Omron R88D-KN15H-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-KN15H-ECT-R Specifications

General

Type	Servo Drive
Model	R88D-KN15H-ECT-R
Rated Output	1.5 kW
Communication	EtherCAT
Series	R88D
Input Frequency	50/60 Hz
Protection Class	IP20
Control Method	Position/Speed/Torque Control
Ambient Temperature	0 to 55 °C
Storage Temperature	-20 to +85 °C
Humidity	90% RH or less (non-condensing)
Shock	19.6 m/s2

Summary

1 Introduction

Terms and Conditions Agreement

Exclusive Warranty

Omron warrants products against defects in materials and workmanship for twelve months.

Limitations

Buyer Remedy

Limitation on Liability; Etc

Safety Precautions

Safety Precautions

Read safety precautions section and main text before using product for safe and correct operation.

Models and External Dimensions

2-2 How to Read Model Numbers

2-3 Model Tables

Lists standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment.

2-4 External and Mounting Dimensions

Specifications

3-1 Servo Drive Specifications

Provides general specifications for Servo Drives, including operating temperature, humidity, and standards.

3-3 Servomotor Specifications

Lists specifications for OMNUC G5-Series AC Servomotors, including general specs and performance data.

System Design

4-1 Installation Conditions

Explains space conditions, mounting direction, and environment operating conditions for servo drives and motors.

4-2 Wiring

Provides peripheral equipment connection examples for various Servo Drive models.

4-3 Wiring Conforming to EMC Directives

Details requirements for EMC Directive conformance, including control panel structure and noise filters.

4-4 Regenerative Energy Absorption

EtherCAT Communications

5-1 Display Area and Settings

5-4 Process Data Objects (PDOs)

Drive Profile

6-1 Controlling the State Machine of the Servo Drive

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

6-3 Cyclic Synchronous Position Mode

Explains how the controller provides target position using cyclic synchronization for position control.

6-6 Fully-closed Control

Describes using an external encoder to detect position for accurate positioning control.

Applied Functions

7-1 Sequence IO Signals

Explains how to set sequences and allocate input/output signal functions to connector pins.

7-2 Forward and Reverse Drive Prohibition Functions

7-3 Overrun Protection

Explains how this function detects Overrun Limit Error and stops the Servomotor to prevent machine edge damage.

7-4 Backlash Compensation

7-5 Brake Interlock

Explains how to set the output timing for the brake interlock output (BKIR).

7-6 Electronic Gear Function

7-7 Torque Limit Switching

7-8 Gain Switching Function

Switches position loop and speed loop gain based on conditions like load inertia or motor speed.

Safety Function

8-1 Safe Torque OFF Function

Cuts off motor current and stops the motor via 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 like rotation direction switching, control mode selection, and autotuning settings.

9-2 Gain Settings

Covers position loop gain, speed loop gain, and related time constants for adjustment.

9-3 Vibration Suppression Settings

Details settings for adaptive filters and notch filters to suppress machine vibration.

9-6 Extended Objects

Troubleshooting and Maintenance

12-1 Troubleshooting

Provides preliminary checks for problems, including power supply voltage and error display analysis.

12-2 Warnings

12-3 Errors

Lists error numbers, detection functions, causes, and measures for troubleshooting.

12-4 Troubleshooting

Offers guidance on troubleshooting using error displays and operation states.

12-5 Periodic Maintenance