Omron R88M-K - Page 26

18
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Contents
4-2 Wiring ..................................................................................................................................... 4-10
4-2-1 Power Cables for 1,500-r/min Servomotors ..............................................................................4-10
4-2-2 Peripheral Equipment Connection Examples............................................................................4-11
4-2-3 Main Circuit and Motor Connections .........................................................................................4-21
4-3 Wiring Conforming to EMC Directives................................................................................. 4-35
4-3-1 Wiring Method........................................................................................................................... 4-35
4-3-2 Selecting Connection Component.............................................................................................4-44
4-4 Regenerative Energy Absorption......................................................................................... 4-56
4-4-1 Calculating the Regenerative Energy........................................................................................4-56
4-4-2 Servo Drive Regeneration Absorption Capacity ....................................................................... 4-58
4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor............................... 4-59
4-4-4 Connecting an External Regeneration Resistor........................................................................ 4-60
4-5 Using DC Power Input ........................................................................................................... 4-63
4-5-1 Connection Example for Using DC power Input........................................................................ 4-64
Section 5 EtherCAT Communications
5-1 Display Area and Settings ...................................................................................................... 5-2
5-1-1 Node Address Setting ................................................................................................................. 5-2
5-1-2 Status Indicators ......................................................................................................................... 5-3
5-2 Structure of the CAN Application Protocol over EtherCAT ................................................. 5-4
5-3 EtherCAT State Machine ......................................................................................................... 5-5
5-4 Process Data Objects (PDOs)................................................................................................. 5-6
5-4-1 PDO Mapping Settings................................................................................................................ 5-6
5-4-2 Sync Manager PDO Assignment Settings ..................................................................................5-7
5-4-3 Fixed PDO Mapping.................................................................................................................... 5-7
5-4-4 Variable PDO Mapping................................................................................................................5-9
5-4-5 Multiple PDO Mapping .............................................................................................................. 5-10
5-5 Service Data Objects (SDOs)................................................................................................ 5-12
5-5-1 Abort Codes .............................................................................................................................. 5-12
5-6 Synchronization with Distributed Clocks ............................................................................ 5-13
5-6-1 Communications Cycle (DC Cycle)........................................................................................... 5-13
5-7 Emergency Messages ...........................................................................................................5-14
5-8 Sysmac Device Features.......................................................................................................5-15
Section 6 Basic Control Functions
6-1 Cyclic Synchronous Position Mode....................................................................................... 6-2
6-1-1 Related Objects...........................................................................................................................6-3
6-1-2 Block Diagram for Position Control Mode....................................................................................6-4
6-2 Cyclic Synchronous Velocity Mode ....................................................................................... 6-5
6-2-1 Related Objects...........................................................................................................................6-6
6-2-2 Objects Requiring Settings ......................................................................................................... 6-6
6-2-3 Related Functions ....................................................................................................................... 6-6
6-2-4 Block Diagram for Speed Control Mode...................................................................................... 6-7
6-3 Cyclic Synchronous Torque Mode ......................................................................................... 6-8
6-3-1 Related Objects...........................................................................................................................6-9
6-3-2 Objects Requiring Settings ......................................................................................................... 6-9
6-3-3 Related Functions ....................................................................................................................... 6-9
6-3-4 Block Diagram for Torque Control Mode ................................................................................... 6-10