Omron R88D-KN series

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2-3

2 Models and External Dimensions

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

2-1 Servo System Configuration

USB communications

EtherCAT

communications

●

G5-series Servo Drive

R88D-KN-ECT-L

100 VAC

200 VAC

400 VAC

Motor power signals

Feedback Signals

AC Servo Drive

Peripheral Devices

● Reactor

3G3AX-DL

3G3AX-AL

●

External Regeneration

Resistors

R88A-RR

External

encoder

Linear Motor / External Encoder

Main Page

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

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