Omron R88D-KN01H-ECT-R - User Manual

Cat. No. I573-E1-03
USER’S MANUAL
OMNUC G5 SERIES
R88M-K@
(AC Servomotors)
R88D-KN@-ECT-R
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN EtherCAT COMMUNICATIONS


Omron R88D-KN01H-ECT-R Specifications

General

Model	R88D-KN01H-ECT-R
Communication	EtherCAT
Feedback System	Incremental Encoder
Operating Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Humidity	90% RH or less (non-condensing)
Type	Servo Drive
Power Supply Voltage	200 to 240 VAC
Applicable Motor Capacity	0.1 kW
Series	R88D
Rated Output	50W
Input Voltage	3-phase 200 to 240 VAC
Protection Functions	Overcurrent, Overvoltage, Undervoltage
Vibration Resistance	4.9 m/s²
Shock Resistance	19.6 m/s²

Summary

Terms and Conditions Agreement

Exclusive Warranty

Omron's warranty covers defects in materials and workmanship for twelve months from the date of sale.

Limitations

Omron disclaims warranties of non-infringement, merchantability, or fitness for a particular purpose.

Buyer Remedy

Omron's obligation is to replace, repair, or repay the purchase price of non-complying products.

Limitation on Liability; Etc

Omron Companies are not liable for special, indirect, incidental, or consequential damages.

Safety Precautions

Definition of Precautionary Information

Precautions describe important safety information that must be followed without fail.

Precautions for Safe Use

Precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Storage and Transportation

Guidelines for safely storing and transporting the Servo Drive and Servomotor.

Installation and Wiring

Precautions and guidelines for safely installing and wiring the Servo Drive.

Operation and Adjustment

Precautions for operating and adjusting the Servo Drive and its components.

Maintenance and Inspection

Precautions for performing maintenance and inspection on the Servo Drive.

Structure of This Document

Chapter 1 Features and System Configuration

Explains Servo Drive features, part names, and applicable EC Directives and UL standards.

Chapter 2 Models and External Dimensions

Chapter 3 Specifications

Chapter 4 System Design

Chapter 5 EtherCAT Communications

Chapter 6 Drive Profile

Chapter 7 Applied Functions

Chapter 8 Safety Function

Explains the Safe Torque OFF function with operation and connection examples.

Chapter 9 Details on Servo Parameter Objects

Chapter 10 Operation

Chapter 11 Adjustment Functions

Chapter 12 Troubleshooting and Maintenance

Describes items to check for problems, troubleshooting, and periodic maintenance.

Features and System Configuration

Models and External Dimensions

2-3 Model Tables

2-4 External and Mounting Dimensions

Specifications

3-1 Servo Drive Specifications

Provides general specifications, characteristics, and connector details for Servo Drives.

3-2 Overload Characteristics (Electronic Thermal Function)

3-3 Servomotor Specifications

Details general specifications, characteristics, and performance data for Servomotors.

3-4 Cable and Connector Specifications

System Design

4-1 Installation Conditions

Explains conditions for installing Servo Drives, Servomotors, and decelerators.

4-2 Wiring

Provides peripheral equipment connection examples and wiring diagrams.

4-3 Wiring Conforming to EMC Directives

Details requirements for EMC Directive conformance in wiring and panel design.

4-4 Regenerative Energy Absorption

EtherCAT Communications

5-1 Display Area and Settings

Drive Profile

6-1 Controlling the State Machine of the Servo Drive

Describes how the state of G5-series Servo Drives is controlled using Controlword and Statusword.

6-3 Cyclic Synchronous Position Mode

6-4 Torque Limit

6-5 Touch Probe Function (Latch Function)

6-6 Fully-closed Control

Details how external encoders are used for precise position control, unaffected by mechanical errors.

6-7 Object Dictionary

Applied Functions

7-1 Sequence I;O Signals

7-2 Forward and Reverse Drive Prohibition Functions

7-3 Overrun Protection

Detects Overrun Limit Errors and stops the Servomotor if it exceeds the allowable operating range.

7-4 Backlash Compensation

7-5 Brake Interlock

Sets output timing for the brake interlock (BKIR) when servo is ON, error occurs, or servo is OFF.

7-6 Electronic Gear Function

7-7 Torque Limit Switching

7-8 Gain Switching Function

Safety Function

8-1 Safe Torque OFF Function

Cuts off motor current and stops the motor via input signals from safety devices.

8-2 Operation Example

8-3 Connection Examples

Details on Servo Parameter Objects

9-1 Basic Settings

9-2 Gain Settings

Details gain adjustment procedures, including automatic and manual tuning methods.

9-3 Vibration Suppression Settings

Operation

10-1 Operational Procedure

Provides a step-by-step guide for checking motor and drive operation after installation and wiring.

10-2 Preparing for Operation

10-3 Trial Operation

Describes procedures for performing trial operation to confirm servo system correctness.

Adjustment Functions

11-2 Gain Adjustment

Explains gain adjustment using realtime autotuning and manual tuning methods.

11-3 Realtime Autotuning

11-4 Manual Tuning

11-6 Adaptive Filter

11-9 Friction Torque Compensation Function

11-11 Feed-forward Function

Troubleshooting and Maintenance

12-1 Troubleshooting

Explains preliminary checks and software for determining problem causes.

12-2 Warnings

12-3 Errors

Details error output (ALM), power circuit status, and error numbers displayed on the front panel.

12-4 Troubleshooting

Guides on determining error causes from displays and operation state, and taking measures.

12-5 Periodic Maintenance