Name: Omron R88D-KN series
Brand: Omron
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Regulations and Standards

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan

and other countries for OMRON factory automation products.

• EtherCAT

is registered trademark and patented technology, licensed by Beckhoff Automation

GmbH, Germany.

Other company names and product names in this document are the trademarks or registered

trademarks of their respective companies.

Trademarks

Introduction3
Structure of this Document4
Manual Structure5
Sections in this Manual7
- Table of Contents8
Contents9
Read and Understand this Manual14
Safety Precautions17
Regulations and Standards24
Items to Check after Unpacking26
Revision History27
- Features and System Configuration29
Outline30
- Features of G5-Series Servo Drives30
- What Is Ethercat31
- Object Dictionary31
System Configuration32
Names and Functions33
- Servo Drive Part Names33
- Servo Drive Functions34
System Block Diagram35
- Models and External Dimensions45
Section 2 Models and External Dimensions46
Servo System Configuration46
How to Read Model Numbers48
- Servo Drive48
Model Tables49
- Servo Drive Model Table49
- Cable and Peripheral Device Model Tables50
External and Mounting Dimensions52
- Servo Drive Dimensions52
- External Regeneration Resistor Dimensions68
- Reactor Dimensions69
- Mounting Bracket Dimensions73
  - Specifications75
Section 3 Specifications76
Servo Drive Specifications76
- General Specifications76
- Characteristics76
- Ethercat Communications Specifications79
- Ethercat Communications Connector Specifications (RJ45)79
- Control I/O Specifications (CN1)80
- Control Input Circuits83
- Control Input Details83
- Control Output Circuits85
- Control Output Details86
- External Encoder Specifications90
- External Encoder Connector Specifications (CN4)91
- Analog Monitor Connector Specifications (CN5)95
- USB Connector Specifications (CN7)96
- Safety Connector Specifications (CN8)97
Overload Characteristics (Electronic Thermal Function)99
Cable and Connector Specifications101
- Bend Radius of Robot Cable101
- Connector Specifications102
- Ethercat Communications Cable Specifications103
- Analog Monitor Cable Specifications106
- Control Cable Specifications107
External Regeneration Resistor Specifications112
Reactor Specifications113
- System Design115
Installation Conditions116
Wiring118
- Peripheral Equipment Connection Examples118
- Main Circuit and Linear Motor Connections128
- Terminal Block Wire Sizes138
- Terminal Block Wiring Procedure143
Wiring Conforming to EMC Directives145
- Wiring Method145
- Selecting Connection Component153
Regenerative Energy Absorption165
- Calculating the Regenerative Energy165
- Servo Drive Regeneration Absorption Capacity167
- Regenerative Energy Absorption with an External Regeneration Resistor168
- Connecting an External Regeneration Resistor169
  - Ethercat Communications173
Display Area and Settings174
- Node Address Setting174
- Status Indicators175
Structure of the CAN Application Protocol over Ethercat176
- Structure of the CAN Application Protocol176
Ethercat State Machine177
Process Data Objects (Pdos)178
- PDO Mapping Settings178
- Sync Manager PDO Assignment Settings179
- Fixed PDO Mapping179
- Variable PDO Mapping181
- Multiple PDO Mapping182
Service Data Objects (Sdos)184
Synchronization with Distributed Clocks185
Emergency Messages186
Sysmac Device Features187
- Basic Control Functions191
Section 6 Basic Control Functions192
Cyclic Synchronous Position Mode192
- Block Diagram for Position Control Mode194
Cyclic Synchronous Velocity Mode195
- Block Diagram for Speed Control Mode197
Cyclic Synchronous Torque Mode198
- Block Diagram for Force Control Mode200
Profile Position Mode201
- Related Objects202
- Description of Function203
- Controlword (6040 Hex) in Profile Position Mode204
- Statusword (6041 Hex) in Profile Position Mode204
Homing Mode205
Connecting with OMRON Controllers206
- Applied Functions209
Section 7 Applied Functions210
Sequence I/O Signals210
- Output Signals213
Positive and Negative Drive Prohibition Functions216
Overrun Protection219
- Operating Conditions219
- Objects Requiring Settings221
Backlash Compensation221
Brake Interlock223
- Objects Requiring Settings223
- Operation Timing224
Electronic Gear Function228
- Objects Requiring Settings228
- Operation Example229
Force Limit Switching230
- Operating Conditions230
- Objects Requiring Settings231
Soft Start233
- Objects Requiring Settings233
- Soft Start Acceleration or Deceleration Time233
- S-Curve Acceleration or Deceleration Time234
Gain Switching Function235
- Objects Requiring Settings235
- Gain Switching Based on the Control Mode237
- Diagrams of Gain Switching Setting240
- Position Gain Switching Time (3119 Hex)244
Gain Switching 3 Function245
- Operating Conditions245
- Objects Requiring Settings245
- Operation Example245
Touch Probe Function (Latch Function)247
- Operation Sequences248
Safe Torque off Function252
- Safety Input Signals253
- External Device Monitor (EDM) Output Signal254
- Relationship between Safety Input Signals and EDM Output Signal254
Operation Example255
Connection Examples257
- Servo Parameter Objects259
Basic Settings260
Gain Settings265
Vibration Suppression Settings275
Analog Control Objects281
Interface Monitor Settings285
Extended Objects295
Special Objects301
Linear Motor Objects314
- Operation323
Operational Procedure324
Preparing for Operation325
- Items to Check before Turning on the Power Supply325
- Turning on the Power Supply326
- Checking the Displays327
- Preparing the Linear Motor for Operation329
Trial Operation334
- Preparations for Trial Operation334
- Test Operation Via USB Communications from the CX-Drive335
  - Adjustment Functions337
Analog Monitor338
Gain Adjustment341
- Purpose of the Gain Adjustment341
- Gain Adjustment Methods341
- Gain Adjustment Procedure342
Realtime Autotuning343
- Operationg Conditions343
- Objects Requiring Settings344
- Setting Realtime Autotuning345
- Setting Machine Rigidity345
- Objects to be Changed348
- Manual Tuning350
  - Preparation for Manual Tuning350
- Damping Control352
- Adaptive Filter356
- Notch Filters359
  - Objects Requiring Settings360
  - Notch Filter Width and Depth360
- Disturbance Observer Function362
- Friction Force Compensation Function364
- Feed-Forward Function366
  - Objects Requiring Settings366
  - Operating Procedure367
- 11-11Instantaneous Speed Observer Function369
Troubleshooting and Maintenance371
- Actions for Problems372
- Warnings374
  - Related Objects374
  - Warning List375
- Errors377
  - Error List377
  - Immediate Stop Operation at Errors379
- Troubleshooting381
  - Troubleshooting with Error Displays381
  - Troubleshooting Using the Operation State392
- Periodic Maintenance398
Appendicies401
- A-1 Cia402 Drive Profile401
- Controlling the State Machine of the Servo Drive402
- Modes of Operation404
- A-1-3 Communications Cycles and Corresponding Modes of Operation405
- Modes of Operation405
- A-1-4 Modes of Operation and Applied Functions406
- A-1-5 Changing the Mode of Operation407
- A-1-6 Homing Mode Specifications415
- Object Dictionary422
- A-1-6 Homing Mode Specifications423
- A-1-8 Communication Objects424
- PDO Mapping Objects430
- Sync Manager Communication Objects443
- A-1-11 Manufacturer Specific Objects448
- A-1-12 Servo Drive Profile Object454
Object List475
Sysmac Error Status Codes493
- A-3-1 Error Table493
- A-3-2 Error Description505
Ethercat Terminology559

Omron R88D-KN series User Manual

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Omron R88D-KN series Specifications

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Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English