Omron R88D-KT06F User Manual

Cat. No. I571-E1-07
USER’S MANUAL
OMNUC G5 SERIES
R88M-K@
(AC Servomotors)
R88D-KT@
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES

Omron R88D-KT06F Specifications

General

Type	Servo Drive
Model	R88D-KT06F
Manufacturer	Omron
Rated Output	600 W
Input Voltage	200 to 240 VAC
Communication	Mechatrolink-II
Communication Interface	RS-422/485
Protection Class	IP20
Supply Voltage	200 to 240 VAC
Output Current	3.0A
Control Method	Torque control, speed control, position control

Summary

Features and System Configuration

Standard Models and External Dimensions

2-3 Standard Model Tables

Provides tables listing standard models for Servo Drives and Servomotors, including combinations.

2-4 External and Mounting Dimensions

Details the external dimensions and mounting dimensions for Servo Drives and Servomotors.

Specifications

3-1 Servo Drive Specifications

Details general specifications, characteristics, and connector specifications for Servo Drives.

3-2 Overload Characteristics

Presents overload characteristics graphs for the electronic thermal function.

3-3 Servomotor Specifications

Lists general specifications, characteristics, and encoder specifications for Servomotors.

System Design

4-1 Installation Conditions

Explains space, environmental, and mechanical installation requirements for Servo Drives and Servomotors.

4-2 Wiring

Covers wiring diagrams and connection examples for peripheral equipment, main circuits, and motors.

4-3 Wiring Conforming to EMC Directives

4-5 Large Load Inertia Adjustment and Dynamic Brake

Basic Control Mode

5-1 Position Control

Explains position control operation, parameters, and related functions.

5-2 Speed Control

Details speed control operation, parameters, and related functions.

5-3 Torque Control

Explains torque control operation, parameters, and related functions.

5-6 Fully-closed Control

Applied Functions

6-1 Damping Control

6-4 Electronic Gear Function

6-6 Brake Interlock

6-7 Gain Switching Function

6-8 Torque Limit

6-10 Forward and Reverse Drive Prohibition Functions

6-16 Feed-forward Function

Safety Function

7-1 Safe Torque OFF (STO) Function

Explains the STO function for cutting off motor current and stopping the motor via safety equipment.

7-2 Operation Example

7-3 Connection Example

Parameter Details

8-1 Basic Parameters

Details fundamental parameters like rotation direction, control mode, and autotuning settings.

8-2 Gain Parameters

Explains parameters for position loop, speed loop, and torque command filters.

8-3 Vibration Suppression Parameters

8-4 Analog Control Parameters

8-6 Extended Parameters

Operation

9-1 Operational Procedure

9-2 Preparing for Operation

Covers pre-operation checks for power supply, wiring, motor, and encoder.

9-4 Setting the Mode

9-5 Trial Operation

Provides procedures for performing trial operation in various control modes.

Adjustment Functions

10-1 Gain Adjustment

Explains the purpose, methods, and procedure for adjusting servo gains.

10-2 Realtime Autotuning

Details the realtime autotuning process for estimating load inertia and setting gains.

10-3 Manual Tuning

Troubleshooting and Maintenance

11-1 Troubleshooting

Provides preliminary checks and precautions when problems occur.

11-2 Warning List

11-3 Alarm List

Provides a comprehensive list of alarm codes, error detection functions, cause, and measures.

11-4 Troubleshooting

Details error diagnosis using alarm displays and operation status, with corresponding measures.

11-5 Periodic Maintenance

Appendix

12-2 Parameter List

Lists all available parameters with their numbers, names, settings, units, and default values.