Omron R88L-EC Series - User Manual

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AC SERVOMOTORS/SERVO DRIVES

G5-series WITH BUILT-IN

EtherCAT

COMMUNICATIONS

Linear Motor Type

User’s Manual

I577-E1-06

R88L-EC- (Linear Motors)

R88D-KN-ECT-L (AC Servo Drives)

Main Page

Introduction3
Manual Configuration4
Manual Structure5
Sections in this Manual7
Table of Contents8
Contents9
Terms and Conditions Agreement14
Safety Precautions16
Regulations and Standards28
Items to Check after Unpacking31
Revision History34
Features and System Configuration35
Outline36
Features of G5-Series Servo Drives36
What Is Ethercat37
Object Dictionary37
System Configuration38
Names and Functions40
Servo Drive Part Names40
Servo Drive Functions41
System Block Diagram42
Unit Versions46
Confirmation Method46
Models and External Dimensions47
Servo System Configuration48
How to Read Model Numbers50
Servo Drive50
Linear Motor51
Model Tables53
Servo Drive Model Table53
Linear Motor Model Table53
Servo Drive and Linear Motor Combination Tables54
Cable and Peripheral Device Model Tables56
External and Mounting Dimensions58
Servo Drive Dimensions58
Linear Motor Dimensions66
External Regeneration Resistor Dimensions73
Reactor Dimensions74
Mounting Bracket Dimensions77
Specifications79
Servo Drive Specifications80
General Specifications80
Characteristics81
Ethercat Communications Specifications83
Ethercat Communications Connector Specifications (RJ45)83
Control I/O Specifications (CN1)84
Control Input Circuits86
Control Input Details87
Control Output Circuits89
Control Output Details90
External Encoder Specifications94
External Encoder Connector Specifications (CN4)95
Analog Monitor Connector Specifications (CN5)99
USB Connector Specifications (CN7)100
Safety Connector Specifications (CN8)100
Overload Characteristics (Electronic Thermal Function)103
Linear Motor Specifications106
General Specifications of Iron-Core Linear Motors106
Performance Specifications of Iron-Core Linear Motors107
Iron-Core Linear Motor Speed - Force Characteristics110
Temperature Sensor Specifications of Iron-Core Linear Motors113
General Specifications of Ironless Linear Motors114
Performance Specifications of Ironless Linear Motors114
Ironless Linear Motor Speed - Force Characteristics117
Temperature Sensor Specifications of Ironless Linear Motors122
Cable Specifications123
Cable and Connector Specifications124
Resistance to Bending of Robot Cable124
External Encoder Cable Specifications125
Connector Specifications126
Ethercat Communications Cable Specifications127
Analog Monitor Cable Specifications130
Control Cable Specifications131
External Regeneration Resistor Specifications136
Reactor Specifications137
System Design139
Installation Conditions140
Iron-Core Linear Motor Installation Conditions142
Ironless Linear Motor Installation Conditions148
Wiring152
Peripheral Equipment Connection Examples152
Main Circuit and Linear Motor Connections156
Terminal Block Wire Sizes160
Terminal Block Wiring Procedure162
Wiring Conforming to EMC Directives164
100-VAC and 200-VAC Input Servo Drive Models164
400-VAC Input Servo Drive Models165
Conformity to IEC 61800-5-1167
Noise Reduction169
Wiring Method169
Selecting Connection Components173
Regenerative Energy Absorption187
Calculating the Regenerative Energy187
Servo Drive Regeneration Absorption Capacity189
Regenerative Energy Absorption with an External Regeneration Resistor190
Connecting an External Regeneration Resistor191
Ethercat Communications195
Display Area and Settings196
Node Address Setting196
Status Indicators197
Structure of the CAN Application Protocol over Ethercat198
Ethercat State Machine199
Process Data Objects (Pdos)200
PDO Mapping Settings200
Sync Manager PDO Assignment Settings201
Fixed PDO Mapping201
Variable PDO Mapping203
Multiple PDO Mapping204
Service Data Objects (Sdos)206
Synchronization with Distributed Clocks207
Emergency Messages208
Sysmac Device Features209
Basic Control Functions213
Cyclic Synchronous Position Mode214
Related Objects215
Block Diagram for Position Control Mode216
Cyclic Synchronous Velocity Mode217
Related Objects218
Objects Requiring Settings218
Related Functions218
Block Diagram for Speed Control Mode219
Cyclic Synchronous Torque Mode220
Related Functions222
Block Diagram for Force Control Mode222
Profile Position Mode223
Related Objects224
Description of Function225
Controlword (6040 Hex) in Profile Position Mode226
Statusword (6041 Hex) in Profile Position Mode226
Homing Mode227
Connecting with OMRON Controllers228
Applied Functions231
Output Signals235
Positive and Negative Drive Prohibition Functions238
Overrun Protection241
Operating Conditions241
Objects Requiring Settings241
Operation Example242
Backlash Compensation243
Brake Interlock245
Objects Requiring Settings245
Operation Timing246
Electronic Gear Function250
Objects Requiring Settings250
Operation Example251
Force Limit Switching252
Operating Conditions252
Objects Requiring Settings252
Soft Start254
Objects Requiring Settings254
Soft Start Acceleration or Deceleration Time254
S-Curve Acceleration or Deceleration Time255
Gain Switching Function256
Objects Requiring Settings256
Gain Switching Based on the Control Mode258
Diagrams of Gain Switching Setting261
Position Gain Switching Time (3119 Hex)266
Safety Function273
Safe Torque off Function274
Safety Input Signals275
External Device Monitor (EDM) Output Signal276
Relationship between Safety Input Signals and EDM Output Signal276
Operation Example277
Connection Example279
Servo Parameter Objects281
Basic Settings282
Gain Settings287
Vibration Suppression Settings298
Analog Control Objects305
Interface Monitor Settings310
Extended Objects321
Special Objects327
Linear Motor Objects341
Operation352
Operational Procedure352
Preparing for Operation354
Items to Check before Turning on the Power Supply354
Turning on the Power Supply356
Checking the Displays356
Preparing the Linear Motor for Operation358
Linear Motor Setup363
Outline of Linear Motor Setup364
Operation from the CX-Drive364
Connection from the CX-Drive Via Network373
Connection from the Sysmac Studio Via Network375
Trial Operation377
Preparations for Trial Operation377
Trial Operation Via USB Communications from the CX-Drive378
Setup Via Network378
Adjustment Functions379
Gain Adjustment383
Purpose of the Gain Adjustment383
Gain Adjustment Methods383
Gain Adjustment Procedure384
Realtime Autotuning385
Operating Conditions386
Objects Requiring Settings386
Setting Realtime Autotuning387
Setting Machine Rigidity388
Objects to be Updated390
Manual Tuning393
Preparation for Manual Tuning393
Position Control Mode Adjustment394
Damping Control395
Operating Conditions395
Objects Requiring Settings396
Operating Procedure397
Adaptive Filter399
Operating Conditions400
Objects Requiring Settings400
Objects to be Set Automatically401
Operating Procedure401
Notch Filters402
Objects Requiring Settings403
Notch Filter Width and Depth404
Disturbance Observer Function406
Operating Conditions406
Objects Requiring Settings407
Operating Procedure407
Friction Force Compensation Function408
Operating Conditions408
Objects Requiring Settings408
Operating Procedure409
11-10Feed-Forward Function410
Objects Requiring Settings410
Operating Procedure411
11-11Instantaneous Speed Observer Function413
Operating Conditions413
Objects Requiring Settings414
Operating Procedure414
Actions for Problems416
Preliminary Checks When a Problem Occurs416
Precautions When a Problem Occurs417
Replacing the Linear Motor or Servo Drive417
Warnings419
Related Objects419
Warning List420
Errors423
Error List423
Immediate Stop Operation at Errors425
Troubleshooting427
Troubleshooting with Error Displays427
Troubleshooting with the al Status Code441
Troubleshooting Using the Operation State442
Periodic Maintenance449
Linear Slider Life Expectancy449
Servo Drive Life Expectancy450
Appendices451
Cia402 Drive Profile452
Controlling the State Machine of the Servo Drive452
A-1-2 Modes of Operation454
A-1-3 Communications Cycles and Corresponding Modes of Operation455
A-1-4 Modes of Operation and Applied Functions456
A-1-5 Changing the Mode of Operation457
A-1-6 Homing Mode Specifications465
Communication Objects475
PDO Mapping Objects481
Sync Manager Communication Objects494
A-1-11 Manufacturer Specific Objects499
A-1-12 Servo Drive Profile Objects505
Object List527
Sysmac Error Status Codes545
A-3-1 Error Table545
A-3-2 Error Description559
Response Time in Ethercat Process Data Communications617
A-4-1 Input Response Time617
A-4-2 Output Response Time618
Ethercat Terminology619

Omron R88L-EC Series - User Manual

Table of Contents

Omron R88L-EC Series Specifications

Related product manuals

Brand	Omron
Model	R88L-EC Series
Category	Servo Drives
Language	English