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R88M-K
Omron R88M-K User Manual
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A
C SER
V
OMO
T
ORS/SER
V
O DRIVES
G5-series WITH BUILT-IN
EtherCAT
®
COMMUNICATIONS
User's Manual
I576-E1-03
R88M-K
(AC Servomotors)
R88D-KN
-ECT (AC Servo Drives)
2
Table of Contents
Introduction
9
Terms and Conditions Agreement
10
Safety Precautions
12
Items to Check after Unpacking
20
Revision History
21
Structure of this Document
22
Table of Contents
24
Contents
25
Features and System Configuration
31
Outline
32
Features of G5-Series Servo Drives
32
What Is Ethercat
33
Object Dictionary
33
System Configuration
34
Names and Functions
35
Servo Drive Part Names
35
Servo Drive Functions
36
System Block Diagram
37
Applicable Standards
46
EC Directives
46
UL and Cul Standards
46
Korean Radio Regulations (KC)
47
Semi F47
47
Unit Versions
48
Confirmation Method
48
Models and External Dimensions
49
Section 2 Models and External Dimensions
50
Servo System Configuration
50
How to Read Model Numbers
52
Servo Drive
52
Servomotors
53
Reduction Gear (3 Arcminutes Max.)
54
Reduction Gear (15 Arcminutes Max.)
55
Model Tables
56
Servo Drive Model Table
56
Servomotor Model Tables
57
Servo Drive and Servomotor Combination Tables
62
Reduction Gear Model Tables
64
Cable and Peripheral Device Model Tables
68
External and Mounting Dimensions
76
Servo Drive Dimensions
76
Servomotor Dimensions
92
Combinations of Servomotors and Reduction Gears
118
Reduction Gear Dimensions
120
External Regeneration Resistor Dimensions
134
Reactor Dimensions
135
Mounting Bracket (L-Brackets for Rack Mounting) Dimensions
139
Specifications
141
Servo Drive Specifications
142
General Specifications
142
Characteristics
143
Ethercat Communications Specifications
147
Main Circuit and Motor Connections
148
Ethercat Communications Connector Specifications (RJ45)
157
Control I/O Connector Specifications (CN1)
158
Control Input Circuits
161
Control Input Details
161
Control Output Circuits
163
Control Output Details
164
Encoder Connector Specifications (CN2)
168
External Encoder Connector Specifications (CN4)
168
Analog Monitor Connector Specifications (CN5)
171
USB Connector Specifications (CN7)
172
Safety Connector Specifications (CN8)
173
Overload Characteristics (Electronic Thermal Function)
175
Overload Characteristics Graphs
175
Servomotor Specifications
176
General Specifications
176
Characteristics
177
Encoder Specifications
199
Reduction Gear Specifications
200
Models and Specifications
200
Cable and Connector Specifications
207
Bend Radius of Robot Cable
207
Encoder Cable Specifications
209
Absolute Encoder Battery Cable Specifications
214
Motor Power Cable Specifications
215
Connector Specifications
231
Ethercat Communications Cable Specifications
234
Analog Monitor Cable Specifications
237
Control Cable Specifications
239
External Regeneration Resistor Specifications
244
Reactor Specifications
246
Specifications
246
System Design
247
Installation Conditions
248
Servo Drive Installation Conditions
248
Servomotor Installation Conditions
249
Decelerator Installation Conditions
252
Wiring
256
Power Cables for 1,500-R/Min Servomotors
256
Peripheral Equipment Connection Examples
257
Main Circuit and Motor Connections
267
Wiring Conforming to EMC Directives
281
Wiring Method
281
Selecting Connection Component
290
Regenerative Energy Absorption
302
Calculating the Regenerative Energy
302
Servo Drive Regeneration Absorption Capacity
304
Regenerative Energy Absorption with an External Regeneration Resistor
305
Connecting an External Regeneration Resistor
306
Using DC Power Input
309
Connection Example for Using DC Power Input
310
Section 5 Ethercat Communications
314
Display Area and Settings
314
Node Address Setting
314
Status Indicators
315
Structure of the CAN Application Protocol over Ethercat
316
Structure of the CAN Application Protocol
316
Ethercat State Machine
317
Process Data Objects (Pdos)
318
PDO Mapping Settings
318
Sync Manager PDO Assignment Settings
319
Fixed PDO Mapping
319
Variable PDO Mapping
321
Multiple PDO Mapping
322
Service Data Objects (Sdos)
324
Abort Codes
324
Synchronization with Distributed Clocks
325
Communications Cycle (DC Cycle)
325
Emergency Messages
326
Sysmac Device Features
327
Basic Control Functions
331
Section 6 Basic Control Functions
332
Cyclic Synchronous Position Mode
332
Block Diagram for Position Control Mode
334
Cyclic Synchronous Velocity Mode
335
Cyclic Synchronous Torque Mode
338
Profile Position Mode
341
Related Objects
342
Description of Function
343
Controlword (6040 Hex) in Profile Position Mode
344
Statusword (6041 Hex) in Profile Position Mode
344
Homing Mode
345
Fully-Closed Control
346
Outline of Operation
346
Objects Requiring Settings
347
Block Diagram for Fully-Closed Control Mode
352
Connecting with OMRON Controllers
353
7-1 Sequence I/O Signals
362
Forward and Reverse Drive Prohibition Functions
362
Objects Requiring Settings
362
Overrun Protection
365
Operating Conditions
365
Objects Requiring Settings
365
Operation Example
366
Backlash Compensation
367
Objects Requiring Settings
367
Brake Interlock
369
Objects Requiring Settings
369
Operation Timing
373
Electronic Gear Function
375
Objects Requiring Settings
375
Operation Example
376
Torque Limit Switching
378
Operating Conditions
378
Objects Requiring Settings
378
Soft Start
380
Objects Requiring Settings
380
Soft Start Acceleration or Deceleration Time
380
S-Curve Acceleration or Deceleration Time
381
Gain Switching Function
382
Objects Requiring Settings
383
Gain Switching Based on the Control Mode
384
Diagrams of Gain Switching Setting
389
Position Gain Switching Time (3119 Hex)
391
Gain Switching 3 Function
392
Operating Conditions
392
Objects Requiring Settings
392
Operation Example
392
Touch Probe Function (Latch Function)
394
Related Objects
394
Trigger Signal Settings
394
Operation Sequences
395
Safety Function
397
Section 8 Safety Function
398
Safe Torque off Function
398
I/O Signal Specifications
399
Operation Example
401
Connection Examples
403
Details on Servo Parameter Objects
405
Section 9 Details on Servo Parameter Objects
406
Basic Settings
406
Gain Settings
411
Vibration Suppression Settings
424
Analog Control Objects
430
Interface Monitor Settings
435
Extended Objects
445
Special Objects
451
Operation
465
Section 10 Operation
466
Operational Procedure
466
Preparing for Operation
467
Items to Check before Turning on the Power Supply
467
Turning on the Power Supply
468
Checking the Displays
469
Absolute Encoder Setup
471
Setting up an Absolute Encoder from the CX-Drive
471
Trial Operation
472
Preparations for Trial Operation
472
Test Operation Via USB Communications from the CX-Drive
473
Adjustment Functions
475
Section 11 Adjustment Functions
476
Analog Monitor
476
Objects Requiring Settings
476
Gain Adjustment
479
Purpose of the Gain Adjustment
479
Gain Adjustment Methods
479
Gain Adjustment Procedure
480
Realtime Autotuning
481
Objects Requiring Settings
482
Setting Realtime Autotuning
482
Setting Machine Rigidity
483
Manual Tuning
489
Basic Settings
489
Damping Control
491
Objects Requiring Settings
491
Operating Procedure
492
Adaptive Filter
494
Objects Requiring Settings
495
Operating Procedure
496
Notch Filters
497
Objects Requiring Settings
498
Notch Filter Width and Depth
498
Disturbance Observer Function
500
Operating Conditions
500
Objects Requiring Settings
501
Operating Procedure
501
Friction Torque Compensation Function
502
Operating Conditions
502
Objects Requiring Settings
502
Operation Example
503
11-10Hybrid Vibration Suppression Function
504
Operating Conditions
504
Objects Requiring Settings
504
Operating Procedure
504
Feed-Forward Function
505
Objects Requiring Settings
505
Operating Procedure
506
11-12Instantaneous Speed Observer Function
508
Operating Conditions
508
Objects Requiring Settings
508
Operating Procedure
509
Troubleshooting and Maintenance
511
Troubleshooting
512
Preliminary Checks When a Problem Occurs
512
Precautions When a Problem Occurs
513
Replacing the Servomotor or Servo Drive
513
Warnings
515
Related Objects
515
Warning List
516
Errors
519
Error List
519
Immediate Stop Operation at Errors
522
Troubleshooting
524
Troubleshooting with Error Displays
524
Troubleshooting with the al Status Code
539
Troubleshooting Using the Operation State
540
Periodic Maintenance
546
Servomotor Life Expectancy
546
Servo Drive Life Expectancy
547
Appendices
551
Cia402 Drive Profile
552
A-1-1 Controlling the State Machine of the Servo Drive
552
A-1-2 Modes of Operation
554
Communications Cycles and Corresponding Modes of Operation
555
A-1-4 Modes of Operation and Applied Functions
556
Changing the Mode of Operation
557
A-1-6 Homing Mode Specifications
565
A-1-7 Object Dictionary
572
A-1-8 Communication Objects
574
PDO Mapping Objects
581
Sync Manager Communication Objects
594
A-1-11 Manufacturer Specific Objects
599
A-1-12 Servo Drive Profile Object
605
Object List
627
Sysmac Error Status Codes
644
A-3-1 Error Table
644
A-3-2 Error Description
658
Ethercat Terminology
718
Functional Differences Among Unit Versions
719
Index
721
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Omron R88M-K Specifications
General
Type
AC Servo Motor
Series
R88M-K
Protection Class
IP65
Rated Speed
3000 rpm
Ambient Temperature
0°C to 40°C
Vibration Resistance
4.9 m/s²
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