Omron R88D-1SN ECT Series User Manual

13
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-16-12 465A hex: Velocity Limiting Output....................................................................................... 9-127
9-16-13 465B hex: Error Clear Attribute Output................................................................................. 9-127
9-16-14 465C hex: Remote Output 1................................................................................................. 9-128
9-16-15 465D hex: Remote Output 2................................................................................................. 9-128
9-16-16 465E hex: Remote Output 3................................................................................................. 9-128
9-16-17 465F hex: Zone Notification Output 1................................................................................... 9-129
9-16-18 4660 hex: Zone Notification Output 2................................................................................... 9-129
9-16-19 4661 hex: Position Command Status Output ....................................................................... 9-129
9-16-20 4662 hex: Distribution Completed Output ............................................................................ 9-130
9-16-21 4663 hex: External Brake Interlock Output........................................................................... 9-130
Section 10 Operation
10-1 Operational Procedure...................................................................................................... 10-2
10-2 Preparing for Operation .................................................................................................... 10-3
10-2-1 Items to Check Before Turning ON the Power Supply ........................................................... 10-3
10-2-2 Turning ON the Power Supply................................................................................................ 10-4
10-2-3 Checking the Displays............................................................................................................ 10-5
10-2-4 Absolute Encoder Setup......................................................................................................... 10-7
10-2-5 Setting Up an Absolute Encoder from the Sysmac Studio ..................................................... 10-7
10-3 Test Run ............................................................................................................................. 10-8
10-3-1 Preparations for Test Run....................................................................................................... 10-8
10-3-2 Test Run via USB Communications from the Sysmac Studio ................................................ 10-9
Section 11 Adjustment Functions
11-1 Outline of Adjustment Functions..................................................................................... 11-3
11-1-1 Adjustment Methods................................................................................................................11-3
11-1-2 Adjustment Procedure.............................................................................................................11-4
11-2 Easy Tuning ....................................................................................................................... 11-6
11-2-1 Objects That Are Set ...............................................................................................................11-6
11-2-2 Executing Easy Tuning............................................................................................................11-8
11-3 Advanced Tuning............................................................................................................... 11-9
11-3-1 Objects That Are Set ...............................................................................................................11-9
11-3-2 Executing Advanced Tuning..................................................................................................11-10
11-4 Manual Tuning ..................................................................................................................11-11
11-4-1 Objects That Are Set .............................................................................................................11-11
11-4-2 Executing Manual Tuning ......................................................................................................11-11
11-5 Data Trace ........................................................................................................................ 11-12
11-6 FFT .................................................................................................................................... 11-13
11-7 Damping Control ............................................................................................................. 11-14
11-7-1 Objects Requiring Settings....................................................................................................11-14
11-7-2 Operating Procedure .............................................................................................................11-16
11-7-3 Setting Frequency with Sysmac Studio.................................................................................11-17
11-8 Load Characteristic Estimation...................................................................................... 11-18
11-8-1 Objects Requiring Settings....................................................................................................11-19
11-8-2 Setting Load Characteristic Estimation Function...................................................................11-20
11-9 Adaptive Notch Filter ...................................................................................................... 11-21
11-9-1 Objects Requiring Settings....................................................................................................11-21
11-9-2 Operating Procedure .............................................................................................................11-22
11-10 Notch Filters..................................................................................................................... 11-23
11-10-1 Objects Requiring Settings....................................................................................................11-24
11-10-2 Notch Filter Width and Depth ................................................................................................11-25
11-11 Friction Torque Compensation Function ...................................................................... 11-26
11-11-1 Operating Conditions.............................................................................................................11-26

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