Omron R88M-K User Manual

AC SERVOMOTORS/SERVO DRIVES
G5-series WITH BUILT-IN
EtherCAT
® COMMUNICATIONS
User's Manual
I576-E1-03
R88M-K (AC Servomotors)
R88D-KN-ECT (AC Servo Drives)

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

Summary

3 Specifications

3-1 Servo Drive Specifications

Details general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives.

3-2 Overload Characteristics (Electronic Thermal Function)

Presents graphs showing load ratio and electronic thermal function's operation time for overload protection.

3-3 Servomotor Specifications

4 System Design

4-1 Installation Conditions

Details space conditions, mounting direction, and environmental conditions for Servo Drive and Servomotor installation.

4-2 Wiring

Explains wiring procedures for power cables, peripheral equipment, and EtherCAT communications.

4-3 Wiring Conforming to EMC Directives

5 EtherCAT Communications

5-4 Process Data Objects (PDOs)

6 Basic Control Functions

6-1 Cyclic Synchronous Position Mode

Describes operation where the controller provides target position via cyclic synchronization for precise positioning.

6-2 Cyclic Synchronous Velocity Mode

Explains operation where the controller provides target speed via cyclic synchronization for speed and torque control.

6-3 Cyclic Synchronous Torque Mode

Details operation where the controller provides target torque via cyclic synchronization for torque control.

6-4 Profile Position Mode

Covers PTP positioning operation, executing path generation, position, speed, and torque control.

6-5 Homing Mode

6-6 Fully-closed Control

Explains using an external encoder for direct position detection for highly accurate positioning.

7 Applied Functions

7-1 Sequence I/O Signals

7-2 Forward and Reverse Drive Prohibition Functions

7-6 Electronic Gear Function

7-7 Torque Limit Switching

7-8 Soft Start

7-9 Gain Switching Function

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

8 Safety Function

8-1 Safe Torque OFF Function

Cuts off motor current via safety signals from a controller or sensor to stop the motor.

8-2 Operation Example

8-3 Connection Examples

9 Details on Servo Parameter Objects

9-1 Basic Settings

Describes objects specific to G5-series Servo Drives with built-in EtherCAT communications parameters.

9-2 Gain Settings

Explains realtime autotuning and manual tuning methods for adjusting servo system gains.

10 Operation

10-1 Operational Procedure

Outlines the overall procedure from installation to operation, including checks and adjustments.

10-2 Preparing for Operation

Explains procedures to prepare the mechanical system for operation and items to check before/after power ON.

10-3 Trial Operation

Details inspections and procedures for confirming the servo system's electrical correctness.

11 Adjustment Functions

11-2 Gain Adjustment

Explains realtime autotuning and manual tuning methods for adjusting servo system gains.

11-3 Realtime Autotuning

11-4 Manual Tuning

11-9 Friction Torque Compensation Function

11-11 Feed-forward Function

12 Troubleshooting and Maintenance

12-1 Troubleshooting

Explains preliminary checks for problems, focusing on power supply and wiring.

12-2 Warnings

12-3 Errors

Lists error codes, names, assumed causes, and measures for Servo Drive abnormalities.

12-4 Troubleshooting

Appendices

A-1 CiA402 Drive Profile

A-3 Sysmac Error Status Codes

Lists and describes error event codes from Sysmac Studio for G5-series Servo Drives.