Omron R88D-1SN ECT Series User Manual

CONTENTS
14
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11-11-2 Objects Requiring Settings ................................................................................................... 11-26
11-11-3 Operation Example ............................................................................................................... 11-27
11-12 Feed-forward Function.................................................................................................... 11-29
11-12-1 Feed-forward Control in TDF Control.................................................................................... 11-29
11-12-2 Feed-forward Control in ODF Control................................................................................... 11-31
Section 12 Troubleshooting
12-1 Actions for Problems ........................................................................................................ 12-2
12-1-1 Preliminary Checks When a Problem Occurs......................................................................... 12-2
12-1-2 Precautions When a Problem Occurs.....................................................................................12-3
12-1-3 Replacing the Servomotor or Servo Drive ..............................................................................12-4
12-2 Warnings ............................................................................................................................ 12-6
12-2-1 Related Objects ......................................................................................................................12-6
12-2-2 Warning List ............................................................................................................................ 12-8
12-3 Errors................................................................................................................................ 12-10
12-3-1 Error List ...............................................................................................................................12-10
12-3-2 Deceleration Stop Operation at Errors..................................................................................12-13
12-4 Information....................................................................................................................... 12-14
12-4-1 Related Objects .................................................................................................................... 12-14
12-4-2 Information List .....................................................................................................................12-14
12-5 Troubleshooting .............................................................................................................. 12-15
12-5-1 Troubleshooting Using Error Displays ..................................................................................12-16
12-5-2 Troubleshooting Using AL Status Codes .............................................................................. 12-38
12-5-3 Troubleshooting Using the Operation State.......................................................................... 12-42
Section 13 Maintenance and Inspection
13-1 Periodic Maintenance........................................................................................................ 13-2
13-2 Servo Drive Lifetime.......................................................................................................... 13-3
13-3 Servomotor Lifetime.......................................................................................................... 13-4
13-4 Method for Broken Ring Maintenance and Inspection .................................................. 13-5
Appendices
A-1 CiA 402 Drive Profile ..........................................................................................................A-2
A-1-1 Controlling the State Machine of the Servo Drive.....................................................................A-2
A-1-2 Modes of Operation ..................................................................................................................A-4
A-1-3 Modes of Operation and Applied/Adjustment Functions...........................................................A-5
A-1-4 Changing the Mode of Operation..............................................................................................A-5
A-1-5 Homing Mode Specifications ....................................................................................................A-7
A-2 CoE Objects ......................................................................................................................A-12
A-2-1 Object Dictionary Area ............................................................................................................A-12
A-2-2 Data Type................................................................................................................................A-12
A-2-3 Object Description Format ......................................................................................................A-13
A-2-4 Communication Objects..........................................................................................................A-14
A-2-5 PDO Mapping Objects............................................................................................................A-20
A-2-6 Sync Manager Communication Objects .................................................................................A-35
A-2-7 Manufacturer Specific Objects................................................................................................A-38
A-2-8 Servo Drive Profile Object ......................................................................................................A-41
A-2-9 Safety Function Objects..........................................................................................................A-64
A-3 Object List .........................................................................................................................A-68
A-4 Sysmac Error Status Codes ..........................................................................................A-100
A-4-1 Error List ...............................................................................................................................A-100

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