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Appendices

A-170

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Main Page

Introduction9
Terms and Conditions Agreement10
Safety Precautions12
Items to Check after Unpacking20
Revision History21
Structure of this Document22
- Table of Contents24
Contents25
- Features and System Configuration31
Outline32
- Features of G5-Series Servo Drives32
- What Is Ethercat33
- Object Dictionary33
System Configuration34
Names and Functions35
- Servo Drive Part Names35
- Servo Drive Functions36
System Block Diagram37
Applicable Standards46
- EC Directives46
- UL and Cul Standards46
- Korean Radio Regulations (KC)47
- Semi F4747
Unit Versions48
- Confirmation Method48
  - Models and External Dimensions49
Section 2 Models and External Dimensions50
Servo System Configuration50
How to Read Model Numbers52
- Servo Drive52
- Servomotors53
- Reduction Gear (3 Arcminutes Max.)54
- Reduction Gear (15 Arcminutes Max.)55
Model Tables56
- Servo Drive Model Table56
- Servomotor Model Tables57
- Servo Drive and Servomotor Combination Tables62
- Reduction Gear Model Tables64
- Cable and Peripheral Device Model Tables68
External and Mounting Dimensions76
- Servo Drive Dimensions76
- Servomotor Dimensions92
- Combinations of Servomotors and Reduction Gears118
- Reduction Gear Dimensions120
- External Regeneration Resistor Dimensions134
- Reactor Dimensions135
- Mounting Bracket (L-Brackets for Rack Mounting) Dimensions139
  - Specifications141
Servo Drive Specifications142
- General Specifications142
- Characteristics143
- Ethercat Communications Specifications147
- Main Circuit and Motor Connections148
- Ethercat Communications Connector Specifications (RJ45)157
- Control I/O Connector Specifications (CN1)158
- Control Input Circuits161
- Control Input Details161
- Control Output Circuits163
- Control Output Details164
- 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 Graphs175
Servomotor Specifications176
- General Specifications176
- Characteristics177
- Encoder Specifications199
Reduction Gear Specifications200
- Models and Specifications200
Cable and Connector Specifications207
- Bend Radius of Robot Cable207
- Encoder Cable Specifications209
- Absolute Encoder Battery Cable Specifications214
- Motor Power Cable Specifications215
- Connector Specifications231
- Ethercat Communications Cable Specifications234
- Analog Monitor Cable Specifications237
- Control Cable Specifications239
External Regeneration Resistor Specifications244
Reactor Specifications246
- Specifications246
  - System Design247
Installation Conditions248
- Servo Drive Installation Conditions248
- Servomotor Installation Conditions249
- Decelerator Installation Conditions252
Wiring256
- Power Cables for 1,500-R/Min Servomotors256
- Peripheral Equipment Connection Examples257
- Main Circuit and Motor Connections267
Wiring Conforming to EMC Directives281
- Wiring Method281
- Selecting Connection Component290
Regenerative Energy Absorption302
- Calculating the Regenerative Energy302
- Servo Drive Regeneration Absorption Capacity304
- Regenerative Energy Absorption with an External Regeneration Resistor305
- Connecting an External Regeneration Resistor306
Using DC Power Input309
- Connection Example for Using DC Power Input310
Section 5 Ethercat Communications314
Display Area and Settings314
- Node Address Setting314
- Status Indicators315
Structure of the CAN Application Protocol over Ethercat316
- Structure of the CAN Application Protocol316
Ethercat State Machine317
Process Data Objects (Pdos)318
- PDO Mapping Settings318
- Sync Manager PDO Assignment Settings319
- Fixed PDO Mapping319
- Variable PDO Mapping321
- Multiple PDO Mapping322
Service Data Objects (Sdos)324
- Abort Codes324
Synchronization with Distributed Clocks325
- Communications Cycle (DC Cycle)325
Emergency Messages326
Sysmac Device Features327
- Basic Control Functions331
Section 6 Basic Control Functions332
Cyclic Synchronous Position Mode332
- Block Diagram for Position Control Mode334
Cyclic Synchronous Velocity Mode335
Cyclic Synchronous Torque Mode338
Profile Position Mode341
- Related Objects342
- Description of Function343
- Controlword (6040 Hex) in Profile Position Mode344
- Statusword (6041 Hex) in Profile Position Mode344
Homing Mode345
Fully-Closed Control346
- Outline of Operation346
- Objects Requiring Settings347
- Block Diagram for Fully-Closed Control Mode352
Connecting with OMRON Controllers353
7-1 Sequence I/O Signals362
Forward and Reverse Drive Prohibition Functions362
- Objects Requiring Settings362
Overrun Protection365
- Operating Conditions365
- Objects Requiring Settings365
- Operation Example366
Backlash Compensation367
- Objects Requiring Settings367
Brake Interlock369
- Objects Requiring Settings369
- Operation Timing373
Electronic Gear Function375
- Objects Requiring Settings375
- Operation Example376
Torque Limit Switching378
- Operating Conditions378
- Objects Requiring Settings378
Soft Start380
- Objects Requiring Settings380
- Soft Start Acceleration or Deceleration Time380
- S-Curve Acceleration or Deceleration Time381
Gain Switching Function382
- Objects Requiring Settings383
- Gain Switching Based on the Control Mode384
- Diagrams of Gain Switching Setting389
- Position Gain Switching Time (3119 Hex)391
Gain Switching 3 Function392
- Operating Conditions392
- Objects Requiring Settings392
- Operation Example392
Touch Probe Function (Latch Function)394
- Related Objects394
- Trigger Signal Settings394
- Operation Sequences395
  - Safety Function397
Section 8 Safety Function398
Safe Torque off Function398
- I/O Signal Specifications399
Operation Example401
Connection Examples403
- Details on Servo Parameter Objects405
Section 9 Details on Servo Parameter Objects406
Basic Settings406
Gain Settings411
Vibration Suppression Settings424
Analog Control Objects430
Interface Monitor Settings435
Extended Objects445
Special Objects451
- Operation465
Section 10 Operation466
Operational Procedure466
Preparing for Operation467
- Items to Check before Turning on the Power Supply467
- Turning on the Power Supply468
- Checking the Displays469
- Absolute Encoder Setup471
- Setting up an Absolute Encoder from the CX-Drive471
Trial Operation472
- Preparations for Trial Operation472
- Test Operation Via USB Communications from the CX-Drive473
  - Adjustment Functions475
Section 11 Adjustment Functions476
Analog Monitor476
- Objects Requiring Settings476
Gain Adjustment479
- Purpose of the Gain Adjustment479
- Gain Adjustment Methods479
- Gain Adjustment Procedure480
Realtime Autotuning481
- Objects Requiring Settings482
- Setting Realtime Autotuning482
- Setting Machine Rigidity483
Manual Tuning489
- Basic Settings489
Damping Control491
- Objects Requiring Settings491
- Operating Procedure492
Adaptive Filter494
- Objects Requiring Settings495
- Operating Procedure496
Notch Filters497
- Objects Requiring Settings498
- Notch Filter Width and Depth498
Disturbance Observer Function500
- Operating Conditions500
- Objects Requiring Settings501
- Operating Procedure501
Friction Torque Compensation Function502
- Operating Conditions502
- Objects Requiring Settings502
- Operation Example503
11-10Hybrid Vibration Suppression Function504
- Operating Conditions504
- Objects Requiring Settings504
- Operating Procedure504
Feed-Forward Function505
- Objects Requiring Settings505
- Operating Procedure506
11-12Instantaneous Speed Observer Function508
- Operating Conditions508
- Objects Requiring Settings508
- Operating Procedure509
  - Troubleshooting and Maintenance511
Troubleshooting512
- Preliminary Checks When a Problem Occurs512
- Precautions When a Problem Occurs513
- Replacing the Servomotor or Servo Drive513
Warnings515
- Related Objects515
- Warning List516
Errors519
- Error List519
- Immediate Stop Operation at Errors522
Troubleshooting524
- Troubleshooting with Error Displays524
- Troubleshooting with the al Status Code539
- Troubleshooting Using the Operation State540
Periodic Maintenance546
- Servomotor Life Expectancy546
- Servo Drive Life Expectancy547
Appendices551
- Cia402 Drive Profile552
- Object List627
- Sysmac Error Status Codes644
  - A-3-1 Error Table644
  - A-3-2 Error Description658
- Ethercat Terminology718
- Functional Differences Among Unit Versions719
Index721

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