Omron R88D-KN04H-ECT-R

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-KN04H-ECT-R Specifications

General

Brand	Omron
Model	R88D-KN04H-ECT-R
Category	Servo Drives
Language	English

Summary

Terms and Conditions Agreement

Warranty, Limitations of Liability

Details Omron's exclusive warranty and limitations on liability for product defects.

Limitation on Liability; Etc

States Omron's liability is limited to product price and excludes indirect or consequential damages.

Safety Precautions

Precautions for Safe Use of This Product

Lists safety precautions for installation, operation, and maintenance to prevent injury and damage.

Installation and Wiring

Details safety precautions for installation and wiring to prevent injury, fire, and equipment damage.

Operation and Adjustment

Maintenance and Inspection

Features and System Configuration

Models and External Dimensions

2-4 External and Mounting Dimensions

Specifications

3-1 Servo Drive Specifications

Details general specifications, international standards, and specific electrical characteristics of Servo Drives.

3-2 Overload Characteristics (Electronic Thermal Function)

3-3 Servomotor Specifications

Lists general specifications, international standards, and detailed characteristics of OMNUC G5-Series AC Servomotors.

System Design

4-1 Installation Conditions

Covers space conditions, mounting direction, and environment operating conditions for Servo Drives and Servomotors.

4-2 Wiring

Provides detailed wiring diagrams and terminal block specifications for various Servo Drive models and configurations.

4-3 Wiring Conforming to EMC Directives

Explains wiring requirements for EMC conformance, including noise filters and control panel structure.

4-4 Regenerative Energy Absorption

EtherCAT Communications

5-4 Process Data Objects (PDOs)

Drive Profile

6-1 Controlling the State Machine of the Servo Drive

Explains how the Servo Drive state machine is controlled using Controlword and Statusword.

6-3 Cyclic Synchronous Position Mode

Details position control using path generation and cyclic synchronization, covering speed and torque control.

6-4 Torque Limit

6-5 Touch Probe Function (Latch Function)

6-6 Fully-closed Control

Explains how to achieve highly accurate positioning using an external encoder for feedback.

6-7 Object Dictionary

Describes the structure of the object dictionary, data types, and object description format.

Applied Functions

7-1 Sequence IO Signals

Explains how to set sequences for input and output signals of the control I/O connector (CN1).

7-2 Forward and Reverse Drive Prohibition Functions

Details how to use limit switches to prohibit motor rotation outside the movement range and set operation upon prohibition.

7-3 Overrun Protection

Describes the function to detect Overrun Limit Error and stop the Servomotor if it exceeds allowable operating ranges.

7-4 Backlash Compensation

7-5 Brake Interlock

Covers setting output timing for the brake interlock output (BKIR) to activate the holding brake.

7-6 Electronic Gear Function

7-7 Torque Limit Switching

7-8 Gain Switching Function

7-9 Gain Switching 3 Function

Safety Function

8-1 Safe Torque OFF Function

Explains the STO function to cut off motor current and stop the motor using input signals from a safety device.

8-2 Operation Example

8-3 Connection Examples

Details on Servo Parameter Objects

9-1 Basic Settings

Explains basic settings for rotation direction, control mode, realtime autotuning, and machine rigidity.

9-2 Gain Settings

Details gain adjustment methods, including autotuning and manual tuning for position and speed loops.

9-3 Vibration Suppression Settings

Operation

10-1 Operational Procedure

Outlines steps for checking operation after installation and wiring, including function settings and trial operation.

10-2 Preparing for Operation

Covers checks before power ON, terminal block wiring, motor installation, encoder wiring, and node address setting.

10-3 Trial Operation

Details the procedure for performing trial operation to confirm the servo system's electrical correctness.

Adjustment Functions

11-2 Gain Adjustment

Details gain adjustment methods, including autotuning and manual tuning for position and speed loops.

11-3 Realtime Autotuning

Details the process of estimating load inertia and automatically setting gain for optimal responsiveness and vibration reduction.

11-4 Manual Tuning

11-5 Damping Control

11-6 Adaptive Filter

11-7 Notch Filters

11-11 Feed-forward Function

Troubleshooting and Maintenance

12-1 Troubleshooting

Explains preliminary checks and analytical software for determining the cause of problems.

12-2 Warnings

12-3 Errors

Describes how the Servo Drive outputs an error (ALM) and displays main error numbers on the front panel.

12-4 Troubleshooting

Guides on determining error conditions from displays and operation state to identify causes and take measures.

12-5 Periodic Maintenance