Omron R88D-KN01L-ECT-L

To Next Page

To Previous Page

4 System Design

4 - 38

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

z Circuit Diagram

SUP-EK5-ER-6 3SUP-HU10-ER-6

3SUP-HU30-ER-6

CxCxR

Cx1Cx1R

Cy1

OUTIN

Cx1Cx1R

Cy1

OUTIN

Main Page

Outline34
What Is Ethercat?35
System Configuration36
Names and Functions38
Servo Drive Functions39
System Block Diagram40
Unit Versions44
Servo System Configuration46
How to Read Model Numbers48
Linear Motor49
Model Tables51
Servo Drive and Linear Motor Combination Tables52
Cable and Peripheral Device Model Tables54
External and Mounting Dimensions56
Linear Motor Dimensions64
External Regeneration Resistor Dimensions71
Reactor Dimensions72
Mounting Bracket Dimensions75
Servo Drive Specifications78
Characteristics79
Ethercat Communications Specifications81
Control I/O Specifications (CN1)82
Control Input Circuits84
Control Input Details85
Control Output Circuits87
Control Output Details88
External Encoder Specifications92
External Encoder Connector Specifications (CN4)93
Analog Monitor Connector Specifications (CN5)97
USB Connector Specifications (CN7)98
Overload Characteristics (Electronic Thermal Function)101
Linear Motor Specifications104
Performance Specifications of Iron-Core Linear Motors105
Iron-Core Linear Motor Speed - Force Characteristics108
Temperature Sensor Specifications of Iron-Core Linear Motors111
General Specifications of Ironless Linear Motors112
Ironless Linear Motor Speed - Force Characteristics115
Temperature Sensor Specifications of Ironless Linear Motors120
Cable Specifications121
Cable and Connector Specifications122
External Encoder Cable Specifications123
Connector Specifications124
Ethercat Communications Cable Specifications125
Analog Monitor Cable Specifications128
Control Cable Specifications129
External Regeneration Resistor Specifications134
Reactor Specifications135
Installation Conditions138
Iron-Core Linear Motor Installation Conditions140
Ironless Linear Motor Installation Conditions146
Wiring150
Main Circuit and Linear Motor Connections154
Terminal Block Wire Sizes158
Terminal Block Wiring Procedure160
Wiring Conforming to EMC Directives162
VAC Input Servo Drive Models163
Noise Reduction165
Selecting Connection Components169
Regenerative Energy Absorption183
Servo Drive Regeneration Absorption Capacity185
Regenerative Energy Absorption with an External Regeneration Resistor186
Connecting an External Regeneration Resistor187
Display Area and Settings192
Status Indicators193
Structure of the CAN Application Protocol over Ethercat194
Ethercat State Machine195
Process Data Objects (Pdos)196
Sync Manager PDO Assignment Settings197
Variable PDO Mapping199
Multiple PDO Mapping200
Service Data Objects (Sdos)202
Synchronization with Distributed Clocks203
Emergency Messages204
Sysmac Device Features205
Cyclic Synchronous Position Mode210
Related Objects211
Block Diagram for Position Control Mode212
Cyclic Synchronous Velocity Mode213
Related Objects214
Block Diagram for Speed Control Mode215
Cyclic Synchronous Torque Mode216
Related Objects217
Related Functions218
Profile Position Mode219
Related Objects220
Description of Function221
Controlword (6040 Hex) in Profile Position Mode222
Homing Mode223
Connecting with OMRON Controllers224
Sequence I/O Signals228
Output Signals231
Positive and Negative Drive Prohibition Functions234
Overrun Protection237
Operation Example238
Backlash Compensation239
Brake Interlock241
Operation Timing242
Electronic Gear Function246
Operation Example247
Force Limit Switching248
Soft Start250
S-Curve Acceleration or Deceleration Time251
Gain Switching Function252
Gain Switching Based on the Control Mode254
Diagrams of Gain Switching Setting257
Position Gain Switching Time (3119 Hex)262
Gain Switching 3 Function263
Touch Probe Function (Latch Function)265
Operation Sequences266
Safe Torque off Function270
Safety Input Signals271
External Device Monitor (EDM) Output Signal272
Operation Example273
Connection Example275
Basic Settings278
Gain Settings283
Vibration Suppression Settings294
Analog Control Objects301
Interface Monitor Settings306
Extended Objects317
Special Objects323
Linear Motor Objects337
Operational Procedure348
Preparing for Operation350
Turning on the Power Supply352
Preparing the Linear Motor for Operation354
Linear Motor Setup359
Outline of Linear Motor Setup360
Connection from the CX-Drive Via Network369
Connection from the Sysmac Studio Via Network371
Trial Operation373
Trial Operation Via USB Communications from the CX-Drive374
Analog Monitor376
Gain Adjustment379
Gain Adjustment Procedure380
Realtime Autotuning381
Operating Conditions382
Setting Realtime Autotuning383
Setting Machine Rigidity384
Objects to be Updated386
Manual Tuning389
Position Control Mode Adjustment390
Damping Control391
Objects Requiring Settings392
Operating Procedure393
Adaptive Filter395
Operating Conditions396
Objects to be Set Automatically397
Notch Filters398
Objects Requiring Settings399
Notch Filter Width and Depth400
Disturbance Observer Function402
Objects Requiring Settings403
Friction Force Compensation Function404
Operating Procedure405
Feed-Forward Function406
Operating Procedure407
Instantaneous Speed Observer Function409
Objects Requiring Settings410
Actions for Problems412
Precautions When a Problem Occurs413
Warnings415
Warning List416
Errors419
Immediate Stop Operation at Errors421
Troubleshooting423
Troubleshooting with the al Status Code437
Troubleshooting Using the Operation State438
Periodic Maintenance445
Servo Drive Life Expectancy446
Applied Functions447
A-1 Cia402 Drive Profile448
A-1-2 Modes of Operation450
A-1-3 Communications Cycles and Corresponding Modes of Operation451
A-1-4 Modes of Operation and Applied Functions452
A-1-5 Changing the Mode of Operation453
A-1-6 Homing Mode Specifications461
A-1-7 Object Dictionary468
A-1-8 Communication Objects471
A-1-9 PDO Mapping Objects477
A-1-10 Sync Manager Communication Objects490
A-1-11 Manufacturer Specific Objects495
A-1-12 Servo Drive Profile Objects501
A-2 Object List523
A-3 Sysmac Error Status Codes541
A-3-2 Error Description555
A-4 Response Time in Ethercat Process Data Communications613
A-4-2 Output Response Time614
A-5 Ethercat Terminology615

Omron R88D-KN01L-ECT-L

Table of Contents

Related product manuals