Omron R88D-1SN30F-ECT

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7 Applied Functions

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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Main Page

Introduction3
Manual Structure4
Manual Configuration6
Sections in this Manual7
Table of Contents8
Terms and Conditions Agreement18
Safety Precautions20
Items to Check after Unpacking31
Related Manuals42
Terminology45
Revision History47
Features and System Configuration49
Outline50
Features of 1S-Series Servo Drives50
Ethercat51
Object Dictionary52
System Configuration53
Names and Functions54
Servo Drive Part Names54
Servo Drive Functions62
Servomotor Part Names65
Servomotor Functions67
Shield Clamp Part Names68
System Block Diagram69
Applicable Standards77
EU Directives77
UL and Cul Standards78
Korean Radio Regulations (KC)79
Semi F4779
Australian EMC Labeling Requirements (RCM)80
EAC Requirements80
Unit Versions81
Confirmation Method81
Unit Versions and Sysmac Studio Versions81
Procedures to Start Operation82
Overall Procedure82
Procedure Details84
Models and External Dimensions89
Servo System Configuration90
How to Read Model Numbers92
Servo Drive92
Servomotor93
Encoder Cable94
Motor Power Cable Without Brake Wire95
Motor Power Cable with Brake Wire96
Decelerator97
Model Tables99
Servo Drive Model Table99
Servomotor Model Tables100
Servo Drive and Servomotor Combination Tables105
Decelerator Model Tables107
Servomotor and Decelerator Combination Tables111
Cable and Connector Model Tables113
External Regeneration Resistor and External Regeneration Resistance Unit Model Tables121
External Dynamic Brake Resistor Model Table122
Reactor Model Table122
Noise Filter Model Table123
External and Mounting Dimensions124
Servo Drive Dimensions124
Servomotor Dimensions131
Cable Outlet Direction187
Cable Wiring Dimension for a Case of Motor Installing188
Decelerator Dimensions190
Dimensions of External Regeneration Resistors and External Regeneration Resistance Units207
Dimensions of External Dynamic Brake Resistors208
Reactor Dimensions209
Noise Filter Dimensions218
Specifications221
Servo Drive Specifications223
General Specifications223
Characteristics225
Ethercat Communications Specifications233
Main Circuit and Motor Connections234
Control I/O Connector (CN1) Specifications247
Control Input Circuits250
Control Input Details250
Control Output Circuits251
Control Output Details252
Encoder Pulse Output Specifications252
Safety I/O Specifications253
Brake Interlock Connector (CN12) Specifications255
Encoder Connector (CN2) Specifications255
Ethercat Communications Connector (RJ45) Specifications256
USB Connector (CN7) Specifications256
Power on Sequence257
Overload Characteristics (Electronic Thermal Function)258
Servomotor Specifications263
General Specifications263
Encoder Specifications264
Characteristics265
Decelerator Specifications290
Cable and Connector Specifications297
Encoder Cable Specifications297
Motor Power Cable Specifications304
Combination of Power Cable and Extension Cable337
Resistance to Bending of Flexible Cable338
Connector Specifications340
Ethercat Communications Cable Specifications344
Specifications of External Regeneration Resistors and External Regeneration Resistance Units347
General Specifications347
Regeneration Resistance Units347
Characteristics348
External Regeneration Resistance Unit Specifications350
External Dynamic Brake Resistor352
General Specifications352
Characteristics352
Reactor Specifications353
General Specifications353
Characteristics353
Terminal Block Specifications354
Noise Filter Specifications355
General Specifications355
Characteristics356
Terminal Block Specifications357
Configuration and Wiring359
Installation Conditions360
Servo Drive Installation Conditions360
Servomotor Installation Conditions365
Decelerator Installation Conditions369
External Regeneration Resistor and External Regeneration Resistance Unit Installation Conditions372
Footprint-Type Noise Filter Installation Conditions373
External Dynamic Brake Resistor Installation Condition374
Wiring375
Peripheral Equipment Connection Examples376
Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp to Servo Drive392
Connector Attachment Procedure398
Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40402
Terminal Block Wiring Procedure for Footprint-Type Noise Filter404
Wiring Conforming to EMC Directives405
Peripheral Equipment Connection Examples406
Selecting Connection Component420
Regenerative Energy Absorption430
Calculating the Regenerative Energy430
Servo Drive Regeneration Absorption Capacity433
Regenerative Energy Absorption by an External Regeneration Resistance Device434
Connecting an External Regeneration Resistor435
Adjustment for Large Load Inertia436
Machine Accuracy for Servomotor437
Ethercat Communications439
Display Area and Settings440
Node Address Setting440
Status Indicators441
Structure of the CAN Application Protocol over Ethercat443
Ethercat State Machine444
Process Data Objects (Pdos)445
PDO Mapping Settings445
Sync Manager PDO Assignment Settings446
Fixed PDO Mapping446
Variable PDO Mapping449
Sync Manager PDO Mapping Assignment Settings450
Service Data Objects (Sdos)451
Synchronization Mode and Communications Cycle452
Distributed Clock (DC) Mode452
Free-Run Mode452
Emergency Messages453
Sysmac Device Features454
Cable Redundancy Function458
Objects Requiring Settings458
Description of Operation458
Procedure of Checking Operation459
Slave Communications Statuses When Cable Redundancy Function Is Used461
Relation between the Network Configuration Information and the Actual Configuration462
Basic Control Functions465
Outline of Control Functions466
Basic Control and Control Methods466
Control Method467
Control Blocks469
Block Diagram for Position Control469
Block Diagram for Velocity Control471
Block Diagram for Torque Control473
Cyclic Synchronous Position Mode474
Cyclic Synchronous Velocity Mode476
Cyclic Synchronous Torque Mode478
Profile Position Mode480
Profile Velocity Mode485
Homing Mode488
Connecting with OMRON Controllers489
Applied Functions493
General-Purpose Input Signals495
Objects Requiring Settings496
Default Setting498
Function Input Details499
General-Purpose Output Signals500
Objects Requiring Settings500
Default Setting502
Function Output Details503
Drive Prohibition Functions507
Objects Requiring Settings507
Description of Operation508
Software Position Limit Functions509
Operating Conditions509
Objects Requiring Settings509
Description of Operation510
Backlash Compensation512
Operating Conditions512
Objects Requiring Settings512
Description of Operation513
Brake Interlock514
Objects Requiring Settings514
Description of Operation516
Operation Timing517
Electronic Gear Function521
Objects Requiring Settings521
Operation Example522
Torque Limit Switching523
Operating Conditions523
Objects Requiring Settings523
Torque Limit Switching Method524
Soft Start525
Objects Requiring Settings525
Soft Start Acceleration/Deceleration Time525
Velocity Command First-Order Lag Filter526
Gain Switching Function527
Objects Requiring Settings527
Mode Selection529
Gain Switching in Position Control530
Touch Probe Function (Latch Function)531
Related Objects531
Trigger Signal Settings533
Operation Sequence534
Encoder Dividing Pulse Output Function535
Objects Requiring Settings536
Dividing Ratio536
Output Reverse Selection537
Z-Phase Output537
Dynamic Brake538
Operating Conditions538
Objects Requiring Settings538
Description of Operation539
Communications Error Period Command Correction Function542
Operating Conditions542
Operation Example542
Safety Function545
Safe Torque off Function546
STO Function Via Safety Input Signals548
I/O Signal Specifications548
Operation Example550
Connection Example551
STO Function Via Ethercat Communications554
Connection and Setting554
Operation Example556
Connection Example558
Details on Servo Parameters561
Object Description Format564
3001 Hex: Machine572
3002 Hex: Optimized Parameters573
3011 Hex: Position Command Filter577
3012 Hex: Damping Control578
3020 Hex: Velocity Command582
3021 Hex: Velocity Command Filter583
3030 Hex: Torque Command584
3031 Hex: Velocity Limit in Torque Control584
3040 Hex: Profile Command585
Control Method Objects588
3112 Hex: ODF Velocity Feed-Forward588
3113 Hex: ODF Torque Feed-Forward589
3120 Hex: TDF Position Control590
3121 Hex: TDF Velocity Control591
Control Loop Objects593
3210 Hex: Internal Position Command593
3213 Hex: 1St Position Control Gain595
3214 Hex: 2Nd Position Control Gain596
3220 Hex: Internal Velocity Command596
3221 Hex: Velocity Detection597
3222 Hex: Gain Switching in Velocity Control598
3223 Hex: 1St Velocity Control Gain598
3224 Hex: 2Nd Velocity Control Gain599
3230 Hex: Internal Torque Command600
3231 Hex: Torque Detection600
3232 Hex: Filter Switching in Torque Control600
3233 Hex: 1St Torque Command Filter601
3234 Hex: 2Nd Torque Command Filter602
Torque Output Setting Objects603
3310 Hex: Torque Compensation603
3320 Hex: Adaptive Notch Filter605
3330 Hex: Torque Limit614
Homing Objects616
Applied Function Objects620
3B10 Hex: Drive Prohibition620
3B11 Hex: Software Position Limit621
3B50 Hex: Position Detection Function633
3B51 Hex: Positioning Completion Notification633
3B52 Hex: Positioning Completion Notification 2634
3B60 Hex: Speed Detection Function635
3B70 Hex: Vibration Detection636
3B71 Hex: Runaway Detection637
3B80 Hex: Load Characteristic Estimation638
Error- and Warning-Related Objects641
4000 Hex: Error Full Code641
4021 Hex: Warning Output 1 Setting645
4022 Hex: Warning Output 2 Setting646
4030 Hex: Information Customization647
Monitoring-Related Objects648
4110 Hex: Monitor Data Via PDO648
4120 Hex: Ethercat Communications Error Count649
4130 Hex: Safety Status Monitor649
4150 Hex: Overload655
Display-Related Objects657
Power Device-Related Objects658
4320 Hex: Main Circuit Power Supply659
External Device-Related Objects661
4412 Hex: Motor Advanced Setting662
Encoder-Related Objects664
4601 Hex: Function Input668
4602 Hex: Function Output670
4604 Hex: Control Input Change Count671
4610 Hex: Brake Interlock Output673
4620 Hex: Encoder Dividing Pulse Output674
General-Purpose Input Setting Objects676
Setting676
4630 Hex: Positive Drive Prohibition Input677
4631 Hex: Negative Drive Prohibition Input677
4633 Hex: External Latch Input 2678
4634 Hex: Home Proximity Input678
4635 Hex: Positive Torque Limit Input678
4636 Hex: Negative Torque Limit Input679
4637 Hex: Error Stop Input679
4638 Hex: Monitor Input 1679
4639 Hex: Monitor Input 2680
Hex: Monitor Input 3680
Hex: Monitor Input 4680
Hex: Monitor Input 5681
Hex: Monitor Input 6681
Hex: Monitor Input 7681
Hex: Monitor Input 8682
General-Purpose Output Setting Objects683
Setting683
4650 Hex: Error Output684
4651 Hex: Servo Ready Output684
4652 Hex: Positioning Completion Output 1684
4653 Hex: Positioning Completion Output 2685
4654 Hex: Velocity Attainment Detection Output685
4655 Hex: Torque Limit Output685
4656 Hex: Zero Speed Detection Output686
4657 Hex: Velocity Conformity Output686
4658 Hex: Warning Output 1686
4659 Hex: Warning Output 2687
Hex: Velocity Limiting Output687
Hex: Error Clear Attribute Output687
Hex: Remote Output 3688
Hex: Zone Notification Output 1689
4660 Hex: Zone Notification Output 2689
4661 Hex: Position Command Status Output689
4662 Hex: Distribution Completed Output690
4663 Hex: External Brake Interlock Output690
Operational Procedure692
Preparing for Operation693
Items to Check before Turning on the Power Supply693
Turning on the Power Supply694
Checking the Displays695
Absolute Encoder Setup697
Setting up an Absolute Encoder from the Sysmac Studio697
Test Run698
Preparations for Test Run698
Test Run Via USB Communications from the Sysmac Studio699
Adjustment Functions701
Outline of Adjustment Functions703
Adjustment Methods703
Adjustment Procedure704
Easy Tuning706
Objects that Are Set706
Executing Easy Tuning708
Advanced Tuning709
Objects that Are Set709
Executing Advanced Tuning710
Manual Tuning711
Objects that Are Set711
Executing Manual Tuning711
Data Trace712
Fft713
Damping Control714
Objects Requiring Settings714
Operating Procedure716
Setting Frequency with Sysmac Studio717
Load Characteristic Estimation718
Objects Requiring Settings719
Setting Load Characteristic Estimation Function720
Adaptive Notch Filter721
Objects Requiring Settings721
Operating Procedure722
Notch Filters723
Objects Requiring Settings724
Notch Filter Width and Depth725
Friction Torque Compensation Function726
Operating Conditions726
Objects Requiring Settings726
Operation Example727
Feed-Forward Function729
Feed-Forward Control in TDF Control729
Feed-Forward Control in ODF Control731
Troubleshooting733
Actions for Problems734
Preliminary Checks When a Problem Occurs734
Precautions When a Problem Occurs735
Replacing the Servomotor or Servo Drive736
Warnings738
Related Objects738
Warning List740
Errors742
Error List742
Deceleration Stop Operation at Errors745
Information746
Related Objects746
Information List746
Troubleshooting747
Troubleshooting Using Error Displays748
Troubleshooting Using al Status Codes770
Troubleshooting Using the Operation State774
Maintenance and Inspection781
Periodic Maintenance782
Servo Drive Lifetime783
Servomotor Lifetime784
Method for Broken Ring Maintenance and Inspection785
Appendices787
Cia 402 Drive Profile788
A-1-1 Controlling the State Machine of the Servo Drive788
A-1-2 Modes of Operation790
A-1-3 Modes of Operation and Applied/Adjustment Functions791
A-1-4 Changing the Mode of Operation791
A-1-5 Homing Mode Specifications793
Coe Objects798
A-2-1 Object Dictionary Area798
A-2-2 Data Type798
Object Description Format799
A-2-4 Communication Objects800
A-2-5 PDO Mapping Objects806
A-2-6 Sync Manager Communication Objects821
A-2-7 Manufacturer Specific Objects824
Servo Drive Profile Object827
A-2-9 Safety Function Objects850
Object List854
Sysmac Error Status Codes886
A-4-1 Error List886
A-4-2 Error Descriptions899
Response Time in Ethercat Process Data Communications964
A-5-1 Input Response Time964
A-5-2 Output Response Time964
Version Information965
A-6-1 Relationship between Unit Versions and Sysmac Studio Versions965
A-6-2 Functions that Were Added or Changed for each Unit Version967

Omron R88D-1SN30F-ECT

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