requiring Settings .....................................................................................................7-29
7-7-2 Operation Example ................................................................................................................. 7-30
7-8 Torque Limit Switching ..................................................................................................... 7-31
7-8-1 Operating Conditions ..............................................................................................................7-31
7-8-2 Objects Requiring Settings .....................................................................................................7-31
7-8-3 Torque Limit Switching Method...............................................................................................7-32
7-9 Soft Start ............................................................................................................................ 7-33
7-9-1 Objects Requiring Settings .....................................................................................................7-33
7-9-2 Soft Start Acceleration/Deceleration Time .............................................................................. 7-33
7-9-3 Velocity Command First-order Lag Filter ................................................................................ 7-34
7-10 Gain Switching Function .................................................................................................. 7-35
7-10-1 Objects Requiring Settings .....................................................................................................7-35
7-10-2 Mode Selection .......................................................................................................................7-37
7-10-3 Gain Switching in Position Control.......................................................................................... 7-38
7-11 Touch Probe Function (Latch Function).......................................................................... 7-39
7-11-1 Related Objects ......................................................................................................................7-39
7-11-2 Trigger Signal Settings............................................................................................................ 7-41
7-11-3 Operation Sequence............................................................................................................... 7-42
7-12 Encoder Dividing Pulse Output Function ....................................................................... 7-43
7-12-1 Objects Requiring Settings .....................................................................................................7-44
7-12-2 Dividing Ratio..........................................................................................................................7-44
7-12-3 Output Reverse Selection.......................................................................................................7-45
7-12-4 Z-phase Output.......................................................................................................................7-45
7-13 Dynamic Brake................................................................................................................... 7-46
7-13-1 Operating Conditions ..............................................................................................................7-46
7-13-2 Objects Requiring Settings .....................................................................................................7-46
7-13-3 Description of Operation......................................................................................................... 7-47
7-14 Communications Error Period Command Correction Function ................................... 7-50
7-14-1 Operating Conditions ..............................................................................................................7-50
7-14-2 Operation Example .................................................................................................................7-50
Section 8 Safety Function
8-1 Safe Torque OFF Function.................................................................................................. 8-2
8-2 STO Function via Safety Input Signals.............................................................................. 8-4
8-2-1 I/O Signal Specifications........................................................................................................... 8-4
8-2-2 Operation Example ................................................................................................................... 8-6
8-2-3 Connection Example.................................................................................................................8-7
8-3 STO Function via EtherCAT Communications................................................................ 8-10
8-3-1 Connection and Setting ..........................................................................................................8-10
8-3-2 Operation Example ................................................................................................................. 8-12
8-3-3 Connection Example............................................................................................................... 8-14
Section 9 Details on Servo Parameters
9-1 Object Description Format ................................................................................................. 9-4

Omron R88D-1SN ECT Series Specifications

General

Feedback	Incremental encoder, Absolute encoder
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Communication Interface	EtherCAT
Power Supply Voltage	200 to 240 VAC
Output Power	0.1 to 1.5 kW
Input Voltage Range	170 to 264 VAC
Control Method	Sine-wave PWM control
Main Circuit Power Supply	200-240 VAC
Applicable Motor Capacity	0.1 to 1.5 kW
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overheating, Encoder Error
Ambient Operating Temperature	0 to 55°C
Vibration Resistance	4.9 m/s² (10 to 55 Hz)
Shock Resistance	98 m/s2
Weight	Varies by model