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Omron R88D-1SN ECT Series, User Manual, Page: 561 / 974

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Omron R88D-1SN ECT Series User Manual Download Page 561

9 - 1

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

9

This section explains the details on each servo parameter, including the set values, set-
tings, and the display.

9-1 Object Description Format   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-4

9-2 Common Control Objects  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-6

9-2-1

3000 hex: Basic Functions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-6

9-2-2

3001 hex: Machine  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-12

9-2-3

3002 hex: Optimized Parameters  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-13

9-2-4

3010 hex: Position Command   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-15

9-2-5

3011 hex: Position Command Filter  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-17

9-2-6

3012 hex: Damping Control  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-18

9-2-7

3013 hex: Damping Filter 1   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-19

9-2-8

3014 hex: Damping Filter 2   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-20

9-2-9

3020 hex: Velocity Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-22

9-2-10

3021 hex: Velocity Command Filter  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-23

9-2-11

3030 hex: Torque Command   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-24

9-2-12

3031 hex: Velocity Limit in Torque Control  . . . . . . . . . . . . . . . . . . . . . . . . . .  9-24

9-2-13

3040 hex: Profile Command  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-25

9-2-14

3041 hex: Command Dividing Function  . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-26

9-3 Control Method Objects   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-28

9-3-1

3112 hex: ODF Velocity Feed-forward  . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-28

9-3-2

3113 hex: ODF Torque Feed-forward  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-29

9-3-3

3120 hex: TDF Position Control  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-30

9-3-4

3121 hex: TDF Velocity Control  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-31

9-4 Control Loop Objects   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-33

9-4-1

3210 hex: Internal Position Command  . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-33

9-4-2

3211 hex: Position Detection   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-34

9-4-3

3212 hex: Gain Switching in Position Control . . . . . . . . . . . . . . . . . . . . . . . .  9-34

9-4-4

3213 hex: 1st Position Control Gain  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-35

9-4-5

3214 hex: 2nd Position Control Gain  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-36

9-4-6

3220 hex: Internal Velocity Command  . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-36

9-4-7

3221 hex: Velocity Detection   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-37

9-4-8

3222 hex: Gain Switching in Velocity Control  . . . . . . . . . . . . . . . . . . . . . . . .  9-38

9-4-9

3223 hex: 1st Velocity Control Gain  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-38

9-4-10

3224 hex: 2nd Velocity Control Gain   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  9-39

Details on Servo Parameters

Summary of Contents for R88D-1SN ECT Series

Page 1: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 E1 13 R88M 1L 1M AC Servomotors R88D 1SN ECT AC Servo Drives...

Page 2: ...everthe less OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Sysmac and SYS...

Page 3: ...ividuals who have equivalent knowledge Personnel in charge of introducing the FA equipment Personnel in charge of designing the FA systems Personnel in charge of installing and connecting the FA equip...

Page 4: ...e until the velocity command reaches 1 000 r min in Acceleration Time Similarly set the time until the velocity command slows from 1 000 r min down to 0 r min in Decelera tion Time Acceleration Time m...

Page 5: ...or different versions of the Sysmac Studio is given Special Information 7 31 7 Applied Functions 1S series AC Servomotors and Servo Drives User s Manual with Built in EtherCAT Communications 7 9 Soft...

Page 6: ...plains EtherCAT communications under the assumption that the Servo Drive is connected to a Machine Automation Controller NJ NX series CPU Unit or Position Control Unit Model CJ1W NC 8 Section 6 Basic...

Page 7: ...2 3 4 13 5 A 6 I 7 8 9 A I Features and System Configuration Models and External Dimensions Operation Specifications Adjustment Functions 12 Troubleshooting Configuration and Wiring Maintenance and In...

Page 8: ...Names and Functions 1 6 1 3 1 Servo Drive Part Names 1 6 1 3 2 Servo Drive Functions 1 14 1 3 3 Servomotor Part Names 1 17 1 3 4 Servomotor Functions 1 19 1 3 5 Shield Clamp Part Names 1 20 1 4 Syste...

Page 9: ...External Regeneration Resistance Units 2 119 2 4 7 Dimensions of External Dynamic Brake Resistors 2 120 2 4 8 Reactor Dimensions 2 121 2 4 9 Noise Filter Dimensions 2 130 Section 3 Specifications 3 1...

Page 10: ...r and External Regeneration Resistance Unit Installation Conditions 4 14 4 1 5 Footprint type Noise Filter Installation Conditions 4 15 4 1 6 External Dynamic Brake Resistor Installation Condition 4 1...

Page 11: ...Control Functions 6 1 Outline of Control Functions 6 2 6 1 1 Basic Control and Control Methods 6 2 6 1 2 Control Method 6 3 6 2 Control Blocks 6 5 6 2 1 Block Diagram for Position Control 6 5 6 2 2 Bl...

Page 12: ...de Selection 7 37 7 10 3 Gain Switching in Position Control 7 38 7 11 Touch Probe Function Latch Function 7 39 7 11 1 Related Objects 7 39 7 11 2 Trigger Signal Settings 7 41 7 11 3 Operation Sequence...

Page 13: ...ex Velocity Detection 9 37 9 4 8 3222 hex Gain Switching in Velocity Control 9 38 9 4 9 3223 hex 1st Velocity Control Gain 9 38 9 4 10 3224 hex 2nd Velocity Control Gain 9 39 9 4 11 3230 hex Internal...

Page 14: ...l Output Change Count 9 112 9 14 6 4610 hex Brake Interlock Output 9 113 9 14 7 4620 hex Encoder Dividing Pulse Output 9 114 9 15 General purpose Input Setting Objects 9 116 9 15 1 Setting 9 116 9 15...

Page 15: ...tions for Test Run 10 8 10 3 2 Test Run via USB Communications from the Sysmac Studio 10 9 Section 11 Adjustment Functions 11 1 Outline of Adjustment Functions 11 3 11 1 1 Adjustment Methods 11 3 11 1...

Page 16: ...oting Using Error Displays 12 16 12 5 2 Troubleshooting Using AL Status Codes 12 38 12 5 3 Troubleshooting Using the Operation State 12 42 Section 13 Maintenance and Inspection 13 1 Periodic Maintenan...

Page 17: ...iptions A 113 A 5 Response Time in EtherCAT Process Data Communications A 178 A 5 1 Input Response Time A 178 A 5 2 Output Response Time A 178 A 6 Version Information A 179 A 6 1 Relationship between...

Page 18: ...equal to the purchase price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unles...

Page 19: ...EM Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Data presented in Omron Company websites catalogs and other materials is pro...

Page 20: ...ols Explanation of Displays Explanation of Symbols The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This exampl...

Page 21: ...isk Assessment and Risk Reduction Protective Measure When developing a safety system for the equipment and devices that use safety products make every effort to understand and conform to the entire se...

Page 22: ...refully read the specifications and precautions as well as all items in the Instruction Manual for your safety product to learn appropriate usage procedures Any deviation from instructions will lead t...

Page 23: ...8D 1SN20H ECT R88D 1SN30H ECT R88D 1SN55H ECT R88D 1SN75H ECT R88D 1SN150H ECT Do not damage pull or put excessive stress or heavy objects on the cables Doing so may cause electric shock malfunction o...

Page 24: ...the machine may restart suddenly Do not come close to the machine when restoring power Implement measures to ensure safety of people nearby even when the machine is restarted Doing so may cause injury...

Page 25: ...ion Not doing so may cause fire equipment damage Transporting and Unpacking When transporting the Servo Drive do not hold it by the cables shield clamp connectors or motor shaft Injury or failure may...

Page 26: ...dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Medical electronics such as cardiac pacemakers may malfunction or in...

Page 27: ...o Drive with the following the product model always have two people lift the product by holding grips at the upper bottom side of a Servo Drives Do not grasp a plastic part and a connector Injury or F...

Page 28: ...nector A main circuit connector B main circuit connector E control power supply connector or motor connector Do not apply a force after the protrusion of the connector opener reaches the bot tom dead...

Page 29: ...ctromagnetic brake or the gear head or leakage of grease from the gear head Injury damage or taint damage result Be sure to turn OFF the power supply when not using the Servo Drive for a prolonged per...

Page 30: ...nings When you handle the Servo Drive be sure to observe the instructions provided on this label Note The above is an example of warning display Comply with the local ordinance and regulations when di...

Page 31: ...erial number M gives the month 1 to 9 January to September X October Y November Z December Capacity 5 5 kW or more Notation Lot No MMYYDD xxx MMYYDD Lot number For use by OMRON xxx Serial number This...

Page 32: ...rake interlock connector CN12 Main circuit connector and main circuit connector A CNA Single phase 100 VAC 100 W Included 1 Included Included 2 4 200 W 400 W Single phase 3 ph ase 200 VAC 100 W 200 W...

Page 33: ...rminals is included 3 The connector with 4 terminals is included 4 One opener is included 5 The connector with 2 terminals is included 3 phase 400 VAC 600 W Included 1 3 Included 3 Included 4 1 kW 1 5...

Page 34: ...3 A 250 Hz 10kg 2 0 kW 2 000 Nameplate display location From the left Rated rotation speed Example 2 000 r min Rated frequency Example 250 Hz Motor weight Example 10 kg 1 1 The weight is not given for...

Page 35: ...o Decelerator model Model on nameplate Decelerator model Model on nameplate 50W 1 21 R88G HPG14A21100B HPG 14A 21 J2ABK R88G HPG14A21100BJ HPG 14A 21 J6ABK 1 33 R88G HPG14A33050B HPG 14A 33 J2ABL R88G...

Page 36: ...0A 11 J2FFP R88G HPG20A11750BJ HPG 20A 11 J6FFP 1 21 R88G HPG32A21750B HPG 32A 21 J2NAI R88G HPG32A21750BJ HPG 32A 21 J6NAI 1 33 R88G HPG32A33750B HPG 32A 33 J2NAJ R88G HPG32A33750BJ HPG 32A 33 J6NAJ...

Page 37: ...88G HPG50A113K0B HPG 50A 11 J2AABB R88G HPG50A113K0BJ HPG 50A 11 J6AABB 1 21 R88G HPG50A213K0B HPG 50A 21 J2AABB R88G HPG50A213K0BJ HPG 50A 21 J6AABB 4 kW 1 5 R88G HPG32A054K0B HPG 32A 05 J2PAO R88G H...

Page 38: ...1 5 kW 1 5 R88G HPG32A053K0B HPG 32A 05 J2MCK R88G HPG32A053K0BJ HPG 32A 05 J6MCK 1 11 R88G HPG32A112K0SB HPG 32A 11 J2MCL R88G HPG32A112K0SBJ HPG 32A 11 J6MCL 1 21 R88G HPG50A213K0B HPG 50A 21 J2AAB...

Page 39: ...G HPG65A204K5TBJ HPG 65A 20 J6CBAI Specifications Without key With key and tap Servo motor rated output Reduc tion ratio Decelerator model Model on nameplate Decelerator model Model on nameplate 900 W...

Page 40: ...d clamp The shield clamp is used for mounting to a Servo Drive Keep it until the use Applicable models R88A CA1H F R88A CA1J F R88A CA1K F As for a shield clamp refer to Shield Clamp Bracket on page 2...

Page 41: ...uction manual and a connector Use the connector when wiring an external regeneration resistance unit to a Servo Drive Applicable models R88A RR550 This product comes with an instruction manual and two...

Page 42: ...t Software User s Manual Cat No W501 NX series NX102 CPU Unit Hardware User s Manual W593 NX102 Learning the basic speci fications of the NX102 CPU Units including introductory information designing i...

Page 43: ...ion is provided on a Controller built with an NJ NX series CPU Unit CPU Unit operation CPU Unit features Initial settings Programming based on IEC 61131 3 language specifications Use this manual toget...

Page 44: ...ac Studio Drive Functions Operation Manual I589 SYSMAC SE2 Learning how to set up and adjust the Servo Drives Describes the operating pro cedures of the Sysmac Stu dio SYSMAC CJ series Position Contro...

Page 45: ...evelop ment Fieldbus Memory Management Unit FMMU Single element of the fieldbus memory management unit one correspondence between a coherent logi cal address space and a coherent physical memory locat...

Page 46: ...opening of a safety door etc or device failure The reaction time of the system includes the reaction times of sensors and actuators just like the reaction time for a Controller or network Service Data...

Page 47: ...celerators Corrected mistakes 05 April 2018 Revised for the upgrade to the unit version 1 2 Corrected mistakes 06 May 2018 Revised Safety Precautions 07 September 2018 Made changes accompanying releas...

Page 48: ...Revision History 46 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 49: ...s 1 14 1 3 3 Servomotor Part Names 1 17 1 3 4 Servomotor Functions 1 19 1 3 5 Shield Clamp Part Names 1 20 1 4 System Block Diagram 1 21 1 5 Applicable Standards 1 29 1 5 1 EU Directives 1 29 1 5 2 UL...

Page 50: ...Software Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave designed with unified communications specifications and user interface specifications Combining the 1S seri...

Page 51: ...es vibration of low rigidity machines or devices whose tips tend to vibrate The function can also be used for damping control for larger constructions as it supports vibration ranging from 0 5 to 300...

Page 52: ...n the areas shown in the following table 1 1 3 Object Dictionary Index hex Area Description 0000 to 0FFF Data Type Area Definitions of data types 1000 to 1FFF CoE Communications Area Definitions of ob...

Page 53: ...w ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 24 VDC 7 mA COM MACH No AD042 RUN ERC ERH B1 A1 x101 x100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 RUN ERRIN L A R88D 1...

Page 54: ...1 Servo Drive Part Names R88D 1SN01L ECT 1SN02L ECT 1SN04L ECT 1SN01H ECT 1SN02H ECT 1SN04H ECT 1SN08H ECT 1SN10H ECT CN7 ID x1 x16 01 2 3 4 5 6 7 8 9 A B C D EF 9 A B C 01 2 3 4 5 6 7 8 9 A B C D EF...

Page 55: ...ion AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 1 3 Names and Functions 1 1 3 1 Servo Drive Part Names Motor connector CNC terminal Encoder connector...

Page 56: ...ECAT IN CN10 CHARGE CN7 ID x1 x16 01 2 3 4 5 6 7 8 9 A B C D EF 9 A B C 01 2 3 4 5 6 7 8 9 A B C D EF 9 A B C Main circuit connector A CNA Control power supply connector CND Main circuit connector B C...

Page 57: ...ion AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 1 3 Names and Functions 1 1 3 1 Servo Drive Part Names Motor connector CNC Encoder connector CN2 Brak...

Page 58: ...55F ECT 1SN75F ECT Charge lamp Main circuit connector B CNB Main circuit connector A CNA Motor connector CNC Control power supply connector CND Control I O connector CN1 Status indicators 7 segment LE...

Page 59: ...h Built in EtherCAT Communications User s Manual I586 1 3 Names and Functions 1 1 3 1 Servo Drive Part Names Motor connector CNC Bottom view Encoder connector CN2 Brake interlock connector CN12 Main c...

Page 60: ...l block CNA Main circuit connectorB CNB Control I O connector CN1 Status indicators 7 segment LED display ID switches terminal Status indicators EtherCAT communications connector ECAT IN CN10 EtherCAT...

Page 61: ...tor CND Main circuit terminal block CNA Main circuit connectorB CNB Control I O connector CN1 Status indicators 7 segment LED display ID switches terminal Status indicators EtherCAT communications con...

Page 62: ...he main circuit power supply carries electric charge Used for command input signals I O signals and as the safety device connector The short circuit wire is installed on the safety signals before ship...

Page 63: ...egeneration resistor The connector differs depending on the model Applicable models R88D 1SN15H ECT 1SN20H ECT 1SN30H ECT 1SN55H ECT 1SN75H ECT 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1SN30F ECT 1...

Page 64: ...ECT 1SN75F ECT 1SN150F ECT The number of terminals of the Servo Drives and their connection targets are as follows Main Circuit Connector B CNB Control Power Supply Connector CND Motor Connector CNC...

Page 65: ...Functions 1 1 3 3 Servomotor Part Names The Servomotor part names are given below 1 3 3 Servomotor Part Names Flange Size of 80 80 or less Flange Mating part Encoder Connector Power Connector Shaft 10...

Page 66: ...ions User s Manual I586 Flange Size of 100 100 or more Flange Size of 130 130 or more 4 kW or more Power brake connector Encoder connector Flange Mating part Shaft 200 VAC 1 5 kW Servomotors with Brak...

Page 67: ...motor For Servomotors with a brake and flange size of 100 100 or more the pins for power and brake are set on the same connector For Servomotors with the flange size of 130 130 or more a cable outlet...

Page 68: ...with Built in EtherCAT Communications User s Manual I586 The shield clamp part names are given below 1 It comes with a cable 2 Do not cut cable ties 3 It is equipped with a cable 1 3 5 Shield Clamp P...

Page 69: ...1SN01H ECT 1SN02H ECT 1SN04H ECT L1 N2 P B1 B2 B3 U V W N1 ECAT IN CN10 CN1 CN1 CN2 CN12 CN7 L2 L3 24V DC DC 0 N3 CNA CNA FUSE CNA CNC USB ECAT OUT CN11 Power supply Brake interlock Safety Encoder Con...

Page 70: ...7 L2 L3 24V DC DC 0 N3 CNA CNA CNA CNC ECAT IN CN10 ECAT OUT CN11 Power supply Display area rotary switch USB Brake interlock Safety Encoder Control interface Gate drive Input voltage monitoring Volta...

Page 71: ...B3 U V W N1 DC FAN CN1 CN1 CN2 CN12 CN7 L2 L3 P 24V DC DC 0V CND CNA N2 CNB Fuse CNA FG CNC EtherCAT communications connector EtherCAT communications connector Encoder Brake interlock Safety USB Power...

Page 72: ...W DC FAN CN1 CN1 CN2 CN12 CN7 L2 L3 P 24V DC DC 0V CND CNA CNB Fuse N3 N1 N2 CNA CNC FG USB Safety Relay drive Regeneration control Overcurrent detection IPM error MPU FPGA Control circuit HS tempera...

Page 73: ...NE CNC FG USB ECAT IN CN10 ECAT OUT CN11 B1 B2 B3 CNA FUSE FUSE DC FAN Input voltage monitoring Display area rotary switch Regeneration error detection Inrush prevention error detection Thyristor driv...

Page 74: ...ECAT IN CN10 ECAT OUT CN11 B1 B2 B3 CNA FUSE FUSE DC FAN Current detection Regeneration control Regeneration error detection Display area rotary switch Thyristor drive MPU FPGA Control circuit Gate dr...

Page 75: ...USB ECAT IN CN10 ECAT OUT CN11 B1 B2 CNB FUSE FUSE DC FAN Display area rotary switch MPU FPGA Control circuit power supply EtherCAT communications connector EtherCAT communications connector Control...

Page 76: ...CN10 ECAT OUT CN11 B1 B2 CNB FUSE FUSE DC FAN Current detection Regeneration control Display area rotary switch MPU FPGA Control circuit power supply EtherCAT communications connector EtherCAT communi...

Page 77: ...apacity 3 kW or less Be sure to connect a fuse or an equivalent that the fusing time is shorter which complies with IEC 60269 1 CLASS gG between the power supply and noise filter Select a fuse that sa...

Page 78: ...mark between the power supply and noise filter Select the fuse from the following table as well as an equivalent or the fuse that belongs to the following class CC CF G J R or T R88D 1SN10F ECT 20 A R...

Page 79: ...operation This standard applies to semiconductor manufacturing equipment Precautions for Correct Use This standard does not apply to the 24 VDC control power input Use the power supply This standard d...

Page 80: ...ies Servo Drives comply with the Australian EMC Labeling Requirements RCM The 1S series Servomotors comply with the Australian EMC Labeling Requirements RCM The 1S series Servo Drives comply with the...

Page 81: ...at the location shown below The supported functions depend on the unit version of the 1S series When you use the functions that were added for an upgrade you must use the version of Sysmac Studio tha...

Page 82: ...ion of safety control responsivity STEP 4 1 Calculating safety reaction time and safety distance STEP 3 Software and hardware design for safety control STEP 3 1 Determining wiring for communications p...

Page 83: ...ion check STEP 9 1 Placing Sysmac Studio online and downloading project STEP 9 2 Online Debugging STEP 10 Safety control operation check STEP 10 1 Transferring configuration information STEP 10 2 Chec...

Page 84: ...ation STEP 1 2 Selecting standard device Servo Drive Ser vomotor and safety device Select the device that configures inputs logics and outputs for standard control Select the Servo Drive and Servomoto...

Page 85: ...Calculating safety reac tion time and safety dis tance Calculate the safety reaction time and then determine the safety distance Safety Control Unit User s Manual STEP 4 2 Verifying specification req...

Page 86: ...l STEP 6 3 Assigning devices to safety I O terminal In the parameter setting view for the Safety I O Unit select the safety I O devices connected to the safety I O terminal Safety Control Unit User s...

Page 87: ...he gain if necessary Section 11 STEP 8 Mounting and Wiring Procedure Description Reference STEP 8 1 Mounting Install each unit according to the installation conditions Manuals for each unit STEP 8 2 W...

Page 88: ...ng safety vali dation test Conduct the test to check whether all safety functions operate as designed Safety Control Unit User s Manual STEP 10 4 Setting security of unit Set the safety password Safet...

Page 89: ...3 4 Decelerator Model Tables 2 19 2 3 5 Servomotor and Decelerator Combination Tables 2 23 2 3 6 Cable and Connector Model Tables 2 25 2 3 7 External Regeneration Resistor and External Regeneration R...

Page 90: ...ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 24 VDC 7 mA COM MACH No AD042 RUN ERC ERH B1 A1 101 100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 FA Integrated Tool Packa...

Page 91: ...VAC Feedback signal 1S series Servomotor R88M 1L 1M 3 000 r min 2 000 r min 1 500 r min 1 000 r min Backlash 3 Arcminutes max R88G HPG Backlash 15 Arcminutes max R88G VRXF Decelerator Servomotor Power...

Page 92: ...and Decelerators The Servo Drive model number tells the Servo Drive type applicable Servomotor power supply volt age etc 2 2 1 Servo Drive 01 02 04 06 08 10 15 20 30 55 75 150 R88D 1SN01H ECT 100 W 20...

Page 93: ...S2 BO BOS2 10 15 20 30 S T C R88M 1M10030S BOS2 1 000 r min 1 500 r min 2 000 r min 3 000 r min L M Low inertia Middle inertia 100 VAC absolute encoder 200 VAC absolute encoder 400 VAC absolute encode...

Page 94: ...the cable 2 2 3 Encoder Cable A B 003 005 010 015 020 030 040 050 C N V R88A CR1A003CF 3 m 5 m 10 m 15 m 20 m 30 m 40 m 50 m R88A CR1 Others Connector type 1 Applicable Servomotor type Cable length C...

Page 95: ...1S Series Motor Power cable 100 VAC 200 VAC 3 000 r min Servomotor 50 W 100 W 200 W 400 W 750 W 200 VAC 3 000 r min Servomotor 1 kW 2 000 r min Servomotor 1 kW 1 000 r min Servomotor 900 W 200 VAC 3 0...

Page 96: ...le 4 Direction for handling cable 1S Series Motor Power cable 100 VAC 200 VAC 3 000 r min Servomotor 50 W 100 W 200 W 400 W 750 W 200 VAC 3 000 r min Servomotor 1 kW 2 000 r min Servomotor 1 kW 1 000...

Page 97: ...acklash 3 Arcminutes Max R88G HPG14A05100SBJ 050 100 200 400 600 750 900 1K0 1K5 2K0 3K0 4K0 4K5 5K0 7K5 05 11 12 20 21 25 33 45 11B 14A 20A 32A 50A 65A B 1 5 1 11 1 12 1 20 1 21 1 25 1 33 1 45 50 W 1...

Page 98: ...I586 Backlash 15 Arcminutes Max 100 200 400 750 50W 100 W 200 W 400 W 750 W 05 09 15 25 1 5 1 9 1 15 1 25 B C D 52 78 98 C J R88G VRXF09B100CJ Options Decelerator for Servomotor Backlash 15 Arcminutes...

Page 99: ...0 VAC 100 W R88D 1SN01L ECT P 2 36 200 W R88D 1SN02L ECT P 2 37 400 W R88D 1SN04L ECT P 2 38 Single phase 3 phase 200 VAC 100 W R88D 1SN01H ECT P 2 36 200 W R88D 1SN02H ECT 400 W R88D 1SN04H ECT P 2 3...

Page 100: ...R88M 1M40030T R88M 1M40030T S2 R88M 1M40030T O R88M 1M40030T OS2 P 2 47 750 W R88M 1M75030T R88M 1M75030T S2 R88M 1M75030T O R88M 1M75030T OS2 P 2 49 1 kW R88M 1L1K030T R88M 1L1K030T S2 R88M 1L1K030T...

Page 101: ...L1K030T BS2 R88M 1L1K030T BO R88M 1L1K030T BOS2 P 2 52 1 5 kW R88M 1L1K530T B R88M 1L1K530T BS2 R88M 1L1K530T BO R88M 1L1K530T BOS2 P 2 52 2 kW R88M 1L2K030T B R88M 1L2K030T BS2 R88M 1L2K030T BO R88M...

Page 102: ...1K520C R88M 1M1K520C S2 R88M 1M1K520C O R88M 1M1K520C OS2 P 2 69 2 kW R88M 1M2K020C R88M 1M2K020C S2 R88M 1M2K020C O R88M 1M2K020C OS2 P 2 69 3 kW R88M 1M3K020C R88M 1M3K020C S2 R88M 1M3K020C O R88M 1...

Page 103: ...7 5 kW R88M 1M7K515C R88M 1M7K515C S2 R88M 1M7K515C O R88M 1M7K515C OS2 P 2 83 11 kW R88M 1M11K015C R88M 1M11K015C S2 R88M 1M11K015C O R88M 1M11K015C OS2 P 2 85 15 kW R88M 1M15K015C R88M 1M15K015C S2...

Page 104: ...W R88M 1M90010C R88M 1M90010C S2 R88M 1M90010C O R88M 1M90010C OS2 P 2 93 2 kW R88M 1M2K010C R88M 1M2K010C S2 R88M 1M2K010C O R88M 1M2K010C OS2 P 2 95 3 kW R88M 1M3K010C R88M 1M3K010C S2 R88M 1M3K010...

Page 105: ...R88M 1M20030T R88D 1SN02H ECT 400 W R88M 1M40030T R88D 1SN04H ECT 750 W R88M 1M75030T R88D 1SN08H ECT 1 5 kW R88M 1L1K530T R88D 1SN15H ECT 3 phase 200 VAC 1 kW R88M 1L1K030T R88D 1SN10H ECT 2 kW R88M...

Page 106: ...K015T R88D 1SN150H ECT 15 kW R88M 1M15K015T 3 phase 400 VAC 4 kW R88M 1M4K015C R88D 1SN55F ECT 5 5 kW R88M 1M5K515C 7 5 kW R88M 1M7K515C R88D 1SN75F ECT 11 kW R88M 1M11K015C R88D 1SN150F ECT 15 kW R88...

Page 107: ...ations Model Reference Servomotor rated output Reduction ratio 50 W 1 21 R88G HPG14A21100B P 2 102 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 100 W 1 5 R88G HPG11B05100B 1 11 R88G HPG14A11100B 1 21...

Page 108: ...88G HPG32A052K0B 1 11 R88G HPG32A112K0B 1 21 R88G HPG32A211K5B 1 33 R88G HPG50A332K0B 1 45 R88G HPG50A451K5B 2 kW 1 5 R88G HPG32A052K0B P 2 106 1 11 R88G HPG32A112K0B 1 21 R88G HPG50A212K0B 1 33 R88G...

Page 109: ...PG32A33600SB 1 45 R88G HPG50A451K5B 1 kW 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB 1 21 R88G HPG32A211K0SB 1 33 R88G HPG50A332K0SB 1 45 R88G HPG50A451K0SB 1 5 kW 1 5 R88G HPG32A053K0B P 2 111 1 11...

Page 110: ...8G HPG50A055K0SB 1 11 R88G HPG50A115K0SB 1 20 R88G HPG65A205K0SB 1 25 R88G HPG65A255K0SB Backlash 15 Arcminutes Max Specifications Model Reference Servomotor rated output Reduction ratio 50 W 1 5 R88G...

Page 111: ...HPG 20A33200B R88G HPG 20A45200B R88M 1M40030 R88G HPG 14A05400B R88G HPG 20A11400B R88G HPG 20A21400B R88G HPG 32A33400B R88G HPG 32A45400B R88M 1M75030 200 VAC R88G HPG 20A05750B R88G HPG 20A11750B...

Page 112: ...ion ratio 1 5 1 11 1 20 1 21 1 25 1 33 R88M 1M90010 R88G HPG 32A05900TB R88G HPG 32A11900TB R88G HPG 50A21900TB R88G HPG 50A33900TB R88M 1M2K010 R88G HPG 32A052K0TB R88G HPG 50A112K0TB R88G HPG 50A212...

Page 113: ...CR1A003C 5 m R88A CR1A005C 10 m R88A CR1A010C 15 m R88A CR1A015C 20 m R88A CR1A020C 30 m R88A CR1A030C 40 m R88A CR1A040C 50 m R88A CR1A050C 200V 400V 200V 3 000 r min Servomotors of 1 kW to 3 kW 2 0...

Page 114: ...88A CA1C030S R88A CA1C030B 40 m R88A CA1C040S R88A CA1C040B 50 m R88A CA1C050S R88A CA1C050B 400 V 3 000 r min Servomotors of 750 W 1 kW 1 5 kW and 2 kW 2 000 r min Servomotors of 400 W 600 W 1 kW 1 5...

Page 115: ...Encoder Cables Flexible Cable Applicable Servomotor Model 100 V 200 V 3 000 r min Servomotors of 50 W 100 W 200 W 400 W and 750 W 3 m R88A CR1A003CF 5 m R88A CR1A005CF 10 m R88A CR1A010CF 15 m R88A CR...

Page 116: ...0SF R88A CA1C030BF 40 m R88A CA1C040SF R88A CA1C040BF 50 m R88A CA1C050SF R88A CA1C050BF 400 V 3 000 r min Servomotors of 750 W 1 kW 1 5 kW and 2 kW 2 000 r min Servomotors of 400 W 600 W 1 kW 1 5 kW...

Page 117: ...of 11 kW and 15 kW 3 m R88A CA1J003SF R88A CA1J003BF 5 m R88A CA1J005SF R88A CA1J005BF 10 m R88A CA1J010SF R88A CA1J010BF 15 m R88A CA1J015SF R88A CA1J015BF 20 m R88A CA1J020SF R88A CA1J020BF 200 V 1...

Page 118: ...CA1JE10BF 20 m R88A CA1JE20BF 200 V 1 500 r min Servomotors of 7 5 kW 11 kW and 15 kW 10 m R88A CA1KE10BF 20 m R88A CA1KE20BF Brake Cables Flexible Cable Applicable Servomotor Model 100 V 200 V 3 000...

Page 119: ...D 1SN15H ECT 1SN20H ECT 1SN30H ECT 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1SN30F ECT R88A CN104P 4 Main circuit connector B CNB 2 For R88D 1SN55H ECT 1SN75H ECT 1SN55F ECT 1SN75F ECT R88A CN107P...

Page 120: ...nction of ambient equipment may result due to deterioration of noise immunity and radiated noise Name and application Model Encoder connector 100 V 200 V For 3 000 r min 50 to 750 W R88A CNK02R 200 V...

Page 121: ...generation process capacity 60 W 10 R88D 1SN01L ECT 1SN02L ECT R88A RR30015 Regeneration process capacity 60 W 15 R88D 1SN55F ECT 1SN75F ECT R88A RR30016 Regeneration process capacity 60 W 16 R88D 1SN...

Page 122: ...RR1K620 Regeneration process capacity 640 W 20 R88D 1SN20F ECT 1SN30F ECT R88A RR1K640 Regeneration process capacity 640 W 40 R88D 1SN06F ECT 1SN10F ECT 1SN15F ECT R88A RR1K666 Regeneration process c...

Page 123: ...Noise Filter Model Table Applicable Servo Drive Model R88D 1SN01L ECT 1SN01H ECT 1SN02H ECT Single phase input R88A FI1S103 R88D 1SN02L ECT 1SN04H ECT Single phase input R88A FI1S105 R88D 1SN04L ECT 1...

Page 124: ...ing dimensions of Servo Drives Servomotors Decelerators and peripheral devices The Servo Drives are described in order of increasing rated output of the applicable Servomotors 2 4 1 Servo Drive Dimens...

Page 125: ...mmunications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Single phase 100 VAC R88D 1SN02L ECT 200 W Single phase 3 phase 200 VAC R88D 1SN04H ECT 400 W Extern...

Page 126: ...Communications User s Manual I586 Single phase 100 VAC R88D 1SN04L ECT 400 W Single phase 3 phase 200 VAC R88D 1SN08H ECT 750 W 3 phase 200 VAC R88D 1SN10H ECT 1 kW 7 5 External dimensions Mounting d...

Page 127: ...2 4 1 Servo Drive Dimensions Single phase 3 phase 200 VAC R88D 1SN15H ECT 1 5 kW 3 phase 200 VAC R88D 1SN20H ECT 1SN30H ECT 2 to 3 kW 3 phase 400 VAC R88D 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1...

Page 128: ...T Communications User s Manual I586 3 phase 200 VAC R88D 1SN55H ECT 1SN75H ECT 5 5 to 7 5 kW 3 phase 400 VAC R88D 1SN55F ECT 1SN75F ECT 5 5 to 7 5 kW 160 0 5 204 0 5 200 4 M5 20 50 M5 2 235 130 180 22...

Page 129: ...CAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions 3 phase 200 VAC R88D 1SN150H ECT 15 kW 160 0 5 466 0 5 17 5 220 4 M6 30 496 50 2 250 170 400 4...

Page 130: ...ives 1S series with Built in EtherCAT Communications User s Manual I586 3 phase 400 VAC R88D 1SN150F ECT 15 kW 160 0 5 466 0 5 17 5 220 4 M6 30 496 50 2 250 170 400 450 External dimensions Mounting di...

Page 131: ...2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 2 4 2 Servomotor Dimensions 3 000 r min Servomotors 100 V and 20...

Page 132: ...ndicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL R88M 1M05030S B S2 R88M 1M05030T B S2 103 5 1 R88M 1M05030S BO S2 R88M 1M05030T BO S2 108 5 1 Model Dim...

Page 133: ...of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL R88M 1M10030S S2 R88M 1M10030T S2 90 1 R88M 1M10030S...

Page 134: ...indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL R88M 1M10030S B S2 R88M 1M10030T B S2 126 1 R88M 1M10030S BO S2 R88M 1M10030T BO S2 131 1 Model Dimen...

Page 135: ...Shaft end with key and tap Model Dimensions mm S LL R88M 1M20030S S2 R88M 1M20030T S2 79 5 1 R88M 1M40030S S2 R88M 1M40030T S2 105 5 1 R88M 1M20030S O S2 R88M 1M20030T O S2 86 5 1 R88M 1M40030S O S2...

Page 136: ...LL R88M 1M20030S B S2 R88M 1M20030T B S2 107 5 1 R88M 1M40030S B S2 R88M 1M40030T B S2 133 5 1 R88M 1M20030S BO S2 R88M 1M20030T BO S2 114 5 1 R88M 1M40030S BO S2 R88M 1M40030T BO S2 140 5 1 Model Dim...

Page 137: ...nd tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL R88M 1M75030T...

Page 138: ...the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL R88M 1M75030T B S2 153 1 R88M 1M75030T BO S2 160 1 Model...

Page 139: ...indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL KB1 KB2 KL2 R88M 1L1K030T O S2 OS2 168 2 85 1 153 2 97 2 R88M 1L1K530T O S2 OS2 168 2 85 1 153 2 97 2...

Page 140: ...mber Shaft end with key and tap Model Dimensions mm LL KB1 KB2 KL2 R88M 1L1K030T B O S2 OS2 209 3 85 1 194 2 97 2 R88M 1L1K530T B O S2 OS2 209 3 85 1 194 2 97 2 R88M 1L2K030T B O S2 OS2 220 3 96 1 205...

Page 141: ...andard shaft type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft e...

Page 142: ...odels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 215 2 119 2 45 2 11...

Page 143: ...end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1L4K030T O S2 OS2 208 3 128 R88M 1L4K730T...

Page 144: ...seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1L4K030T B O S2 OS2 251 3 128 R88M 1L4K730T B O S2 OS2 275 3 152 Model Dimensions mm...

Page 145: ...el number Shaft end with key and tap 3 000 r min Servomotors 400 V Model Dimensions mm LL KB1 KB2 R88M 1L75030C O S2 OS2 139 2 56 1 124 2 R88M 1L1K030C O S2 OS2 168 2 85 1 153 2 R88M 1L1K530C O S2 OS2...

Page 146: ...and tap Model Dimensions mm LL KB1 KB2 R88M 1L75030C B O S2 OS2 180 2 56 1 165 2 R88M 1L1K030C B O S2 OS2 209 3 85 1 194 2 R88M 1L1K530C B O S2 OS2 209 3 85 1 194 2 R88M 1L2K030C B O S2 OS2 220 3 96 1...

Page 147: ...andard shaft type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft e...

Page 148: ...odels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 215 2 119 2 45 2 11...

Page 149: ...end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1L4K030C O S2 OS2 208 3 128 R88M 1L5K030C...

Page 150: ...seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1L4K030C B O S2 OS2 251 3 128 R88M 1L5K030C B O S2 OS2 275 3 152 Model Dimensions mm...

Page 151: ...O at the end of the model number Shaft end with key and tap 2 000 r min Servomotors 200 V Model Dimensions mm LL KB1 KB2 KL2 R88M 1M1K020T O S2 OS2 120 5 2 63 1 109 2 118 2 R88M 1M1K520T O S2 OS2 138...

Page 152: ...umber Shaft end with key and tap Model Dimensions mm LL KB1 KB2 KL2 R88M 1M1K020T B O S2 OS2 162 2 63 1 149 2 118 2 R88M 1M1K520T B O S2 OS2 179 2 79 1 166 2 118 2 R88M 1M2K020T B O S2 OS2 201 3 99 1...

Page 153: ...ndard shaft type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft en...

Page 154: ...dels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 219 2 119 2 45 2 118...

Page 155: ...els with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 2 000 r min Servomotors 400 V Model Dimensions mm LL KB1 KB2 R88M 1M40020C O S2 OS2 134 8 1 52 1 120...

Page 156: ...ndicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL KB1 KB2 R88M 1M40020C B O S2 OS2 152 3 1 52 1 138 2 R88M 1M60020C B O S2 OS2 169 3 1 69 1 155 2 Model D...

Page 157: ...seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL KB1 KB2 R88M 1M1K020C O S2 OS2 120 5 2 63 1 109 2 R88M 1M1K520C O S2 OS2 138 2 79 1 125 2 R8...

Page 158: ...he model number Shaft end with key and tap Model Dimensions mm LL KB1 KB2 R88M 1M1K020C B O S2 OS2 162 2 64 1 150 2 R88M 1M1K520C B O S2 OS2 179 2 81 1 167 2 R88M 1M2K020C B O S2 OS2 201 3 99 1 189 2...

Page 159: ...ndard shaft type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft en...

Page 160: ...dels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 219 2 119 2 45 2 118...

Page 161: ...ft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 1 500 r min Ser...

Page 162: ...tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 65 0 95 153 3 243 102 0 0 16 0 8 3 0 3...

Page 163: ...raight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 109 0...

Page 164: ...are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 109 0 95 19 5 1 3 0 3 113 1 295 3 R 1 5 m a...

Page 165: ...ight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 190 3 2...

Page 166: ...are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 190 3 280 352 3 109 0 95 19 5 1 3 0 3 113 1...

Page 167: ...ber Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 L2 R88M 1M11K015T O S2 OS2 319 3 249 330 R88M 1M15K015T O S2 OS2 39...

Page 168: ...icated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1M11K015T B O S2 OS2 382 3 249 R88M 1M15K015T B O S2 OS2 493 3 327 Model Dimensions mm QA QK W T...

Page 169: ...ft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 1 500 r min Ser...

Page 170: ...tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 65 0 95 153 3 243 102 0 0 16 0 8 3 0 3...

Page 171: ...dels with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1M5K515C O S2 OS2 248 3 174 R88M 1M7K515C O S2 OS2 295 3 221 Model D...

Page 172: ...O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1M5K515C B O S2 OS2 295 3 174 R88M 1M7K515C B O S2 OS2 352 3 221 Model Dimensions mm QA QK W T U QE LT R88M 1...

Page 173: ...ber Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 L2 R88M 1M11K015C O S2 OS2 319 3 249 330 R88M 1M15K515C O S2 OS2 39...

Page 174: ...icated with O at the end of the model number Shaft end with key and tap Model Dimensions mm LL L1 R88M 1M11K015C B O S2 OS2 382 3 249 R88M 1M15K515C B O S2 OS2 493 3 327 Model Dimensions mm QA QK W T...

Page 175: ...type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key a...

Page 176: ...odels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 130 130 2 110 0 0 0...

Page 177: ...type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key a...

Page 178: ...tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 92 1 180 180 2 4 13 5 0 5 dia 191 2 80...

Page 179: ...s a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap...

Page 180: ...d tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 114 3 0 0 035 dia 80 1 162 1 260 2 274...

Page 181: ...pe is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and...

Page 182: ...odels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 130 130 2 110 0 0 0...

Page 183: ...rd shaft type is a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end w...

Page 184: ...tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 92 1 180 180 2 4 13 5 0 5 dia 191 2 80...

Page 185: ...s a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap...

Page 186: ...d tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number Shaft end with key and tap 114 3 0 0 035 dia 75 0 95 80 1 162 1 2...

Page 187: ...ge of the cable outlet direction shall be up to five times For a pro cedure of the change of the cable outlet direction refer to 4 2 4 Procedure for Change of Cable Outlet Direction for Connector Type...

Page 188: ...when you wire a cable with the minimum bending radius ten times as outer dimension of sheath wire 2 4 4 Cable Wiring Dimension for a Case of Motor Installing Motor for Connector Type M23 Model Dimensi...

Page 189: ...and Mounting Dimensions 2 2 4 4 Cable Wiring Dimension for a Case of Motor Installing Motor for Connector Type M40 Model Dimension mm A R88M 1M7K515T S2 O OS2 B BS2 BO BOS2 421 R88M 1M11K015T S2 O OS2...

Page 190: ...0 70 46 56 55 5 40 37 2 5 21 100 W 1 5 R88G HPG11B05100B 1 1 39 5 42 40 40 x 40 46 46 40 39 5 29 27 2 2 15 1 11 R88G HPG14A11100B 1 64 0 58 60 60 x 60 70 46 56 55 5 40 37 2 5 21 1 21 R88G HPG14A21100B...

Page 191: ...r side 4 Z1 dia Sh7 dia D5 dia D4 dia D3h7 dia E T F1 F2 LR G LM QK b h t1 D6 dia D6 dia Key and tap dimensions C2 C2 4 Z2 Set bolt AT Set bolt AT 4 Z2 C2 C2 Note Only one set bolt For R88G HPG11B ser...

Page 192: ...122 dia 135 90 115 114 84 98 12 5 35 1 33 R88G HPG32A33750B 2 104 133 120 122 dia 135 90 115 114 84 98 12 5 35 1 45 R88G HPG32A45750B 2 104 133 120 122 dia 135 90 115 114 84 98 12 5 35 750 W 400 V 1...

Page 193: ...showing main dimensions only and they do not give the details of the product shape Outline Drawing 1 Outline Drawing 2 C1 C1 4 Z1 dia Sh7 dia D5 dia D4 dia D3h7 dia E T F1 F2 LR G LM C2 C2 4 Z2 QK b h...

Page 194: ...20 135 dia 135 115 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0B 2 123 156 170 170 dia 190 115 165 163 122 103 12 53 1 45 R88G HPG50A451K5B 2 123 156 170 170 dia 190 115 165 163 122 103 12 53 2 kW 1 5...

Page 195: ...40 82 11 M8 10 M6 70 12 8 5 M10 20 1 11 R88G HPG32A112K0B 13 40 82 11 M8 10 M6 70 12 8 5 M10 20 1 21 R88G HPG32A211K5B 13 40 82 11 M8 10 M6 70 12 8 5 M10 20 1 33 R88G HPG50A332K0B 16 50 82 14 M8 10 M6...

Page 196: ...h7 dia 3 E T F1 F2 LR G LM D1 dia QK b h t1 C1 C1 Flange side Servomotor side D6 dia Key and tap dimensions M Depth L C2 C2 D2 dia 4 Z2 Set bolt AT 3 The tolerance is h8 for R88G HPG50 E T LR LM F2 G...

Page 197: ...135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0B 2 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 21 R88G HPG32A211K5B 2 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 33 R88G HPG32A336...

Page 198: ...D5 dia D4 dia D3h7 dia E T F1 F2 LR G LM C2 C2 QK b h t1 4 Z1 dia D2 dia D1 dia 4 Z2 Flange side Servomotor side D6 dia Set bolt AT Key and tap dimensions M Depth L C1 C1 C2 dia QK b h t1 4 Z1 dia D1...

Page 199: ...88G HPG50A332K0SB 2 123 156 170 170 dia 190 145 165 163 122 103 12 53 2 kW 1 5 R88G HPG32A053K0B 1 107 133 120 130 x 130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0SB 1 107 133 120 130 x 130 1...

Page 200: ...e Servomotor side D6 dia C1 C1 4 Z1 dia 65 2 M10 20 Taps for eye bolts 4 D2 dia D1 dia Set bolt AT Key and tap dimensions M Depth L 3 The tolerance is h8 for R88G HPG50 and R88G HPG65 4 The model R88G...

Page 201: ...ion ratio Model Outline drawing Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 D6 1 E F1 F2 4 kW 1 5 R88G HPG50A055 K0SB 1 149 156 170 180 x 180 190 200 165 163 122 103 12 53 1 11 R88G HPG50A115 K0SB 1 149...

Page 202: ...cations User s Manual I586 Outline Drawing 1 Sh7 dia D5 dia D4 dia D3h8 dia E T F1 F2 LR G LM C2 C2 QK b h t1 D2 dia 4 Z2 Flange side Servomotor side C1 C1 4 Z1 dia 65 2 M10 20 Taps for eye bolts 3 D6...

Page 203: ...900TB 1 149 156 170 130 x 130 190 145 165 163 122 170 103 12 53 2 kW 1 5 R88G HPG32A052K0TB 1 129 133 120 180 x 180 135 200 115 114 84 98 12 5 35 1 11 R88G HPG50A112K0TB 1 149 156 170 180 x 180 190 20...

Page 204: ...Outline Drawing 1 Sh7 dia D5 dia D4 dia D3h7 dia 3 E T F1 F2 LR G LM C2 C2 QK b h t1 D2 dia 4 Z2 Flange side Servomotor side C1 C1 4 Z1 dia 65 2 M10 20 Taps for eye bolts 4 D6 dia D1 dia Set bolt AT K...

Page 205: ...F05C400CJ 89 5 50 60 78 70 90 70 3 8 19 30 1 9 R88G VRXF09C400CJ 89 5 50 60 78 70 90 70 3 8 19 30 1 15 R88G VRXF15C400CJ 100 0 50 60 78 70 90 70 3 8 19 30 1 25 R88G VRXF25C400CJ 100 0 50 60 78 70 90 7...

Page 206: ...118 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Outline Drawing D1 dia 4 Z1 D3h7 dia Sh6 dia 4 Z2 Available depth L D2 dia F G T LR LM C1 C1 C2 C2 m...

Page 207: ...l Regeneration Resistance Units The following are the dimensions of External Regeneration Resistors and External Regeneration Resis tance Units 2 4 6 Dimensions of External Regeneration Resistors and...

Page 208: ...Communications User s Manual I586 The following are the dimensions of External Dynamic Brake Resistors R88A RR550 2 4 7 Dimensions of External Dynamic Brake Resistors R88A DBR300 2 10 20 28 2 R3 17 8...

Page 209: ...Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 8 Reactor Dimensions The following are the dimensions of Reactors 2 4 8 Reactor Dimensions R88A PD2002 1 6 2 terminal M4 sc...

Page 210: ...2 122 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD2004 55 78 1 6 68 76 67 16 Terminal block top view U X 50 max 40 max 95 max 4 mounting hole...

Page 211: ...86 2 4 External and Mounting Dimensions 2 2 4 8 Reactor Dimensions R88A PD2007 R88A PD2015 78 55 1 6 68 76 67 16 2 terminal M4 screw Terminal block top view U X 4 mounting hole for M4 screw 95 max 40...

Page 212: ...2 124 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD2022 86 60 86 77 1 2 76 18 2 terminal M4 screw Terminal block top view U X 105 max 60 max 45...

Page 213: ...1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 8 Reactor Dimensions R88A PD2037 105 64 1 6 93 102 88 26 2 terminal M4 screw Terminal blo...

Page 214: ...2 126 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD4007 78 55 1 6 68 76 67 16 2 terminal M4 screw Terminal block top view U X 95 max 4 mounting...

Page 215: ...s 1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 8 Reactor Dimensions R88A PD4015 86 60 1 2 76 71 62 18 2 terminal M4 screw Terminal bloc...

Page 216: ...2 128 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD4022 86 60 1 2 76 86 77 18 2 terminal M4 screw Terminal block top view U X 4 mounting hole f...

Page 217: ...1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 8 Reactor Dimensions R88A PD4037 105 64 93 102 88 26 1 6 2 terminal M4 screw Terminal blo...

Page 218: ...type Noise Filters 2 4 9 Noise Filter Dimensions R88A FI1S103 FI1S202 R88A FI1S105 FI1S203 2 M4 2 R2 25 notch 230 2 0 10 198 2 0 22 1 0 222 1 0 20 0 5 20 0 5 40 1 0 45 1 0 4 5 4 0 5 170 0 5 42 0 5 2...

Page 219: ...s 2 2 4 9 Noise Filter Dimensions R88A FI1S109 FI1S208 R88A FI1S116 FI1S216 DOWN UP 67 5 1 0 45 0 5 4 5 2 M4 260 2 0 5 0 5 70 0 5 170 0 5 250 1 0 45 0 5 50 0 5 45 1 0 12 217 2 0 31 1 0 300 10 0 2 R2 2...

Page 220: ...tors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A FI1S309 L1 L2 L3 92 5 1 0 70 0 5 4 5 DOWN 3 M4 315 2 0 5 0 5 125 0 5 170 0 5 305 1 0 UP 70 0 5 78 0 5 45 1 0 1...

Page 221: ...ils 3 32 3 1 10 Encoder Pulse Output Specifications 3 32 3 1 11 Safety I O Specifications 3 33 3 1 12 Brake Interlock Connector CN12 Specifications 3 35 3 1 13 Encoder Connector CN2 Specifications 3 3...

Page 222: ...teristics 3 128 3 5 3 External Regeneration Resistance Unit Specifications 3 130 3 6 External Dynamic Brake Resistor 3 132 3 6 1 General Specifications 3 132 3 6 2 Characteristics 3 132 3 7 Reactor Sp...

Page 223: ...th no condensation Operating and storage atmosphere No corrosive gases Operating altitude 1 000 m max Vibration resistance 10 to 60 Hz and at an acceleration of 5 88 m s2 or less Not to be run continu...

Page 224: ...I586 Precautions for Correct Use Disconnect all connections to the Servo Drive before attempting a megger test insulation resis tance measurement on a Servo Drive Not doing so may result in the Servo...

Page 225: ...current value that is printed on the product nameplate is a condition to apply the 1S series product for the UL Low Voltage Directive Therefore you do not need to consider it when you select a DC powe...

Page 226: ...rms Main circuit power supply voltage 240 VAC Single phase 1 8 2 7 4 6 7 3 3 phase 1 0 1 5 2 7 4 0 Out put Rated current A rms 0 8 1 5 2 5 4 6 Maximum current A rms 3 1 5 6 9 1 16 9 Heating value W M...

Page 227: ...to consider it when you select a DC power supply for each model 600 mA 900 mA Rated current A rms Main circuit power supply voltage 240 VAC Single phase 15 7 3 phase 5 8 9 0 13 0 15 9 Out put Rated cu...

Page 228: ...der it when you select a DC power supply for each model 900 mA 1 200 mA Rated current A rms Main circuit power supply voltage 240 VAC 3 phase 27 0 38 0 77 0 Output Rated current A rms 28 6 42 0 70 0 M...

Page 229: ...4 V Current con sumption 3 900 mA Rated current A rms Main circuit power supply voltage 480 VAC 3 phase 2 4 3 1 4 3 Output Rated cur rent A rms 1 8 4 1 4 7 Maximum current A rms 5 5 9 6 14 1 Heating v...

Page 230: ...Hz 1 Control cir cuit Power supply voltage 24 VDC 21 6 to 26 4 V Current consump tion 3 900 mA 1 200 mA Rated cur rent A rms Main cir cuit power supply volt age 480 VAC 3 phase 6 5 8 4 16 0 23 0 40 0...

Page 231: ...ective Therefore you do not need to consider it when you select a DC power supply for each model 4 This is the maximum heating value in applicable Servomotors Refer to Relationship between Servo Drive...

Page 232: ...T 85 5 85 5 1 R88M 1M1K520T 84 84 1 R88D 1SN20H ECT R88M 1L2K030T 128 9 R88M 1M2K020T 91 3 R88M 1M2K010T 109 1 R88D 1SN30H ECT R88M 1L3K030T 167 5 R88M 1M3K020T 125 5 R88M 1M3K010T 156 7 R88D 1SN55H E...

Page 233: ...is doubly shielded by the aluminum tape and braid with Ethernet Category 5 100BASE TX or higher Communications distance Distance between nodes 100 m max Process data Fixed PDO mapping Variable PDO map...

Page 234: ...V 50 60 Hz 47 5 to 63 Hz 1 For single phase connect between any two phases out of the following L1 L2 and L3 2 L2 3 L3 4 B3 External Regeneration Resistor connection ter minals When the Internal Regen...

Page 235: ...the Internal Regeneration Resistor is used Open between B1 and B2 Short circuit B2 and B3 When the External Regeneration Resistor is used Connect the External Regeneration Resistor between B1 and B2...

Page 236: ...se are output terminals to the Servomotor V Phase V U Phase U FG FG R88D 1SN55H ECT 1SN75H ECT 1SN55F ECT 1SN75F ECT Symbol Name Specifications L1 Main circuit power supply input R88D 1SN H ECT 3 phas...

Page 237: ...ns Symbol Name Specifications P DC reactor connection ter minals When the DC reactor is not used Short circuit N1 and N2 When the DC reactor is used Connect the DC reactor between N1 and N2 N1 N2 N3 P...

Page 238: ...nd DB3 When the External Dynamic Brake Resistor is used Connect the External Dynamic Brake Resistor between DB1 and DB2 Open between DB2 and DB3 DB2 DB3 R88D 1SN150H ECT Symbol Name Specifications P D...

Page 239: ...ply input 24VDC 21 6 to 26 4 V Measured current value 1 200 mA 2 24V 3 0 V 4 0 V Symbol Name Specifications U Motor connection terminals Phase U These are output terminals to the Servomotor V Phase V...

Page 240: ...nnect N3 L3 Main circuit power supply input 3 phase 380 to 480 VAC 3230 to 504 VAC 50 60 Hz 47 5 to 63 Hz L2 L1 Symbol Name Specifications B1 External Regeneration Resistor connection termi nals Conne...

Page 241: ...ame Specifications FG Motor connection terminals FG These are output terminals to the Servomotor U Phase U V Phase V W Phase W Symbol Name Specifications DB1 External Dynamic Brake Resistor connection...

Page 242: ...Power supply capacity kVA 0 4 0 6 1 0 Main circuit power supply input L1 L2 and L3 1 1 Connect between any two phases out of the following L1 L2 and L3 Rated cur rent A rms 2 9 4 9 8 4 Wire size AWG 2...

Page 243: ...22 to 14 0 32 to 2 0 mm2 AWG 20 to 14 0 5 to 2 0 mm2 AWG 18 to 14 0 75 to 2 0 mm2 AWG16 to 14 1 3 to 2 0 mm2 Protective earth Wire size AWG 12 2 5 mm2 Screw size M4 Tightening torque N m 1 2 Item Uni...

Page 244: ...4 Use the wire with the same current capacity for the wiring of the motor connection terminals and for that of B1 and B2 Refer to Specifications of External Regeneration Resistors and External Regener...

Page 245: ...8 4 mm2 AWG 14 to 8 2 0 to 8 4 mm2 AWG 12 to 4 3 3 to 25 mm2 AWG 10 to 4 5 3 to 25 mm2 AWG 8 to 4 8 4 to 25 mm2 Control circuit power supply input 24V and 0 V Wire size AWG 20 to 16 0 5 to 1 5 mm2 Mot...

Page 246: ...Wire HIV Wire Sizes and Allowable Current Reference AWG size Nominal cross sec tional area mm2 Configuration wires mm2 Conductive resistance km Allowable current A for ambient temperature 30 C 40 C 50...

Page 247: ...SF2 SF2 OUT1 IN7 IN6 IN5 IN4 IN3 IN2 IN1 COMMON IN8 SF1 General Input 1 General Input 5 General Input 4 General Input 3 General Input 2 Line driver output EIA RS422A compliant 24 VDC 5 24 VDC 5 Maxim...

Page 248: ...SF1 SF1 Input 23 SF1 SF1 Input 4 SF1 SF1 Input 24 SF1 SF1 Input 5 SF2 SF2 Input 25 SF2 SF2 Input 6 SF2 SF2 Input 26 SF2 SF2 Input 7 SFB Reserved 27 NC NC 8 ERR Error Output 28 ERR Error Output 9 OUT1...

Page 249: ...ications 3 3 1 5 Control I O Connector CN1 Specifications Control I O Connector 40 pins Model Manufacturer OMRON model DFMC1 5 20 ST 3 5 LRBKBDMC 21 PHOENIX CONTACT R88A CN101C 1 1 Four short circuit...

Page 250: ...input 3 IN3 Negative Drive Prohibition Input NOT 33 General input 4 IN4 Home Proximity Input DEC 14 General input 5 IN5 Monitor input 1 MON1 34 General input 6 IN6 Monitor input 2 MON2 15 General inp...

Page 251: ...ou to use the Panasonic Corporation ERZ V07D390 for the surge suppressor 3 Always insert a diode as shown in the above figure We recommend you to use the Sanken Electric Co LTD RU2 for the diode 4 Do...

Page 252: ...28 ERR General Output OUT1 to OUT3 Pin No General purpose output The functions that are allocated by default 9 General Output 1 OUT1 Servo Ready Output READY 29 General Output 1 OUT1 10 General Output...

Page 253: ...9 Z ZGND 16 l l e h S G F A A B B Z Z GND Phase A Phase B Phase Z FG 0 V R 120 Typ R R R FG 0 V 0 V Vcc Phase A Phase B Phase Z Applicable line receiver EIA RS422A compliant Output line driver EIA RS4...

Page 254: ...STO function which are two inde pendent circuits This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor 4 and 24 SF1 5 and 25 SF2 Safety...

Page 255: ...e 1 0V_BKIR 24 V power supply for brake 2 24V_BKIR 24 V power supply for brake 3 BKIR Brake output 4 BKIR Brake output Model Manufacturer Omron model 2091 1104 0002 1000 WAGO R88A CN101B Brake Interlo...

Page 256: ...rrect Use Use a commercially available USB cable that is double shielded gold plated and supports USB 2 0 The Micro B type USB cable can be used Name Model Manufacturer OMRON model Receptacle 3E206 01...

Page 257: ...rned ON until the control I O and EtherCAT communications are enabled Communications with the master is started after the EtherCAT communications are enabled Perform Servo ON and send commands only af...

Page 258: ...for a hot start In cases where models with an oil seal or with a brake have different characteristics each of their char acteristics is described The characteristics are the same as those of models w...

Page 259: ...ratio 100 150 200 250 300 350 400 0 1 10 100 1000 10000 0 31 s Output current ratio 100 150 200 250 300 350 400 Detection time s 0 1 10 1 100 1000 10000 S rotation S lock BS rotation BS lock OS BOS ro...

Page 260: ...rrent ratio 100 150 200 250 300 350 400 0 1 10 1 100 1000 10000 1L2K030T rotation 1L2K030T lock 1M2K020T rotation 1M2K020T lock 1M2K010T rotation 1M2K010T lock R88M 1L2K030T 1M2K020T 1M2K010T Detectio...

Page 261: ...tput current ratio Detection time s 1M40020C rotation 1M40020C lock 1M60020C rotation 1M60020C lock 100 150 200 250 300 350 400 0 1 10 1 100 1000 10000 R88M 1M40020C 1M60020C Output current ratio Dete...

Page 262: ...L4K030C rotation 1L4K030C lock 1M4K015C rotation 1M4K015C lock 100 150 200 250 300 350 400 0 1 10 1 100 1000 10000 R88M 1L4K030C 1M4K015C Output current ratio Detection time s 1L5K030C rotation 1L5K03...

Page 263: ...5 C 20 to 90 with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 1 1 The amplitude may be increased by machine resonance As a guideline 80 of the specified va...

Page 264: ...encoder as an incremental encoder Refer to 9 13 Encoder related Objects on page 9 104 for setting 3 2 2 Encoder Specifications Item Specifications Encoder system Optical batteryless absolute encoder R...

Page 265: ...0 28 0 30 Power rate 1 4 kW s 6 7 11 9 18 5 36 6 Mechanical time constant 4 ms 1 7 1 1 0 76 0 61 Electrical time constant ms 0 67 0 84 2 4 2 4 Allowable radial load 5 N 68 68 245 245 Allowable thrust...

Page 266: ...tant 4 ms 1 7 1 2 0 78 0 56 0 66 Electrical time constant ms 0 67 0 83 2 4 2 6 3 3 Allowable radial load 5 N 68 68 245 245 490 Allowable thrust load 5 N 58 58 88 88 196 Weight Without brake kg 0 35 0...

Page 267: ...onstant 1 N m A rms 0 67 0 58 0 56 0 62 Power rate 1 4 kW s 48 108 169 134 Mechanical time constant 4 ms 0 58 0 58 0 50 0 47 Electrical time constant ms 5 9 6 1 6 4 11 Allowable radial load 5 N 490 Al...

Page 268: ...1 N m A rms 0 63 0 65 Power rate 1 4 kW s 183 209 Mechanical time constant 4 ms 0 37 0 37 Electrical time constant ms 12 12 Allowable radial load 5 N 880 880 Allowable thrust load 5 N 343 343 Weight...

Page 269: ...6 Torque constant 1 N m A rms 0 91 1 17 1 17 Power rate 1 4 kW s 44 48 108 Mechanical time constant 4 ms 1 09 0 6 0 58 Electrical time constant ms 4 3 5 9 5 9 Allowable radial load 5 N 490 Allowable...

Page 270: ...A rms 6 3 8 7 12 8 13 6 Momentary maximum current 1 A rms 19 8 27 7 42 4 42 4 Rotor inertia Without brake 10 4 kg m2 2 4042 6 8122 8 8122 10 6122 With brake 10 4 kg m2 2 8542 7 3122 11 3122 13 1122 A...

Page 271: ...terlock on page 7 22 to set an appropriate value for Brake Interlock Output 4610 hex 7 This is a non excitation brake It is released when excitation voltage is applied 8 This value is a reference valu...

Page 272: ...ntally installed on a specified radiator plate Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 0 0 2 0 4 0 6 0 8 1 2 1 0 1000 2000 3000 4000 5...

Page 273: ...operation range Continuous operation range Torque N m 0 0 1 0 2 0 3 0 4 0 6 0 5 0 1000 2000 3000 4000 5000 6000 Momentary operation range Continuous operation range Torque N m Rotation r min 0 2 1 3 4...

Page 274: ...0 1 2 3 4 5 6 8 7 0 1000 2000 3000 4000 5000 Rotation r min Momentary operation range Continuous operation range Torque N m 0 2 4 6 8 10 12 0 1000 2000 3000 4000 5000 Rotation r min Momentary operatio...

Page 275: ...Torque constant 1 N m A rms 0 93 0 83 0 85 0 93 Power rate 1 3 kW s 38 57 75 134 Mechanical time constant 3 ms 0 94 0 78 0 81 0 80 Electrical time constant ms 13 15 14 19 Allowable radial load 4 N 49...

Page 276: ...75 1 84 1 69 Power rate 1 3 kW s 14 6 21 0 38 Mechanical time constant 3 ms 1 57 1 21 0 94 Electrical time constant ms 6 8 7 8 13 Allowable radial load 4 N 490 Allowable thrust load 4 N 196 Weight Wit...

Page 277: ...28 7 43 0 Rated current 1 2 A rms 4 1 5 7 8 6 Momentary maximum current 1 A rms 13 5 19 8 28 3 Rotor inertia Without brake 10 4 kg m2 9 0042 12 2042 15 3122 With brake 10 4 kg m2 9 5042 12 7042 17 41...

Page 278: ...as shown in the following diagram 5 When the brake is released for a vertical axis refer to 7 6 Brake Interlock on page 7 22 to set an appropriate value for Brake Interlock Output 4610 hex 6 This is...

Page 279: ...ration is possible at an ambient tem perature of 40 C when the Servomotor is horizontally installed on a specified radiator plate Continuous operation at the maximum speed is also possible However doi...

Page 280: ...ration at the maximum speed is also possible However doing so will reduce the output torque 0 1 2 3 4 5 6 7 0 1000 2000 3000 Rotation r min Momentary operation range Continuous operation range Torque...

Page 281: ...8 1 36 1 29 1 40 1 79 Power rate 1 3 kW s 120 131 202 214 268 Mechanical time constant 3 ms 1 0 1 1 0 75 0 61 0 56 Electrical time constant ms 19 19 24 32 32 Allowable radial load 4 N 1 200 1 470 1 47...

Page 282: ...2 54 0122 77 0122 113 0122 229 0122 340 0122 With brake 10 4 kg m2 60 0122 83 0122 118 0122 253 0122 365 0122 Applicable load inertia 10 4 kg m2 687 955 1 070 2 200 3 110 Torque constant 1 N m A rms 2...

Page 283: ...le radial loads are applied as shown in the following diagram 5 When the brake is released for a vertical axis refer to 7 6 Brake Interlock on page 7 22 to set an appropriate value for Brake Interlock...

Page 284: ...specified radiator plate Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 0 10 20 30 40 50 60 80 70 0 1000 2000 3000 Rotation r min Torque N m...

Page 285: ...zontally installed on a specified radiator plate Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 0 10 20 30 40 50 60 80 70 0 1000 2000 3000 Ro...

Page 286: ...N m A rms 1 28 1 45 1 51 Power rate 1 3 kW s 82 91 121 Mechanical time constant 3 ms 0 77 1 0 0 83 Electrical time constant ms 15 18 22 Allowable radial load 4 N 686 1 176 1 470 Allowable thrust load...

Page 287: ...ed current 1 2 A rms 3 6 7 1 10 6 Momentary maximum current 1 A rms 9 0 19 5 27 7 Rotor inertia Without brake 10 4 kg m2 9 0042 40 0122 68 0122 With brake 10 4 kg m2 9 5042 45 1122 73 1122 Applicable...

Page 288: ...as shown in the following diagram 5 When the brake is released for a vertical axis refer to 7 6 Brake Interlock on page 7 22 to set an appropriate value for Brake Interlock Output 4610 hex 6 This is...

Page 289: ...y installed on a specified radiator plate Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 0 10 20 30 40 50 60 70 80 0 1000 2000 Rotation r min...

Page 290: ...005 135 538 0 3 1 11 R88G HPG14A11100B 272 2 5 72 1 545 10 6 0 06 280 1119 1 0 1 21 R88G HPG14A21100B 142 5 2 77 8 285 20 7 0 05 340 1358 1 0 1 33 R88G HPG20A33100B 90 6 8 65 2 181 31 9 0 065 916 3226...

Page 291: ...B 272 28 9 82 5 454 96 1 3 4 1126 4488 7 9 1 21 R88G HPG32A211K5B 142 58 1 86 9 238 186 5 3 0 1367 5448 7 9 1 33 R88G HPG50A332K0B 90 90 9 86 7 151 292 7 4 8 4135 14300 19 0 1 45 R88G HPG50A451K5B 66...

Page 292: ...SB 44 76 0 88 5 66 241 1 2 7 1718 6848 7 9 600 W 1 5 R88G HPG32A052K0B 400 11 1 77 6 600 38 6 3 8 889 3542 7 4 1 11 R88G HPG32A112K0B 181 26 8 85 3 272 87 3 3 4 1126 4488 7 9 1 21 R88G HPG32A211K5B 95...

Page 293: ...n ratio Model Rated rota tion speed Rated torque Effi ciency Momen tary maxi mum rotation speed Momen tary maxi mum torque Decelerator inertia Allow able radial load Allow able thrust load Weight r mi...

Page 294: ...tion speed Rated torque Effi ciency Momen tary maxi mum rotation speed Momen tary maxi mum torque Decelerator inertia Allow able radial load Allow able thrust load Weight r min N m r min N m 10 4 kg...

Page 295: ...CJ 200 4 10 86 400 12 26 0 053 588 294 0 70 1 25 R88G VRXF25B100CJ 120 6 84 86 240 20 43 0 051 686 343 0 70 100 W 200 V 1 5 R88G VRXF05B100CJ 600 1 43 90 1200 5 00 0 060 392 196 0 55 1 9 R88G VRXF09B1...

Page 296: ...EtherCAT Communications User s Manual I586 4 The standard shaft type is a shaft with key and tap The key is temporarily assembled to the shaft 5 Take care so that the surface temperature of the Decel...

Page 297: ...es differ according to the country in use The regulations can also be different in the same country according to the region or where the Servomotors are installed Therefore be sure to check to the res...

Page 298: ...88A CR1A015C 15 m Approx 1 0 kg R88A CR1A020C 20 m Approx 1 4 kg R88A CR1A030C 30 m 6 0 dia Approx 2 2 kg R88A CR1A040C 40 m Approx 3 0 kg R88A CR1A050C 50 m Approx 3 7 kg L Servo Drive side R88D 1SN...

Page 299: ...6 0 dia Approx 0 3 kg R88A CR1B005N 5 m Approx 0 4 kg R88A CR1B010N 10 m Approx 0 8 kg R88A CR1B015N 15 m Approx 1 1 kg R88A CR1B020N 20 m Approx 1 5 kg R88A CR1B030N 30 m Approx 2 3 kg R88A CR1B040N...

Page 300: ...1B015V 15 m Approx 1 1 kg R88A CR1B020V 20 m Approx 1 5 kg R88A CR1B030V 30 m Approx 2 3 kg R88A CR1B040V 40 m Approx 3 0 kg R88A CR1B050V 50 m Approx 3 7 kg Servomotor side R88M 1 L Servo Drive side...

Page 301: ...Approx 0 4 kg R88A CR1A010CF 10 m Approx 0 7 kg R88A CR1A015CF 15 m Approx 1 0 kg R88A CR1A020CF 20 m Approx 1 4 kg R88A CR1A030CF 30 m 6 0 dia 42 mm Approx 2 2 kg R88A CR1A040CF 40 m Approx 3 0 kg R8...

Page 302: ...1B005NF 5 m Approx 0 4 kg R88A CR1B010NF 10 m Approx 0 8 kg R88A CR1B015NF 15 m Approx 1 1 kg R88A CR1B020NF 20 m Approx 1 5 kg R88A CR1B030NF 30 m 42 mm Approx 2 3 kg R88A CR1B040NF 40 m Approx 3 0 k...

Page 303: ...0 4 kg R88A CR1B010VF 10 m Approx 0 8 kg R88A CR1B015VF 15 m Approx 1 1 kg R88A CR1B020VF 20 m Approx 1 5 kg R88A CR1B030VF 30 m 42 mm Approx 2 3 kg R88A CR1B040VF 40 m Approx 3 0 kg R88A CR1B050VF 5...

Page 304: ...8 dia Approx 0 4 kg R88A CA1A005S 5 m Approx 0 6 kg R88A CA1A010S 10 m Approx 1 1 kg R88A CA1A015S 15 m Approx 1 5 kg R88A CA1A020S 20 m Approx 2 0 kg R88A CA1A030S 30 m Approx 3 0 kg R88A CA1A040S 4...

Page 305: ...10S 10 m Approx 2 9 kg R88A CA1B015S 15 m Approx 4 3 kg R88A CA1B020S 20 m Approx 5 7 kg R88A CA1B030S 30 m Approx 8 4 kg R88A CA1B040S 40 m Approx 11 1 kg R88A CA1B050S 50 m Approx 13 8 kg 60 80 150...

Page 306: ...R88A CA1C003S 3 m 10 8 dia Approx 1 0 kg R88A CA1C005S 5 m Approx 1 6 kg R88A CA1C010S 10 m Approx 2 9 kg R88A CA1C015S 15 m Approx 4 3 kg R88A CA1C020S 20 m Approx 5 7 kg R88A CA1C030S 30 m Approx 8...

Page 307: ...Outer diameter of sheath Weight R88A CA1E003S 3 m 12 0 dia Approx 1 2 kg R88A CA1E005S 5 m Approx 1 9 kg R88A CA1E010S 10 m Approx 3 5 kg R88A CA1E015S 15 m Approx 5 1 kg R88A CA1E020S 20 m Approx 6...

Page 308: ...5 8 kg R88A CA1F015S 15 m Approx 8 6 kg R88A CA1F020S 20 m Approx 11 4 kg R88A CA1F030S 30 m Approx 16 9 kg R88A CA1F040S 40 m Approx 22 5 kg R88A CA1F050S 50 m Approx 28 1 kg Servo Drive side R88D 1...

Page 309: ...0SF 10 m Approx 1 1 kg R88A CA1A015SF 15 m Approx 1 5 kg R88A CA1A020SF 20 m Approx 2 0 kg R88A CA1A030SF 30 m Approx 3 0 kg R88A CA1A040SF 40 m Approx 4 0 kg R88A CA1A050SF 50 m Approx 5 0 kg Servo D...

Page 310: ...8A CA1B015SF 15 m Approx 4 3 kg R88A CA1B020SF 20 m Approx 5 7 kg R88A CA1B030SF 30 m Approx 8 4 kg R88A CA1B040SF 40 m Approx 11 1 kg R88A CA1B050SF 50 m Approx 13 8 kg 60 80 150 E04SR301334 SEIWA EL...

Page 311: ...ter of sheath Minimum bending radius Weight R88A CA1C003SF 3 m 10 8 dia 90 mm Approx 1 0 kg R88A CA1C005SF 5 m Approx 1 6 kg R88A CA1C010SF 10 m Approx 2 9 kg R88A CA1C015SF 15 m Approx 4 3 kg R88A CA...

Page 312: ...8A CA1E003SF 3 m 12 0 dia 90 mm Approx 1 2 kg R88A CA1E005SF 5 m Approx 1 9 kg R88A CA1E010SF 10 m Approx 3 5 kg R88A CA1E015SF 15 m Approx 5 1 kg R88A CA1E020SF 20 m Approx 6 7 kg R88A CA1E030SF 30 m...

Page 313: ...CA1F005SF 5 m Approx 3 0 kg R88A CA1F010SF 10 m Approx 5 8 kg R88A CA1F015SF 15 m Approx 8 6 kg R88A CA1F020SF 20 m Approx 11 4 kg R88A CA1F030SF 30 m Approx 16 9 kg R88A CA1F040SF 40 m Approx 22 5 k...

Page 314: ...g the shield clamp 2 PE and shell are set in the connectors at Servomotor s side Model Length L Outer diame ter of sheath Minimum bending radius Weight R88A CA1H003SF 3 m 15 0 dia 150 mm Approx 1 9 kg...

Page 315: ...and shell are set in the connectors at Servomotor s side Model Length L Outer diame ter of sheath Minimum bending radius Weight R88A CA1J003SF 3 m 17 3 dia 173 mm Approx 2 4 kg R88A CA1J005SF 5 m Appr...

Page 316: ...t Servomotor s side Model Length L Outer diame ter of sheath Minimum bending radius Weight R88A CA1K003SF 3 m 23 2 dia 232 mm Approx 4 8 kg R88A CA1K005SF 5 m Approx 6 7 kg R88A CA1K010SF 10 m Approx...

Page 317: ...8A CA1A005SFR 5 m Approx 0 6 kg R88A CA1A010SFR 10 m Approx 1 1 kg R88A CA1A015SFR 15 m Approx 1 5 kg R88A CA1A020SFR 20 m Approx 2 0 kg Servo Drive side R88D 1SN Servomotor side R88M 1 L 80 60 150 Fe...

Page 318: ...m Approx 6 7 kg R88A CA1B030B 30 m Approx 10 0 kg R88A CA1B040B 40 m Approx 13 2 kg R88A CA1B050B 50 m Approx 16 5 kg L 80 60 Ferrite core Two turns on the ferrite core E04SR301334 SEIWA ELECTRIC MFG...

Page 319: ...Approx 3 5 kg R88A CA1C015B 15 m Approx 5 1 kg R88A CA1C020B 20 m Approx 6 7 kg R88A CA1C030B 30 m Approx 10 0 kg R88A CA1C040B 40 m Approx 13 2 kg R88A CA1C050B 50 m Approx 16 5 kg Servo Drive side...

Page 320: ...Approx 3 5 kg R88A CA1D015B 15 m Approx 5 2 kg R88A CA1D020B 20 m Approx 6 8 kg R88A CA1D030B 30 m Approx 10 0 kg R88A CA1D040B 40 m Approx 13 3 kg R88A CA1D050B 50 m Approx 16 5 kg Servo Drive side...

Page 321: ...4 0 dia Approx 1 4 kg R88A CA1E005B 5 m Approx 2 2 kg R88A CA1E010B 10 m Approx 4 1 kg R88A CA1E015B 15 m Approx 6 0 kg R88A CA1E020B 20 m Approx 7 8 kg R88A CA1E030B 30 m Approx 11 6 kg R88A CA1E040B...

Page 322: ...0B 20 m Approx 13 0 kg R88A CA1F030B 30 m Approx 19 4 kg R88A CA1F040B 40 m Approx 25 8 kg R88A CA1F050B 50 m Approx 32 1 kg Servo Drive side R88D 1SN Servomotor side R88M 1 L 175 180 170 Ferrule 216...

Page 323: ...5 kg R88A CA1B015BF 15 m Approx 5 1 kg R88A CA1B020BF 20 m Approx 6 7 kg R88A CA1B030BF 30 m Approx 10 0 kg R88A CA1B040BF 40 m Approx 13 2 kg R88A CA1B050BF 50 m Approx 16 5 kg L 80 60 Ferrite core T...

Page 324: ...15BF 15 m Approx 5 1 kg R88A CA1C020BF 20 m Approx 6 7 kg R88A CA1C030BF 30 m Approx 10 0 kg R88A CA1C040BF 40 m Approx 13 2 kg R88A CA1C050BF 50 m Approx 16 5 kg Servo Drive side R88D 1SN Servomotor...

Page 325: ...R88A CA1D005BF 5 m Approx 1 9 kg R88A CA1D010BF 10 m Approx 3 5 kg R88A CA1D015BF 15 m Approx 5 2 kg R88A CA1D020BF 20 m Approx 6 8 kg R88A CA1D030BF 30 m Approx 10 0 kg R88A CA1D040BF 40 m Approx 13...

Page 326: ...1E005BF 5 m Approx 2 2 kg R88A CA1E010BF 10 m Approx 4 1 kg R88A CA1E015BF 15 m Approx 6 0 kg R88A CA1E020BF 20 m Approx 7 8 kg R88A CA1E030BF 30 m Approx 11 6 kg R88A CA1E040BF 40 m Approx 15 4 kg R8...

Page 327: ...ox 6 7 kg R88A CA1F015BF 15 m Approx 9 9 kg R88A CA1F020BF 20 m Approx 13 0 kg R88A CA1F030BF 30 m Approx 19 4 kg R88A CA1F040BF 40 m Approx 25 8 kg R88A CA1F050BF 50 m Approx 32 1 kg Servo Drive side...

Page 328: ...connectors at Servomotor s side Model Length L Outerdiameter of sheath Minimum bending radius Weight R88A CA1H003BF 3 m 15 0 dia 150 mm Approx 1 9 kg R88A CA1H005BF 5 m Approx 2 8 kg R88A CA1H010BF 10...

Page 329: ...s side Model Length L Outerdiameter of sheath Minimum bending radius Weight R88A CA1J003BF 3 m 17 3 dia 173 mm Approx 2 4 kg R88A CA1J005BF 5 m Approx 3 3 kg R88A CA1J010BF 10 m Approx 6 0 kg R88A CA...

Page 330: ...of sheath Minimum bending radius Weight R88A CA1K003BF 3 m 23 2 dia 232 mm Approx 4 8 kg R88A CA1K005BF 5 m Approx 6 7 kg R88A CA1K010BF 10 m Approx 12 5 kg R88A CA1K015BF 15 m Approx 18 7 kg R88A CA1...

Page 331: ...tor s side Extension Cables Model Length L Outerdiameter of sheath Minimum bending radius Weight R88A CA1HE10BF 10 m 15 0 dia 150 mm Approx 5 2kg R88A CA1HE20BF 20 m Approx 9 7 kg Servomotor side R88M...

Page 332: ...10 m 17 3 dia 173 mm Approx 6 2 kg R88A CA1JE20BF 20 m Approx 11 7 kg L Servomotor side R88M 1 Servo Drive side R88D 1SN Blue Red White Green Yellow Servo Drive side Cable Servomotor side Contact Name...

Page 333: ...inimum bending radius Weight R88A CA1KE10BF 10 m 23 2 dia 232 mm Approx 12 8 kg R88A CA1KE20BF 20 m Approx 25 2 kg L Servomotor side R88M 1 Servo Drive side R88D 1SN Blue Red White Green Yellow Servo...

Page 334: ...m 5 0 dia Approx 0 2 kg R88A CA1A005B 5 m Approx 0 3 kg R88A CA1A010B 10 m Approx 0 5 kg R88A CA1A015B 15 m Approx 0 7 kg R88A CA1A020B 20 m Approx 0 9 kg R88A CA1A030B 30 m Approx 1 4 kg R88A CA1A04...

Page 335: ...Minimum bending radius Weight R88A CA1A003BF 3 m 5 0 dia 30 mm Approx 0 2 kg R88A CA1A005BF 5 m Approx 0 3 kg R88A CA1A010BF 10 m Approx 0 5 kg R88A CA1A015BF 15 m Approx 0 7 kg R88A CA1A020BF 20 m A...

Page 336: ...h Minimum bending radius Weight R88A CA1A003BFR 3 m 5 0 dia 30 mm Approx 0 2 kg R88A CA1A005BFR 5 m Approx 0 3 kg R88A CA1A010BFR 10 m Approx 0 5 kg R88A CA1A015BFR 15 m Approx 0 7 kg R88A CA1A020BFR...

Page 337: ...fies the combination of power cable with extension cable 3 4 3 Combination of Power Cable and Extension Cable Length m Combination Total Power cable Extension cable 1 Extension cable 2 3 3 Power cable...

Page 338: ...l impact on the sheath which does not cover the disconnection of shielded wire Malfunction or grounding fault due to dielectric breakdown may occur if cables are used at a radius smaller than the mini...

Page 339: ...1 000 mm 10 million times R88A CA1J SF 2 173 mm 500 to 1 000 mm 10 million times R88A CA1K SF 2 232 mm 500 to 1 000 mm 10 million times Model Bend test conditions Estimated life Minimum bending radiu...

Page 340: ...d 050 30 mm 500 to 1 000 mm 20 million times R88A CA1A BFR 2 2 represents a number between 003 and 020 30 mm 500 to 1 000 mm 20 million times 3 4 5 Connector Specifications Encoder Cable Connectors It...

Page 341: ...able Applicable wire AWG 22 max Insulating cover outer diameter 1 3 mm dia max Outer diameter of sheath 5 0 0 5 mm dia Item Specifications Applicable Servo motor 200 V 3 000 r min Servomotors of 1 to...

Page 342: ...t the manufacturers directly Straight plug JN2VDS10SL1 Japan Aviation Electronics Contact JN2V 22 22S 10000 Japan Aviation Electronics Straight plug and contact R88A CN105R OMRON Applicable cable Appl...

Page 343: ...ble Servo motor 100 V 3 000 r min Servomotors of 50 to 400 W 200 V 3 000 r min Servomotors of 50 to 750 W Connector This is a crimping type connector For required tools contact the manufacturers direc...

Page 344: ...num tape and braid to ensure sufficient noise immunity Use a shielded connector of Ethernet Category 5 100BASE TX or higher Recommended connectors are shown below Precautions for Correct Use When you...

Page 345: ...the connector hood at both ends of the cable 2 There are two connection methods for Ethernet T568A and T568B The T568A connection method is shown above but you can also use the T568B connection method...

Page 346: ...series CPU unit to the IN connector on the EtherCAT Junction Slave Connect the X2 con nector start port of the ring on the EtherCAT Junction Slave to the ECAT IN connector on the first Servo Drive Co...

Page 347: ...Unit Refer to 2 4 6 Dimensions of External Regeneration Resistors and External Regeneration Resistance Units on page 2 119 for external dimensions 3 5 1 General Specifications Item Model R88A RR120 RR...

Page 348: ...wer to be absorbed for 120 C tempera ture rise Heat radiation specifica tion Heat radiation condition Weight 01L 02L R88A RR12015 15 24 W Natural cooling Aluminum 350 mm 350 mm Thickness 3 0 mm 0 48 k...

Page 349: ...ce Unit Wire size 2 Model Resis tance value Power to be absorbed for 120 C tempera ture rise Heat radiation specification Weight 150H R88A RR1K602R5 2 5 640 W Forced cool ing by the fan 8 0 kg AWG 16...

Page 350: ...s Terminal Block Specifications Pin No Symbol Name Specifications 1 R Regeneration Resistor connection terminals External regeneration resistor 640 W 2 R 3 Protective earth PE Ground terminal 4 24V Fa...

Page 351: ...n Resistance Units 3 3 5 3 External Regeneration Resistance Unit Specifications SENS Signal Output Waveform Design the configuration to cut off the main circuit power supply when the ERR signal nor ma...

Page 352: ...rating ambient tempera ture and humidity 0 to 55 C 90 max with no condensation Storage ambient temperature and humidity 25 to 85 C 95 max with no condensation Operating and storage atmo sphere No corr...

Page 353: ...condensation Storage ambient tempera ture and humidity 20 to 65 C 90 max with no condensation Operating and storage atmosphere No corrosive gases 3 7 2 Characteristics Applicable Servo Drive DC React...

Page 354: ...mH 2 9 kg AWG 14 to 10 2 0 to 5 5 mm2 R88D 1SN30F ECT R88A PD4037 11 6 A 6 4 mH 4 5 kg 1 Use wires with a rated voltage of 600 V or higher An example of using heat resistant polyvinyl chloride insulat...

Page 355: ...the surge absorber on the power supply input LINE side For the external dimensions refer to 2 4 9 Noise Filter Dimensions on page 2 130 For the Book type Noise Filters refer to Noise Filter for Power...

Page 356: ...20 to 16 0 5 to 1 5 mm2 R88D 1SN04H ECT R88A FI1S105 5 Arms 1 5 kg AWG 18 to 16 0 75 to 1 5 mm2 R88D 1SN08H ECT R88A FI1S109 9 Arms 1 8 kg AWG 16 to 12 1 25 to 4 0 mm2 9 to 10 mm R88D 1SN15H ECT R88A...

Page 357: ...R88A FI1S2 FI1S3 3 phase 400 VAC R88D 1SN06F ECT R88A FI1S309 9 Arms 27 mA at 400 VAC 60 Hz with Y connec tion and a phase loss 2 9 kg AWG 16 to 14 1 25 to 2 5 mm2 8 to 9 mm R88D 1SN10F ECT R88D 1SN15...

Page 358: ...3 Specifications 3 138 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A FI1S2 R88A FI1S3...

Page 359: ...tor Installation Condition 4 16 4 2 Wiring 4 17 4 2 1 Peripheral Equipment Connection Examples 4 18 4 2 2 Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp to Servo Drive 4 3...

Page 360: ...ding to the dimension conditions shown in the following illustration and ensure proper dispersion of heat from inside the Servo Drive and convection inside the panel If the Servo Drives are installed...

Page 361: ...he Servo Drives Also it is recommended that you apply conductive plating if you make the mounting bracket by yourself The recommended tightening torque for installing the Servo Drive is 1 5 N m Make s...

Page 362: ...nstallation Space Conditions around Servo Drives with its capacity 5 5 kW or more Dimen sion Distance T R88D 1SN55H ECT 1SN75H ECT 1SN55F ECT 1SN75F ECT 200 mm min R88D 1SN150H ECT 1SN150F ECT 280 mm...

Page 363: ...e plating if you make the mounting bracket by yourself The recommended tightening torques for installing the Servo Drive are the followings Make sure that the threaded portion has the sufficient stren...

Page 364: ...onditioner to maintain ambient temperature of the Servo Drive under the operating environment conditions The Servo Drive surface may rise in temperature of 30 C above the ambient temperature Use heat...

Page 365: ...temperature 0 to 40 C The temperature at a point 50 mm from the Servomotor Operating humidity 20 to 90 with no condensation Operating ambient atmosphere No corrosive gases Vibration resistance of a S...

Page 366: ...ft When you use bevel gears a load is applied in the thrust direction depending on the assembly precision the gear precision and temperature changes Provide appropriate backlash or take other measures...

Page 367: ...seal When you mount a Servomotor onto a small device be sure to provide enough radiation space on the mounting area because the heat is radiated from the mounting surface Otherwise the Servomotor tem...

Page 368: ...d with anti corrosion oil when it is shipped but you should remove anti corrosion oil when you connect the components that apply load to the shaft Wire cables not to contact with Servomotors which hav...

Page 369: ...ically tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 4 Fix the Servomotor and the flange of the Decelerator with bolts Bolt tightening torque for al...

Page 370: ...the input shaft joint while using the motor shaft as guide not to fall over as shown in the figures on the next page When the Decelerator cannot be put up vertically tighten each bolt evenly little by...

Page 371: ...ing torque on the mounting flange for aluminum If you use a non OMRON decelerator together with a 1S series Servomotor due to system configura tion requirement select the Decelerator so that the loads...

Page 372: ...ion Install the connector side of the unit in the gravity direction downward Tightening torque 3 0 N m Specifications for attached connectors are shown below Follow the specified length of stripped wi...

Page 373: ...1 2 N m 10 Install the Noise Filter on the vertical metal surface Turn the LINE side of Noise Filter in the gravity direction downward as shown in the following figure 4 1 5 Footprint type Noise Filte...

Page 374: ...tor model WFR 2 WAGO Wire size AWG16 1 3 mm2 Length of stripped wire 11 1 mm An example of using heat resistant polyvinyl chloride insulated wires HIV at the ambient temperature of 50 C Use wires with...

Page 375: ...rs Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 4 2 Wiring 4 4 2 Wiring This section gives the examples of connection with peripheral equipment and wiring such as co...

Page 376: ...OFF X ON X 1MC X 1MC 24V_BKIR 2 0V_BKIR 1 24 VDC E CAT IN CN10 E CAT OUT CN11 1S series Servomotor Brake cable Power cable Servo error display Surge suppressor Main circuit contactor Noise filter 1 Ma...

Page 377: ...no polarity on the brakes 3 Short circuit B2 and B3 for models with a built in regeneration resistor 1SN04L ECT and 1SN08H ECT When the amount of regeneration is large remove the short circuit wire be...

Page 378: ...V_BKIR 2 0V_BKIR 1 24 VDC E CAT IN CN10 E CAT OUT CN11 1S series Servomotor Encoder cable Ground to 100 or less Control cable User side control device Other E CAT devices Ground to 100 or less Noise f...

Page 379: ...tage Error 2 There is no polarity on the brakes 3 Short circuit B2 and B3 for models with a built in regeneration resistor 1SN08H ECT When the amount of regenera tion is large remove the short circuit...

Page 380: ...V_BKIR 1 24 VDC E CAT IN CN10 E CAT OUT CN11 1S series Servomotor Encoder cable Ground to 100 or less Control cable User side control device Other E CAT devices Ground to 100 or less Noise filter 1 Ma...

Page 381: ...r Servo Drives to perform unexpected operations such as regeneration operation or Overvoltage Error 2 There is no polarity on the brakes 3 Short circuit B2 and B3 for models with a built in regenerati...

Page 382: ...R 2 0V_BKIR 1 24 VDC 1S series Servomotor Power cable Surge suppressor 1 Servo error display Encoder cable Ground to 100 or less Main circuit power supply Noise filter 1 1S series Servo Drive User sid...

Page 383: ...Servo Drives to perform unexpected operations such as regeneration operation or Overvoltage Error 2 There is no polarity on the brakes 3 Short circuit B2 and B3 for models with a built in regeneratio...

Page 384: ...2 B1 3 4 CNC CNA X X 1MC OFF ON X 1MC 1MC 8 28 N2 N1 CNB 24 VDC CND 24V 0V E CAT IN CN10 E CAT OUT CN11 BKIR 4 BKIR 3 24V_BKIR 2 0V_BKIR 1 24 VDC ERR ERR MCCB Fuse Main circuit contactor 1 Main circui...

Page 385: ...age Error 2 There is no polarity on the brakes 3 Short circuit B2 and B3 for models with a built in regeneration resistor 1SN15H ECT 1SN20H ECT 1SN30H ECT 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1...

Page 386: ...ppressor Servo error display 1S series Servo Drive Main circuit power supply User side control device Control cable Other E CAT devices Noise filter 1 3 phase 200 to 240 VAC 50 60 Hz R88D 1SN H ECT 3...

Page 387: ...B3 for models with a built in regeneration resistor When the amount of regeneration is large remove the short circuit wire between B2 and B3 and connect a regeneration resistor between B1 and B2 4 Wh...

Page 388: ...NE 0V _BKIR1 BKIR 3 BKIR 4 CN12 24V _BKIR2 V W CNC U FG CN1 24 VDC Power cable Encoder cable Main circuit contactor Surge suppressor Servo error display 1S series Servo Drive Main circuit power supply...

Page 389: ...h as regeneration operation or Overvoltage Error 2 There is no polarity on the brakes 3 There is no built in regeneration resistor Connect a required regeneration resistor between B1 and B2 4 Short ci...

Page 390: ...E 0V _BKIR1 BKIR 3 BKIR 4 CN12 24V _BKIR2 V W CNC U FG CN1 CN1 24 VDC 1S series Servomotor Power cable Main circuit contactor Surge suppressor Servo error display 1 1 Main circuit power supply Noise f...

Page 391: ...h as regeneration operation or Overvoltage Error 2 There is no polarity on the brakes 3 There is no built in regeneration resistor Connect a required regeneration resistor between B1 and B2 4 Short ci...

Page 392: ...ock from the Servo Drive before wiring The Servo Drive may be damaged if the wiring is done with the terminal block in place 2 Strip off the covering from the wire Refer to Terminal Block Wire Sizes o...

Page 393: ...hole while the lever of the spring opener is held down Release the lever and then pull the wire gently to check that it does not come out 4 Mount the terminal block to the Servo Drive After all of th...

Page 394: ...ed to be removed 2 Strip off the covering from the wire Refer to Terminal Block Wire Sizes on page 3 22 for applicable wire sizes If the stripped wire is bended loose or too large in diameter due to t...

Page 395: ...nual I586 4 2 Wiring 4 4 2 2 Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp to Servo Drive R88D 1SN150H ECT Strip length 10 11 mm Wire Wire STRIP GAUGE CND Strip length 18...

Page 396: ...make sure that it does not come out A solid wire or a twisted wire crimped the ferrule terminals can be inserted even if you do not press the push button R88D 1SN150H ECT Insert a screwdriver into a...

Page 397: ...ie Do not put loads on the cable and the shield clamp such as twisting pushing and pulling etc 6 Mount the terminal block to the Servo Drive After all of the terminals are wired return the terminal bl...

Page 398: ...o place 2 Tighten the screws to fix the connector after it is fitted Note Make sure that the connector is securely fitted into place without a gap or tilt Do not tighten the screws if the connector is...

Page 399: ...o place When fitting is completed the arrow marks of the plug and receptacle are aligned Note Before starting the fitting procedure make sure that there is no dirt foreign materials etc adhered to the...

Page 400: ...ling nut 3 Insert the knurling nut into the receptacle as far as it goes At this time push the nut linearly in a state that a printed open on the nut lines up with a mark of the cable plug Type M23 Co...

Page 401: ...ptacle linearly At this time do not move the cable plug up and down or right and left Precautions for Correct Use Before mating the motor receptacle into the cable plug check for dirt and foreign subs...

Page 402: ...onnector may result 2 Mount a cable and lock it firmly Mount a cable to a connector referring to 4 2 3 Connector Attachment Procedure on page 4 40 Lock a cable securely to be fixed to a connector If t...

Page 403: ...le outlet direction Otherwise a large amount of force is applied easily even toward not specified direction and may cause failure of the connector Do not pull out a cable during the change of cable ou...

Page 404: ...re gently to check that it does not come out R88A FI1S3 Insert a screwdriver tip width 3 5 0 5 mm at an angle into a front slot Insert the screwdriver deep while you hold it vertically as shown in the...

Page 405: ...so that 1S series products can conform to EMC Directives When the products are installed in the equipment the customer must perform the check to confirm that the overall machine conforms to EMC Direct...

Page 406: ...mm2 and arrange the wiring so that the protective earth wire is as short as possible Install a surge absorber and noise filter near the main circuit connector A of Servo Drive Separate I O wires from...

Page 407: ...phase R88D 1SN04H ECT R88A FI1S208 3 phase R88D 1SN08H ECT SD Servo Drive OMRON 2 SM Servomotor OMRON 2 FC1 Ferrite core NEC TOKIN ESD SR 250 FC2 Ferrite core SEIWA ELEC TRIC MFG E04SR301334 I O slav...

Page 408: ...minimum thickness of 2 5 mm2 and arrange the wiring so that the protective earth wire is as short as possible Install a surge absorber and noise filter near the main circuit connector of Servo Drive...

Page 409: ...01334 I O slave Controller No Interface Max cable length shield Cable classification Ferrite core EN IEC 61800 3 EN IEC 61326 3 1 1 Power supply cable main circuit 3 m Non shielded Power supply port A...

Page 410: ...um thickness of 2 5 mm2 and arrange the wiring so that the protective earth wire is as short as possible Install a surge absorber and noise filter near the main circuit connector A of Servo Drive Sepa...

Page 411: ...3 phase R88D 1SN15F ECT 3 phase R88D 1SN20F ECT 3 phase R88D 1SN30F ECT SD Servo Drive OMRON 2 SM Servomotor OMRON 2 FC1 Ferrite core NEC TOKIN ESD SR 250 I O slave Controller No Interface Max cable...

Page 412: ...rrange the wiring so that the protective earth wire is as short as possible Install a surge absorber and noise filter near the main circuit connector A of Servo Drive Separate I O wires from each othe...

Page 413: ...ase R88D 1SN75F ECT HF3040C SZL 1 2 3 phase R88D 1SN75F ECT SD Servo Drive OMRON 3 SM Servomotor OMRON 3 FC Ferrite core NEC TOKIN ESD SR 250 I O slave Controller No Interface Max cable length shield...

Page 414: ...nge the wiring so that the protective earth wire is as short as possible Install a surge absorber and noise filter near the main circuit connector A of Servo Drive Separate I O wires from each other f...

Page 415: ...tion resistor 3 OMRON R88A RR55002R5 3 phase 200 VAC R88A RR55010 3 phase 400 VAC No Interface Max cable length shield Cable classification Ferrite core EN IEC 61800 3 EN IEC 61000 6 7 1 Power supply...

Page 416: ...Servo Drive Book type Noise Filter 1 Phase Model Model Rated current Leakage current Manu facturer Single phase R88D 1SN EC T HF2020A SZC 33DDD 20 Arms 8 5 mA max at 250 VAC 60 Hz Soshin Electric Co...

Page 417: ...r Phase Voltage Model Model Rated current Leakage current Manu facturer Single phase 100 V R88D 1SN01L ECT R88A FI1S103 3 Arms 6 6 mA at 200 VAC 60Hz OMRON R88D 1SN02L ECT R88A FI1S105 5 Arms R88D 1SN...

Page 418: ...ted or tightly bundled Wire the power and signal lines separately External Dimensions of Book type Noise Filter HF2020A SZC 33DDD HF3020C SZC 33DDD HF3040C SZA 33EDD HF3040C SZA 47DDD HF3050C SZB 33ED...

Page 419: ...unications User s Manual I586 4 3 Wiring Conforming to EMC Directives 4 4 3 1 Peripheral Equipment Connection Examples HF3080C SZC 47EDE HF3100C SZC 33EDE Circuit Diagram of Book type Noise Filter For...

Page 420: ...page 3 14 for the rated current of the power supply input for each motor When you select a molded case circuit breaker add the current consumption by other devices such as the Controller Inrush Curren...

Page 421: ...r rent from all devices that are connected to the same breaker Refer to the catalogs from the manufacturers for details on how to select a leakage breaker and ensure a sufficient margin R88D 1SN10F EC...

Page 422: ...gle phase 200 V 3 phase 200 V 1SN04H ECT 1M40030T Single phase 200 V 3 phase 200 V 1SN08H ECT 1M75030T Single phase 200 V 3 phase 200 V 1SN10H ECT 1L1K030T 3 phase 200 V 1M1K020T 3 phase 200 V 1M90010...

Page 423: ...Servomotor Model R88M Motor Power Exten sion Cable Model R88A 1 1 3 m to 20 m Only motor power cable 30m Motor Power Cable 20 m Extension Cable 10 m 40m Motor Power Cable 20 m Extension Cable 20 m 50...

Page 424: ...surge absorber External Dimensions Equivalent Circuit Surge Absorber Servo Drive voltage Surge current tolerance Recommended manufacturer Recommended model Single phase 100 VAC 410 V 20 2500 A Soshin...

Page 425: ...Doing so may cause I O signals to malfunction If there is a long wiring for the control I O power supply you can improve its noise immunity by adding an approximately 1 F laminated ceramic capacitor b...

Page 426: ...88A PD4015 4 7 A 14 mH R88D 1SN15F ECT R88D 1SN20F ECT R88A PD4022 6 9 A 10 1 mH R88D 1SN30F ECT R88A PD4037 11 6 A 6 4 mH Applicable Servo Drive DC Reactor 1 Voltage Model Model Rated current Induc t...

Page 427: ...and N2 and connect the DC Reactor between N1 and N2 AC Reactor Connection As shown in the following figure connect the AC Reactor between the AC power supply for the main circuit and Servo Drive Recom...

Page 428: ...ommunications User s Manual I586 UZDA B OMR1S5575F UZDA B OMR1S150H 1 6 2 terminal M5 screw 114 68 72 115 89 4 mounting hole for M6 bolt 139 max 70 max 16 Terminal block top view U X 6 terminal for M8...

Page 429: ...aused by PWM output of Servo Drive and radiated noise caused by internal oscillator circuit The recommended product is shown as below Ferrite Core Product model Manufacturer Purpose E04SR301334 SEIWA...

Page 430: ...not have the Internal Regeneration Resistor Regenerative energy absorption capacity depends on the Servo Drive model Refer to Amount of Internal Regeneration Absorption in Servo Drives on page 4 75 f...

Page 431: ...ection is shown as negative The regenerative energy values in each region can be calculated from the following equations Note Due to the loss from winding resistance the actual regenerative energy wil...

Page 432: ...W that cannot be absorbed by the built in capacitor If this average regenerative power Pr W is smaller than or equal to the average regenerative power which the Servo Drive s Internal Regeneration Re...

Page 433: ...d output Model Regenera tive energy to be absorbed by built in capacitor J Average regenera tive energy to be absorbed by Internal Regenera tion Resis tor W Allowable minimum regenera tion resis tance...

Page 434: ...heat up to approximately 200 C Do not place it near equipment and wiring that is easily affected by heat Refer to 3 5 Specifications of External Regeneration Resistors and External Regeneration Resist...

Page 435: ...0 hex set a value which is appropriate for the external regeneration resistor that is connected If you set a wrong value the resistor may produce heat abnormally and fire or burning may result Model R...

Page 436: ...not use an external drive source to drive the Servomotor Do not turn ON the power supply during motor rotation When the Servomotor is stopped by the dynamic brake allow it to be in a stop state for th...

Page 437: ...vomotor R88M 1L R88M 1M Item Accuracy mm Runout of output shaft end a 0 02 Eccentricity of flange outer diameter to output shaft b 0 06 Squareness of flange surface to output shaft c 0 08 Item Servomo...

Page 438: ...4 Configuration and Wiring 4 80 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 439: ...Settings 5 7 5 4 2 Sync Manager PDO Assignment Settings 5 8 5 4 3 Fixed PDO Mapping 5 8 5 4 4 Variable PDO Mapping 5 11 5 4 5 Sync Manager PDO Mapping Assignment Settings 5 12 5 5 Service Data Object...

Page 440: ...t reflected in the control It is enabled the next time the Unit power supply is turned ON Additional Information EtherCAT Slave Information File Information on EtherCAT slave settings is stored in the...

Page 441: ...tus Red OFF No error Blinking Communications setting error Single flash Synchronization error or communica tions data error Double flash Application WDT timeout Sync Manager WDT Error ON A fatal error...

Page 442: ...CAT Communications User s Manual I586 See the following diagram for the status of the indicators OFF ON OFF ON OFF ON OFF ON OFF ON 50 ms 200 ms 200 ms 200 ms 200 ms 200 ms 200 ms 200 ms 200 ms 1 000...

Page 443: ...ionary in the application layer contains parameters and application data as well as infor mation on the PDO mapping between the process data servo interface and Servo Drive application The process dat...

Page 444: ...unications are not possible Pre Operational Possible Not possible Not possible Only SDO communications are pos sible in this state This state is entered after initialization is com pleted In this stat...

Page 445: ...ication objects real time process data between the object dictionary and PDOs The number of mapped objects is shown in subindex 00 hex in the mapping table In this mapping table 1600 to 17FF hex are f...

Page 446: ...s is the mapping for an application that uses only the Cyclic synchronous position mode csp The touch probe function is available 5 4 2 Sync Manager PDO Assignment Settings 5 4 3 Fixed PDO Mapping PDO...

Page 447: ...Modes of operation display 6061 hex Touch probe status 60B9 hex Touch probe 1 positive edge 60BA hex Touch probe 2 positive edge 60BC hex and Digital inputs 60FD hex PDO Mapping 3 Position Control Ve...

Page 448: ...Modes of opera tion 6060 hex Touch probe function 60B8 hex Positive torque limit value 60E0 hex Nega tive torque limit value 60E1 hex and Torque offset 60B2 hex TxPDO 261th trans mit PDO Mapping 1B04...

Page 449: ...e mapping other than the default setting Precautions for Correct Use For information on the objects you can map refer to A 2 5 PDO Mapping Objects on page A 20 5 4 4 Variable PDO Mapping Default Setti...

Page 450: ...for Correct Use If mapped objects exceed the maximum total size the RxPDO Setting Error Error No 90 05 or TxPDO Setting Error Error No 90 06 occurs If the same object is mapped in an RxPDO more than o...

Page 451: ...ct can not be mapped into the PDO 06040042 The number and length of the objects to be mapped would exceed the PDO length 06040043 General parameter incompatibility reason 06040047 General internal inc...

Page 452: ...by sharing the same clock Interruptions Sync0 are generated in the slaves at precise intervals based on this clock Servo Drive control is executed at this precise timing The communications cycle is d...

Page 453: ...to 0 not notify To send emergency messages set the least significant bit of Diagnosis History Flags 10F3 05 hex to 1 every time the power is turned ON An emergency message consists of 8 byte data Not...

Page 454: ...tomation software Because in Sysmac Devices errors that may occur in slaves are systematized you can check the causes and remedies for errors with a common procedure The status of an error can be moni...

Page 455: ...The set value saved as Slave Information Interface SII information in the non volatile memory of the slave is used as the node address 1 Set the ID switches to 00 during power OFF 2 Write a node addr...

Page 456: ...smac Studio set Serial Number Check Method to Setting Actual Device on the EtherCAT tab page If the specified condition is not met a Network Configuration Verification Error will occur Additional Info...

Page 457: ...an EtherCAT slave Sysmac Device EtherCAT slaves check the SII information from the slave side If one of these slaves finds that SII information with which it cannot operate was written it generates a...

Page 458: ...ation from the ring disconnection status and cause all Servo Drives to detect EtherCAT Communications Warnings temporarily When an EtherCAT Communications Warning occurs the communications error perio...

Page 459: ...s broken or short circuited or because a Servo Drive broke down continuing to use the devices as they are may stop the entire communications system Precautions for Correct Use If the ring disconnectio...

Page 460: ...n Check that the L A OUT indicator of Servo Drive A and the L A IN indicator of Servo Drive B are OFF Check that the other the L A IN indicators and the L A OUT indicators blink Stop operation and tur...

Page 461: ...us All slaves are in communication Ring Disconnection Status Although the ring is broken between Slave C and D all slaves continue communications Stop Device X to Z and then turn OFF the power supply...

Page 462: ...erCAT master operate according to Fail soft Opera tion Setting of the CPU Unit Slaves separated from the EtherCAT master cannot continue communications Refer to the NJ NX series CPU Unit Built in Ethe...

Page 463: ...e shows a case of No 4 In this example the communications status changes from the normal status to the ring disconnection status and then the power supply to Device Y is turned OFF which turns OFF the...

Page 464: ...5 EtherCAT Communications 5 26 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 465: ...6 1 2 Control Method 6 3 6 2 Control Blocks 6 5 6 2 1 Block Diagram for Position Control 6 5 6 2 2 Block Diagram for Velocity Control 6 7 6 2 3 Block Diagram for Torque Control 6 9 6 3 Cyclic Synchro...

Page 466: ...owing control methods are available for position control and velocity control Two degree of freedom TDF control One degree of freedom ODF control Each control corresponds to the following modes of ope...

Page 467: ...ommand value seems to be a problem adjust the com mand following gain ODF control is a control method proper to use when a high precision path following performance such as synchronization control is...

Page 468: ...Description Refer ence 3000 Basic Functions Set the basic functions P 9 6 03 Control Method Selection Switches the control method between one degree of freedom control and two degree of freedom contr...

Page 469: ...84 hex Position Command Motor Velocity r min 3013 02 3013 04 3013 06 3013 08 Damping Filter 2 1st 2nd 3rd 4th Frequency 3014 01 3014 03 3014 05 3014 07 Filter selection 3014 02 3014 04 3014 06 3014 08...

Page 470: ...14 03 3014 05 3014 07 Filter selection 3014 02 3014 04 3014 06 3014 08 Damping Time Coefficient 3012 02 60B1 hex Velocity offset Command unit s 3210 81 hex Internal Position Command Position Command u...

Page 471: ...ive Dynamic Friction Compensation 3310 01 3310 02 3310 03 3310 04 3321 02 3322 02 3323 02 3324 02 3321 03 3322 03 3323 03 3324 03 3321 04 3322 04 3323 04 3324 04 Adaptive Notch Filter 3320 01 Torque C...

Page 472: ...02 3323 02 3324 02 3321 03 3322 03 3323 03 3324 03 3321 04 3322 04 3323 04 3324 04 Adaptive Notch Filter 3320 01 Torque Command Filter 3233 02 3234 02 Cutoff Frequency 1st 2nd 6077 hex Torque actual v...

Page 473: ...Present Motor Velocity r min 6064 hex Position actual value Command unit 6063 hex Position actual internal value Encoder pulse 3223 01 3223 02 3224 01 3224 02 3001 01 M 3321 02 3322 02 3323 02 3324 02...

Page 474: ...mode The following diagram shows the configuration of the control function of the Cyclic synchronous posi tion mode Cyclic Synchronous Position Mode Configuration E M Torque offset 60B2 hex Velocity...

Page 475: ...ition Deviation Error will be disabled If it is set to 0 an Exces sive Position Deviation Error will always occur If the set value is between 2 147 483 647 and 4 294 967 294 it is treated as 2 147 483...

Page 476: ...ows the configuration of the Cyclic synchronous velocity mode The following diagram shows the configuration of the control function of the Cyclic synchronous velocity mode Cyclic Synchronous Velocity...

Page 477: ...F hex 0000 hex 6041 00 Statusword RO U16 6060 00 Modes of operation RW INT8 0 to 10 0 6064 00 Position actual value RO INT32 Command unit 606C 00 Velocity actual value RO INT32 Command unit s 6072 00...

Page 478: ...ration of the Cyclic synchronous torque mode The following diagram shows the configuration of the control function of the Cyclic synchronous torque mode Cyclic Synchronous Torque Mode Configuration Ta...

Page 479: ...d unit 606C 00 Velocity actual value RO INT32 Command unit s 6071 00 Target torque RW INT16 0 1 5 000 to 5 000 0 6072 00 Max torque RW U16 0 1 0 to 5 000 5 000 6077 00 Torque actual value RO INT16 0 1...

Page 480: ...ing diagram shows the configuration of Profile position mode The following diagram shows the control function configuration of Profile position mode Profile Position Mode Configuration Target position...

Page 481: ...nd 4 294 967 294 it is treated as 2 147 483 647 00 Following error win dow RW U32 Command unit 0 to 2 147 483 647 or 4 294 967 295 100 000 606C 00 Velocity actual value RO INT32 Command unit s 6072 00...

Page 482: ...hange the target value while PTP positioning is in progress During PTP positioning when you change the Target position 607A hex and Profile velocity 6081 hex value and then change the Controlword 6040...

Page 483: ...Description 4 New set point Starts positioning at the rising edge from 0 to 1 of the signal In this timing the values of Target position 607A hex and Profile velocity 6081 hex are obtained 5 Change s...

Page 484: ...rofile Position Mode Bit Name Value Description 10 Target reached 0 Halt bit is 0 Positioning is not completed Halt bit is 1 The axis is decelerating 1 Halt bit is 0 Positioning is completed Halt bit...

Page 485: ...period is 250 s or more If the com munications period is less than 250 s a Command Error Error No 91 01 occurs The following diagram shows the configuration of the path generation function To use the...

Page 486: ...000 to FFFF hex 0000 hex 6041 00 Statusword R U16 6064 00 Position actual value R INT32 Command unit 606B 00 Velocity demand value R INT32 Command unit s 606C 00 Velocity actual value R INT32 Command...

Page 487: ...A 2 The bits in Statusword used in the Profile position mode are explained below Controlword 6040 hex in Profile Velocity Mode Bit Name Value Description 4 Not used 5 Not used 6 Not used 8 Halt 0 Vel...

Page 488: ...the manual for the controller Use the Homing mode of the Servo Drive The controller specifies a homing method supported by the Servo Drive and commands the start of the homing operation The Homing mod...

Page 489: ...e 2 5 000 Default setting 500 0 06 Negative Torque Limit Value 2 5 000 Default setting 500 0 3A00 Homing The value of offset used by the Servo Drive is 0 06 Home Offset 0 3B10 Drive Prohibition Drive...

Page 490: ...ogic Selection 1 4632 External Latch Input 1 The External Latch Input 1 is allocated to General Input 7 IN7 with positive logic NO contact 01 Port Selection 7 02 Logic Selection 0 4633 External Latch...

Page 491: ...Touch probe 2 source is set to External Latch Input 2 01 Touch Probe 1 Source 1 3B31 Touch Probe 2 Touch probe1 source is set to External Latch Input 1 and Touch probe 2 source is set to External Latc...

Page 492: ...eries with Built in EtherCAT Communications User s Manual I586 Precautions for Correct Use To use the interrupt feeding function of the Position Control Unit CJ1W NC 8 set the Basic Functions Control...

Page 493: ...ts Requiring Settings 7 15 7 3 2 Description of Operation 7 16 7 4 Software Position Limit Functions 7 17 7 4 1 Operating Conditions 7 17 7 4 2 Objects Requiring Settings 7 17 7 4 3 Description of Ope...

Page 494: ...Position Control 7 38 7 11 Touch Probe Function Latch Function 7 39 7 11 1 Related Objects 7 39 7 11 2 Trigger Signal Settings 7 41 7 11 3 Operation Sequence 7 42 7 12 Encoder Dividing Pulse Output F...

Page 495: ...connection and external signal processing General Input 7 IN7 and 8 IN8 are high speed inputs Use these inputs for functions that require high precision such as the latch input Precautions for Correct...

Page 496: ...x 02 Logic Selection The function is the same as 4630 02 hex 4634 Home Proximity Input Sets the input signal allocation and logic P 9 118 01 Port Selection The function is the same as 4630 01 hex 02 L...

Page 497: ...as 4630 01 hex 02 Logic Selection The function is the same as 4630 02 hex 463D Monitor Input 6 Sets the input signal allocation and logic P 9 121 01 Port Selection The function is the same as 4630 01...

Page 498: ...gic NO contact 4634 Home Proximity Input 4 General Input 4 IN4 0 Positive logic NO contact 4635 Positive Torque Limit Input 0 No allocation 0 Positive logic NO contact 4636 Negative Torque Limit Input...

Page 499: ...Enable 3B10 01 hex is set to 1 you can select the operation at a drive prohibition input in Drive Prohibition Stop Selection 3B10 02 hex Home Proximity Input DEC This is the deceleration signal for ho...

Page 500: ...ioning Completion Output 2 INP2 Velocity Attainment Detection Output TGON Torque Limit Output TLMT Zero Speed Detection Output ZSP Velocity Conformity Output VCMP Warning Output 1 WARN1 Warning Output...

Page 501: ...Detection Out put Sets the output signal allocation and logic P 9 126 01 Port Selection The function is the same as 4651 01 hex 02 Logic Selection The function is the same as 4651 02 hex 4657 Velocit...

Page 502: ...ation and logic P 9 130 01 Port Selection The function is the same as 4651 01 hex 02 Logic Selection The function is the same as 4651 02 hex 4663 External Brake Interlock Out put Sets the output signa...

Page 503: ...his output remains OFF in controls other than position control 4657 Velocity Conformity Out put 0 No allocation 0 Positive logic NO contact 4658 Warning Output 1 0 No allocation 0 Positive logic NO co...

Page 504: ...03 hex Negative torque limit value 60E1 hex or 3330 04 hex Positive Torque Limit Value 2 3330 05 hex Negative Torque Limit Value 2 3330 06 hex Zero Speed Detection Output ZSP This output turns ON whe...

Page 505: ...Set ting 4021 hex is detected The Warning Output 2 WARN2 turns ON when the warning that is set in Warning Output 2 Set ting 4022 hex is detected Position Command Status Output PCMD This output turns O...

Page 506: ...e between Lower Limit 3B40 01 hex and Upper Limit 3B40 02 hex of Zone Notification 1 Zone Notification Output 2 turns ON when the present position is within the range between Lower Limit 3B41 01 hex a...

Page 507: ...ects whether to enable or disable the drive pro hibition function 0 Drive prohibition disabled 1 Drive prohibition enabled P 9 60 02 Stop Selection Selects the operation when Positive Drive Prohibi ti...

Page 508: ...By default drive prohibition disabled drive prohibition does not operate is set Set Drive Prohibition Enable 3B10 01 hex to 1 drive prohibition enabled for a system that requires the drive prohibitio...

Page 509: ...ether to enable or disable the software position limit function 0 Positive Disabled Negative Disabled 1 Positive Disabled Negative Enabled 2 Positive Enabled Negative Disabled 3 Positive Enabled Negat...

Page 510: ...s the period in which the running motor decelerates and its speed reaches 30 r min or lower Once the motor speed reaches 30 r min or lower and the operation changes to after stopping the following ope...

Page 511: ...curs set the Position Detection Function Following Error Window 3B50 05 hex to an appropriate value A load on the vertical axis and so forth may fall due to its own weight when the software limit valu...

Page 512: ...lash compensation function operates in the position control 7 5 1 Operating Conditions 7 5 2 Objects Requiring Settings Index hex Subindex hex Name Description Refer ence 3001 Machine P 9 12 02 Backla...

Page 513: ...rvomotor the Servomotor position data acquired via Ether CAT communications is offset by the Backlash Compensation Amount If the Servo is turned OFF when backlash compensation is performed the positio...

Page 514: ...to enable or disable the brake interlock output 0 Disabled 1 1 Enabled P 9 113 02 Timeout at Servo OFF Sets the time from when the OFF state of the operation command is detected the power supply to th...

Page 515: ...ethod to stop refer to Shutdown option code 605B hex Disable operation option code 605C hex and Fault reaction option code 605E hex 60FE Digital outputs P A 61 01 Physical outputs Changes the function...

Page 516: ...ital inputs 60FD 00 hex bit 26 and External Brake Interlock Output Signal Status 4663 81 hex The output status is given to data that are indicated with a check mark in the following table 7 6 2 Descri...

Page 517: ...ke Interlock Output Hardware Delay Time 4610 04 hex The brake attraction time and release time vary depending on the Servomotor brake For details refer to 3 2 Servomotor Specifications on page 3 43 5...

Page 518: ...riod until the value becomes smaller than the set value in the Timeout at Servo OFF 4610 02 hex or the Threshold Speed at Servo OFF 4610 03 hex whichever comes earlier 5 Depends on the set value in Br...

Page 519: ...tor is decelerating the system does not enter the Servo ON state until the motor stops 2 If the main circuit power supply turns OFF while the motor is operating a phase loss error or main circuit unde...

Page 520: ...ay Time 4610 04 hex Note After an error is reset the system enters the Servo OFF state motor not energized To turn ON the Servo after resetting the error send the Servo ON command again according to t...

Page 521: ...version of the NJ NX series CPU Units is 1 10 or earlier some Servomotors cannot be driven at the maximum rotation speed In such a case set the electronic gear ratio of the Servo Drive to 2 1 or highe...

Page 522: ...rotation If you set 3001 05 hex 3001 06 hex to 8 388 608 1 048 576 the operation is the same as the 20 bit Servomotor 1 048 576 pulses per rotation 7 7 2 Operation Example 8 388 608 1 048 576 1 048 5...

Page 523: ...witch the torque limit The torque limit switching function is enabled under the following conditions Position control velocity control and torque control The Servo is ON 7 8 1 Operating Conditions 7 8...

Page 524: ...ue regardless of the settings 7 8 3 Torque Limit Switching Method Torque limit switching selection Positive torque limit Negative torque limit iPCL 1 OFF 1 iPCL Logical OR of the general purpose input...

Page 525: ...Acceleration Time ms Vc 1 000 r min Acceleration Time 0 1 ms Deceleration Time ms Vc 1 000 r min Deceleration Time 0 1 ms 7 9 1 Objects Requiring Settings Index hex Subindex hex Name Description Refe...

Page 526: ...ation Time when the position loop structure with a host controller is used The command first order lag filter is an IIR filter for velocity commands 7 9 3 Velocity Command First order Lag Filter Vc 0...

Page 527: ...the Mode Selec tion is set to 3 P 9 35 03 Speed Sets the speed threshold when Gain 2 switches to Gain 1 This object is enabled when the Mode Selection is set to 3 P 9 35 04 Time Sets the time to swit...

Page 528: ...lter 0 Disabled 1 Enabled P 9 41 02 Cutoff Frequency Sets the cutoff frequency for the filter P 9 41 3234 2nd Torque Command Fil ter Sets the 2nd torque command filter P 9 42 01 Enable Selects whether...

Page 529: ...ction 3232 01 hex 2 Input com mand G SEL If Mode Selection is set to 0 1st Position Control Gain 3213 hex 1st Velocity Control Gain 3223 hex and 1st Torque Command Filter 3233 hex are used If Mode Sel...

Page 530: ...tion Control Delay Time 3212 02 hex elapses After Gain 2 switched to Gain 1 the Gain 1 is held even if overshooting occurs and the motor velocity exceeds the Gain Switching in Position Control Speed 3...

Page 531: ...Input 2 EXT2 6 Encoder Phase Z P 9 68 83 Positive Edge Time Stamp Gives the time which is latched by the Latch Function 1 Touch Probe 1 P 9 68 3B31 Touch Probe 2 P 9 70 01 Touch Probe 2 Source 1 Exter...

Page 532: ...on Select positive logic NO contact or nega tive logic NC contact 0 Positive logic NO contact 1 Negative logic NC contact 60B8 Touch probe function 1 Sets the latch touch probe function P A 55 60B9 To...

Page 533: ...will occur 7 11 2 Trigger Signal Settings Function Description A General purpose input function selection including logic selection Allocation of general purpose input signals and logic selection B T...

Page 534: ...st event Continuous 60B8 hex Bit 1 9 1 Continuous bit 0 8 bit 1 9 bit 4 12 bit 0 8 bit 1 9 Latch position C Last value Touch probe function Ena bit Touch probe function Cont bit Touch probe function E...

Page 535: ...function also supports Z phase outputs The following figure shows the waveforms of two phase pulse outputs with 90 phase difference The maximum pulse output frequency is 4 Mpps The following figure sh...

Page 536: ...he number of output pulses per motor rotation P 9 114 03 Dividing Denominator For applications for which the number of out put pulses per rotation is not an integer when this set value is set to a val...

Page 537: ...t frequency is exceeded a Pulse Output Overspeed Error Error No 28 0 occurs If the Dividing Denominator is not 0 set the values so that Dividing Numerator is equal to or smaller than Dividing Denomina...

Page 538: ...e use of an external drive source when the power supply is OFF and the Dynamic brake is applied The dynamic brake is intended for the stop at the time of an error and therefore it has a short time rat...

Page 539: ...t the dynamic brake for the operation after stopping Use the Stop Selection Shutdown Option Code 3B20 01 hex for setting 3B20 Stop Selection P 9 63 01 Shutdown Option Code Selects the operation for th...

Page 540: ...the P N Voltage drops to the specified value or lower In other cases the Servomotor decelerates to stop according to the setting of Operation A Deceleration stop The decelera tion stop torque is used...

Page 541: ...to perform the deceleration stop when an error occurs If an error that causes the deceleration stop occurs the deceleration stop is per formed according to the setting of Operation A If an error that...

Page 542: ...Distributed Clock DC Mode This function corrects a target position so that the Velocity of Position Command 3010 83 hex becomes equal to the previous velocity When the mode of operation is Cyclic sync...

Page 543: ...Communications Error Period Command Correction Function 7 7 14 2 Operation Example Without this function the target positions will not be corrected and become as follows Velocity of Position Command W...

Page 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 545: ...e outline of the function and examples of operation and con nection 8 1 Safe Torque OFF Function 8 2 8 2 STO Function via Safety Input Signals 8 4 8 2 1 I O Signal Specifications 8 4 8 2 2 Operation E...

Page 546: ...ed On conducting test run When you use Sysmac Studio to perform a test run without EtherCAT cable connection the STO function via EtherCAT communications is disabled temporarily If you need the STO fu...

Page 547: ...gineers must develop your safety related system and install safety products in devices and equipment Prior to machine commissioning verify through testing that the safety products work as expected Car...

Page 548: ...ction Shutdown Option Code 3B20 01 hex Precautions for Correct Use L pulses for self diagnosis of safety equipment When you connect a safety device such as a safety controller or a safety sensor the s...

Page 549: ...l device These are the two cases of errors Both safety inputs 1 and 2 are OFF but the EDM output circuit signal does not turn ON Either or both safety inputs 1 and 2 are ON but the EDM output circuit...

Page 550: ...off 6 ms max 15 ms max PDS state Operation enabled Switched on disabled Brake Interlock Output BKIR Brake released 4610 02 hex 4610 03 hex Brake held T STO status Servo ON OFF Servo ON Dynamic brake...

Page 551: ...utomati cally when a Servo Drive failure is detected through the EDM output The following connection examples show how to connect the safety inputs and the EDM output to the safety controller Wire SF1...

Page 552: ...from the second as shown in the following diagram when you use multiple Servo Drives When a G9SP series safety controller is used you can connect up to four 1S series Servo Drives Connection with a Sa...

Page 553: ...from the Safety Controller Precautions for Correct Use Design programs for the safety controller so that the STO function is not canceled automati cally even when the emergency stop switch is released...

Page 554: ...TO function via EtherCAT communications To use the STO function via EtherCAT communications you need to connect the network and make settings for the EtherCAT master and the Safety CPU Unit Configure...

Page 555: ...e PDO mapping is not changed Use the Operation Authority Verification function in the NJ NX series CPU Unit to enable the security function Set authorities so that synchronization of the transfer oper...

Page 556: ...the following factors Safety CPU Unit cycle time EtherCAT Communications cycle Inactive Active T Reset STO STO command at Safety CPU Unit at Servo Drive at Servo Drive Motor power status Activate STO...

Page 557: ...turned OFF Precautions for Correct Use Design programs for the safety controller so that the STO function is not canceled automatically even when the emergency stop switch is released Timing of Return...

Page 558: ...which the Safe Torque Off function of the 1S series Servo Drive is operated from the Safety CPU Unit Precautions for Correct Use Design programs for the safety controller so that the STO function is n...

Page 559: ...ries Safety CPU Units use the Safety Output Unit s processing time and the slave control period to calculate the safety reaction time and the safety task period respectively Refer to the NX series Saf...

Page 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 561: ...ommand 9 24 9 2 12 3031 hex Velocity Limit in Torque Control 9 24 9 2 13 3040 hex Profile Command 9 25 9 2 14 3041 hex Command Dividing Function 9 26 9 3 Control Method Objects 9 28 9 3 1 3112 hex ODF...

Page 562: ...hex Position Detection Function 9 73 9 7 10 3B51 hex Positioning Completion Notification 9 73 9 7 11 3B52 hex Positioning Completion Notification 2 9 74 9 7 12 3B60 hex Speed Detection Function 9 75 9...

Page 563: ...Input 3 9 120 9 15 13 463B hex Monitor Input 4 9 120 9 15 14 463C hex Monitor Input 5 9 121 9 15 15 463D hex Monitor Input 6 9 121 9 15 16 463E hex Monitor Input 7 9 121 9 15 17 463F hex Monitor Input...

Page 564: ...x name is given Setting range Indicates the range of data that can be set for a writable object Unit Physical units Default setting Default value set before shipment Data attribute The timing when a c...

Page 565: ...ecial object called mirror object is defined A mirror object enables access to the same object from different object numbers Accessing the mirror object and accessing the original object cause the sam...

Page 566: ...cst pp pv hm 02 Control Mode Selection 0 4 bytes INT32 RO csp csv cst pp pv hm 03 Control Method Selection 0 to 1 1 E 1 1 The data attribute is R Updated after the control power is reset or restarted...

Page 567: ...method between TDF two degree of freedom control and ODF one degree of freedom control Description of Set Values Selects whether to enable or disable the extended functions which are supported by the...

Page 568: ...hin limit value 1 Outside limit value Bit 6 Negative Software Limit NSOT 0 Within limit value 1 Outside limit value Bit 7 Velocity Conformity VCMP 0 No velocity conformity 1 Velocity conformity Bit 8...

Page 569: ...s Subindex 82 hex Motor Stop Cause Bit Description 0 Main circuit power supply not turned ON 1 Not Servo ON 2 Drive Prohibition state 3 Software Position Limit state 4 Position command variation is 0...

Page 570: ...pported 1 vl Velocity mode 0 Not supported 2 pv Profile velocity mode 1 Supported 3 tq Profile torque mode 0 Not supported 4 Reserved 0 5 hm Homing mode 1 Supported 6 ip Interpolated position mode 0 N...

Page 571: ...of Operation Set value Description 0 Not specified 1 Profile position mode pp 3 Profile velocity mode pv 6 Homing mode hm 8 Cyclic synchronous position mode csp 9 Cyclic synchronous velocity mode csv...

Page 572: ...81 hex 1 byte U8 RO 01 Inertia Ratio 0 to 30 000 1 1 The default setting is 30 for the unit version 1 3 or earlier 250 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Backlash Com pensation Selection 0 to...

Page 573: ...ject is used to copy values which are calculated in the Servo Drive to the user setting area The optimized parameters of Servo Drive are copied to the user setting area by the writing of 7970 6F63 hex...

Page 574: ...y 03 Positive Dynamic Friction Compensation 84 Negative Dynamic Friction Compensation Display 04 Negative Dynamic Friction Compensation 3321 1st Notch Filter 81 Enable Display 01 Enable 82 Frequency D...

Page 575: ...U8 RO 81 Position Demand Value Command unit 4 bytes INT32 RO csp pp hm 82 Position Demand Inter nal Value Encoder unit 4 bytes INT32 RO csp pp hm 83 Velocity Command unit s 4 bytes INT32 RO csp pp hm...

Page 576: ...mode Gives the following error between the command position and the present position Gives the following error between the command position after interpolation and the present position Sets the comman...

Page 577: ...Position Command Filter Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of operation 3011 Position Com mand Filter Poss...

Page 578: ...Possible 00 Number of entries 02 hex 1 byte U8 RO 01 Damping Filter 1 Selection 0 to 4 0 A 4 bytes INT32 RW csp pp hm 02 Damping Filter 2 Selection 0 to 4 0 A 4 bytes INT32 RW csp pp hm Subindex 01 he...

Page 579: ...9 2 7 3013 hex Damping Filter 1 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3013 Damping Filter 1 Pos...

Page 580: ...hly possible that torque satu ration occurs Subindex 06 hex 3rd Damping Time Coefficient Subindex 07 hex 4th Frequency Subindex 08 hex 4th Damping Time Coefficient 9 2 8 3014 hex Damping Filter 2 Inde...

Page 581: ...2 Sets the trade off with torque required for the vibration suppression time and damping Setting a small value shortens the time to suppress the vibration however it is highly possible that torque sa...

Page 582: ...mand Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of oper ation 3020 Velocity Com mand Possible 00 Number of entries...

Page 583: ...toff frequency for the IIR filter 9 2 10 3021 hex Velocity Command Filter Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Mod...

Page 584: ...ri bute Size Access PDO map Complete access Modes of operation 3030 Torque Com mand Possible 00 Number of entries F2 hex 1 byte U8 RO 81 Torque 0 1 4 bytes INT32 RO cst F1 Target Torque 5 000 to 5 000...

Page 585: ...Profile velocity mode pv Mirror object of 6084 hex Subindex 81 hex Status Set value Description 0 Velocity limit not applied 1 Velocity limit applied 9 2 13 3040 hex Profile Command Index hex Sub ind...

Page 586: ...eriod Mirror object of 60C2 01 hex Sets the index of the interpolation time index period Mirror object of 60C2 02 hex 9 2 14 3041 hex Command Dividing Function Index hex Sub index hex Object name Sett...

Page 587: ...unction Selects the interpolation method for the command in the Cyclic synchronous position mode csp This object is available for the unit version 1 2 or later In the unit version 1 1 or earlier 1st O...

Page 588: ...city feed forward Description of Set Values Sets the low pass filter cutoff frequency in the one degree of freedom velocity feed forward filter 9 3 1 3112 hex ODF Velocity Feed forward Index hex Sub i...

Page 589: ...orque feed forward in the one degree of freedom control Sets the one degree of freedom torque feed forward gain The torque feed forward can improve the responsiveness of the velocity control system Al...

Page 590: ...this object to change the LPF Cutoff Frequency subindex 03 hex from a PDO Sets the operation in the two degree of freedom position control Subindex 02 hex LPF Enable Set value Description 0 Disabled...

Page 591: ...20 10 hex is set to 1 use the Command Following Gain 2 Sets the operation in the two degree of freedom velocity control Subindex 01 hex Command Following Gain Subindex 10 hex Command Following Gain Se...

Page 592: ...Following Gain Selects the command following gain switching method Description of Set Values Sets the cutoff frequency to the velocity command The higher the set value is the higher the following per...

Page 593: ...rror object of 60F4 hex Gives the following error between the command position to the feedback control and the present position in units of encoder 9 4 1 3210 hex Internal Position Command Index hex S...

Page 594: ...on Actual Value Com mand unit 4 bytes INT32 RO csp csv cst pp pv hm 82 Position Actual Internal Value Encoder unit 4 bytes INT32 RO csp csv cst pp pv hm 83 Present Position Time Stamp ns 8 bytes U64 R...

Page 595: ...al Gain subindex 01 hex from a PDO Subindex 01 hex Mode Selection Set value Description 0 Always Gain 1 1 Always Gain 2 2 Gain switching command input via EtherCAT communications 3 Actual motor veloci...

Page 596: ...nd Position Control Gain Possible 00 Number of entries 01 hex 1 byte U8 RO 01 Proportional Gain 0 to 5 000 0 1 Hz 44 29 1 1 The first value is for the Servo Drive with its capacity 3kw or less The sec...

Page 597: ...s the present velocity in units of command s Mirror object of 606C hex Gives the present motor velocity in units of r min Gives the motor acceleration Subindex 82 hex Motor Velocity Subindex 83 hex Co...

Page 598: ...ex 01 hex Mode Selection Set value Description 0 Always Gain 1 1 Always Gain 2 2 Gain switching command input via EtherCAT communications 9 4 9 3223 hex 1st Velocity Control Gain Index hex Sub index h...

Page 599: ...DO Sets the 2nd velocity integral gain This object is intended for PDO assignment Use this object to change the integral gain from a PDO Subindex E1 hex Proportional Gain Command Subindex E2 hex Integ...

Page 600: ...d Possible 00 Number of entries 81 hex 1 byte U8 RO 81 Torque Demand 0 1 2 bytes INT16 R csp csv cst pp pv hm Subindex 81 hex Torque Demand 9 4 12 3231 hex Torque Detection Index hex Sub index hex Obj...

Page 601: ...0 Always 1st Filter 1 Always 2nd Filter 2 Gain switching command input via EtherCAT communications 9 4 14 3233 hex 1st Torque Command Filter Index hex Sub index hex Object name Setting range Unit Defa...

Page 602: ...Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3234 2nd Torque Command Filter Possible 00 Number of entries E1 hex 1 byte U8 RO...

Page 603: ...mpen sation Possible 00 Number of entries 84 hex 1 byte U8 RO 01 Viscous Friction Coefficient 0 to 10 000 0 1 0 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Unbalanced Load Compensa tion 1 000 to 1 000...

Page 604: ...to 1 update with the estimation result Gives the amount of dynamic friction compensation in the positive direction that is currently set The value is updated automatically when Load Characteristic Est...

Page 605: ...ated torque 9 5 2 3320 hex Adaptive Notch Filter Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3320 Ada...

Page 606: ...i bute Size Access PDO map Complete access Modes of opera tion 3321 1st Notch Filter Possible 00 Number of entries 84 hex 1 byte U8 RO 01 Enable 0 to 1 0 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Fre...

Page 607: ...alue is updated automatically when the notch filter is specified in Adaptive Notch Filter Adaptive Notch Selection 3320 01 hex Gives the Q value that is currently set in the 1st notch filter The value...

Page 608: ...i bute Size Access PDO map Complete access Modes of opera tion 3322 2nd Notch Filter Possible 00 Number of entries 84 hex 1 byte U8 RO 01 Enable 0 to 1 0 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Fre...

Page 609: ...alue is updated automatically when the notch filter is specified in Adaptive Notch Filter Adaptive Notch Selection 3320 01 hex Gives the Q value that is currently set in the 2nd notch filter The value...

Page 610: ...ri bute Size Access PDO map Complete access Modes of operation 3323 3rd Notch Filter Possible 00 Number of entries 84 hex 1 byte U8 RO 01 Enable 0 to 1 0 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Fre...

Page 611: ...alue is updated automatically when the notch filter is specified in Adaptive Notch Filter Adaptive Notch Selection 3320 01 hex Gives the Q value that is currently set in the 3rd notch filter The value...

Page 612: ...i bute Size Access PDO map Complete access Modes of opera tion 3324 4th Notch Filter Possible 00 Number of entries 84 hex 1 byte U8 RO 01 Enable 0 to 1 0 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Fre...

Page 613: ...alue is updated automatically when the notch filter is specified in Adaptive Notch Filter Adaptive Notch Selection 3320 01 hex Gives the Q value that is currently set in the 4th notch filter The value...

Page 614: ...ue 0 to 5 000 0 1 5 000 A 2 bytes U16 RW csp csv cst pp pv hm 04 Negative Torque Limit Value 0 to 5 000 0 1 5 000 A 2 bytes U16 RW csp csv cst pp pv hm 05 Positive Torque Limit Value 2 0 to 5 000 0 1...

Page 615: ...the same as the Negative torque limit value 60E1 hex Set this object when you use the limit value without mapping 60E1 hex to a PDO Sets the positive torque limit value 2 Sets the negative torque limi...

Page 616: ...hm 03 Speed During Search for Switch 1 to 2 147 483 647 Command unit s 5 000 A 4 bytes U32 RW hm 04 Speed During Search for Zero 1 to 2 147 483 647 Command unit s 5 000 A 4 bytes U32 RW hm 05 Homing A...

Page 617: ...09A hex Sets the offset value from the home of the absolute encoder to the zero position of the Position actual value Mirror object of 607C hex Subindex 02 hex Homing Method Set value Description 0 No...

Page 618: ...r not started 1 During Homing Bit 1 Homing Completion 0 Not completed 1 Completed Bit 2 Target Position Reached 0 Not reached 1 Reached Bit 3 Homing Error 0 No error 1 Occurred Subindex 82 hex Homing...

Page 619: ...0E3 04 hex Gives the number of the supported homing method Mirror object of 60E3 05 hex Gives the number of the supported homing method Mirror object of 60E3 06 hex Gives the number of the supported h...

Page 620: ...ze Access PDO map Complete access Modes of operation 3B10 Drive Prohibition Possible 00 Number of entries 02 hex 1 byte U8 RO 01 Enable 0 to 1 0 E 4 bytes INT32 RW 02 Stop Selection 2 or 4 2 E 4 bytes...

Page 621: ...name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3B11 Software Posi tion Limit Possible 00 Number of entries 81 hex 1 byte U8 RO 01 Enab...

Page 622: ...stop position PDS state Operation enabled Following error state Clear at the start of deceleration and at the stop Hold after stopping 4 1 1 A Software Limit Exceeded Error No 34 00 is generated Dece...

Page 623: ...Code 6 to 0 4 C 2 bytes INT16 RW 03 Halt Option Code 1 to 3 1 C 2 bytes INT16 RW pp pv hm 04 Fault Reaction Option Code 7 to 0 4 C 2 bytes INT16 RW Subindex 01 hex Shutdown Option Code Set value Dece...

Page 624: ...s from the deceleration operation to the operation after stopping The following error is cleared for all set values Mirror object of 605C hex Description of Set Values Precautions for Correct Use When...

Page 625: ...n changes from the deceleration operation to the operation after stopping The following error is cleared for all set values after the Servomotor stops Mirror object of 605D hex Description of Set Valu...

Page 626: ...alue Deceleration operation Operation after stopping 7 Operation A 1 1 Operation A and B indicate whether or not to perform the deceleration stop when an error occurs If an error that causes the decel...

Page 627: ...20 04 hex set to 7 to 4 f When deceleration is performed with Software Position Limit Stop Selection 3B11 02 hex set to 2 Sets the Latch Function 1 Touch Probe 1 Refer to 7 11 Touch Probe Function Lat...

Page 628: ...nction 1 Touch Probe 1 Gives the position which is latched on the positive edge by the Latch Function 1 Touch Probe 1 Mirror object of 60BA hex Subindex 01 hex Touch Probe 1 Source Set value Descripti...

Page 629: ...Values Subindex F1 hex Setting Set value Description Bit 0 Enable or disable Latch Function 1 0 Disabled 1 Enabled Bit 1 Latch 1 operation 0 Latch on the first trigger only 1 Latch continuously on eve...

Page 630: ...t Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3B31 Touch Probe 2 Possible 00 Number of entries F1 hex 1 byte U8 RO 01 Touch Probe 2 Source 1 to 6 2 A 2 byte...

Page 631: ...d 1 Enabled Bit 9 Latch 2 operation 0 Latch on the first trigger only 1 Latch continuously on every trigger input Bit 10 and 11 Latch 2 trigger input signal switch 00 EXT2 01 Phase Z 10 Follow the set...

Page 632: ...Enabled upper limit greater than lower limit 9 7 8 3B41 hex Zone Notification 2 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete acce...

Page 633: ...index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of oper ation 3B50 Position Detec tion Function Possible 00 Number of entries 05 hex...

Page 634: ...ndex hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of oper ation 3B52 Positioning Com pletion Notifica tion 2 Possible 00 Number of entri...

Page 635: ...Function Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3B60 Speed Detection Function Possible 00 Number...

Page 636: ...tion function Sets the vibration detection level If torque vibration more than or equal to this set value is detected the Motor Vibration Warning Error No A6 00 is output Subindex 04 hex Excessive Spe...

Page 637: ...Runaway Detected occurs Precautions for Correct Use If the gain is lower than the default setting the runaway detection function may not work If 1st Torque Command Filter Cutoff Frequency 3233 02 hex...

Page 638: ...Number of entries FF hex 1 byte U8 RO 01 Inertia Ratio Update Selection 0 to 1 1 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Viscous Friction Compensation Update Selection 0 to 1 0 A 4 bytes INT32 RW c...

Page 639: ...t 100 Selects the sensitivity to estimate load characteristics from load changes during the load characteris tic estimation The higher the set value is the earlier the load characteristic change is fo...

Page 640: ...Built in EtherCAT Communications User s Manual I586 Gives the execution status of the load characteristic estimation Description of Set Values Subindex FF hex Estimation Status Set value Description...

Page 641: ...f the latest existing error or warning which exists in the Servo Drive When more than one error or warning occurs at the same time the highest priority one is given The given error is from the manufac...

Page 642: ...lection 0 to FFFFFFFF hex 0 hex R 4 bytes INT32 RW 03 Warning Mask 3 Selection 0 to FFFFFFFF hex 0 hex R 4 bytes INT32 RW 04 Warning Hold Selection 0 to 7 hex 0 hex R 4 bytes INT32 RW 05 Warning Level...

Page 643: ...omatically cleared when the cause of the warning is eliminated However the warning is held for at least 1 second 1 Hold the warning enabled in Warning Mask 1 Selection After the cause of the warning i...

Page 644: ...ications User s Manual I586 Changes the warning level When a bit is set to 1 the level of the corresponding warning is set as the error Description of Set Values Subindex 07 hex Warning Level Change 3...

Page 645: ...nit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 4021 Warning Output 1 Setting Possible 00 Number of entries 03 hex 1 byte U8 RO 01 Selection 1 0 to FFFFFFFF...

Page 646: ...nge Unit Default setting Data attri bute Size Access PDO map Complete access Modes of oper ation 4022 Warning Output 2 Setting Possible 00 Number of entries 03 hex 1 byte U8 RO 01 Selection 1 0 to FFF...

Page 647: ...e level of the corresponding information is set as the error Description of Set Values 9 8 5 4030 hex Information Customization Index hex Sub index hex Object name Setting range Unit Default setting D...

Page 648: ...nsion If the size of the set object is four bytes or more lower four bytes of the object will be given Precautions for Correct Use Objects whose data type is BOOL U or INT can be set in Target Object...

Page 649: ...a attri bute Size Access PDO map Complete access Modes of operation 4120 EtherCAT Com municationsError Count Possible 00 Number of entries F1 hex 1 byte U8 RO 81 Error Count 4 bytes U32 RO F1 Error Co...

Page 650: ...cription of Set Values Subindex 81 hex Safety Status Set value Description Bit 0 STO status 0 STO is not active 1 STO is active Subindex 91 hex Safety Controlword 1st Byte Set value Description Bit 0...

Page 651: ...02 hex Subindex A2 hex Safety Statusword 2nd Byte Set value Description Bit 7 Gives the safety connection status 0 Without safety connection 1 With safety connection Subindex B1 hex FSoE Address 9 9 4...

Page 652: ...cution It is used for the input to the Activate terminal of Safety FB or connection disconnection applications of the safety equipment Mirror object of E601 01 hex Gives an error of the safety functio...

Page 653: ...6 4140 hex Lifetime Information Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 4140 Lifetime Infor mati...

Page 654: ...data is saved in the non volatile memory approximately every hour Gives the total time when the motor is not in a stop state The data is saved in the non volatile memory approximately every hour Give...

Page 655: ...ratio is the ratio of the current to the rated current Subindex FF hex Clear Status Set value Description Bit 0 Status of Motor Operating Time Clear 0 Clear is not executed or completed 1 Clear in ex...

Page 656: ...ications User s Manual I586 Gives the load ratio of the motor The value of load ratio is the average of the last five seconds The value of load ratio is the ratio of the current to the rated current S...

Page 657: ...a to be displayed on the 7 segment display on the front panel Description of Set Values Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Compl...

Page 658: ...or 9 11 1 4310 hex Regeneration Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of oper ation 4310 Regeneration Possibl...

Page 659: ...ely five milliseconds longer than the interruption time Selects whether to enable or disable the phase loss detection function for the 3 phase power supply The model for both single and 3 phase power...

Page 660: ...he electric charge in the capacitor is discharged through the internal or external regeneration resistor by turning the main circuit power supply OFF while the control power supply is ON Description o...

Page 661: ...time Gives the type of connected motor Mirror object of 6402 hex 9 12 1 4410 hex Motor Identity Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO...

Page 662: ...r operation Subindex 92 hex Motor Manufacturer Subindex F1 hex Motor Setup Subindex FF hex Setup Status Set value Description 0 Setup is not executed or completed 1 Setup in execution 9 12 2 4412 hex...

Page 663: ...ed ON and follow command after Servo ON Velocity Detection Velocity Actual Value 3221 81 hex Velocity Detection Present Motor Velocity 3221 82 hex They interlocks with the change of the present positi...

Page 664: ...ng Level 0 to 32 767 rotation 32 000 A 4 bytes INT32 RW 81 Serial Number 16 bytes VS RO 82 Resolution per Rotation 4 bytes INT32 RO 84 One rotation Data Encoder unit 4 bytes U32 RO 85 Multi rotation D...

Page 665: ...m the motor load side Obtains the total number of encoder errors via serial communications Gives the electric angle In the counterclockwise rotation 0 indicates the position which is the zero cross po...

Page 666: ...Error Count Clear is executed by the writing of 1 to this object Gives the status of the multi rotation counter of the absolute encoder and Encoder Communications Error Count Clear Description of Set...

Page 667: ...Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 4600 I O Monitor Possible 00 Number of entries 81 hex 1 byte U8 RO 81 Physical I O 4 bytes INT32 RO TxPDO...

Page 668: ...x 1 byte U8 RO 81 Monitor Input 4 bytes INT32 RO TxPDO 82 Digital inputs 4 bytes U32 RO Subindex 81 hex Monitor Input Bit Signal name Symbol 0 Monitor Input 1 MON1 1 Monitor Input 2 MON2 2 Monitor Inp...

Page 669: ...MON2 0 OFF 1 ON 22 Monitor Input 3 MON3 0 OFF 1 ON 23 Positive Torque Limit Input PCL 0 OFF 1 ON 24 Negative Torque Limit Input NCL 0 OFF 1 ON 25 Error Stop Input ESTP 0 OFF 1 ON 26 Brake Interlock Ou...

Page 670: ...Physical Out puts 00000000 to FFFFFFFF hex 00000001 hex 1 1 If the unit version is 1 1 or earlier the default setting is 0000 0000 hex A 4 bytes U32 W Subindex 01 hex Bit Mask Bit Signal Symbol Value...

Page 671: ...Gain Switching G SEL 0 Gain 1 1 Gain 2 28 NO Contact Brake Interlock Output 1 BKIR_a 0 Brake held 1 Brake released 1 This bit is available for the unit version 1 4 or later 9 14 4 4604 hex Control In...

Page 672: ...es 9 14 5 4605 hex Control Output Change Count Index hex Subindex hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of oper ation 4605 Contro...

Page 673: ...ay be detected earlier and this may cause the Brake Interlock Output BKIR to turn OFF brake is held If the Brake Interlock Output BKIR is turned OFF brake is held because the set value of Timeout at S...

Page 674: ...is longer Sets the encoder dividing pulse output Selects whether to enable or disable the encoder dividing pulse output function Description of Set Values Sets the number of output pulses per motor ro...

Page 675: ...lses per motor rotation can be set with the dividing ratio which is calculated from the dividing numerator and dividing denom inator Description of Set Values Selects whether to reverse the encoder di...

Page 676: ...lects the port to be allocated Description of Set Values Sets 0 positive logic NO contact or 1 negative logic NC contact Description of Set Values Gives the signal status Description of Set Values 9 1...

Page 677: ...RW 02 Logic Selection 0 to 1 1 R 4 bytes INT32 RW 81 Signal Status 4 bytes INT32 RO 9 15 3 4631 hex Negative Drive Prohibition Input Index hex Sub index hex Object name Setting range Unit Default sett...

Page 678: ...l Status 4 bytes INT32 RO 9 15 6 4634 hex Home Proximity Input Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera...

Page 679: ...2 RW 02 Logic Selection 0 to 1 0 R 4 bytes INT32 RW 81 Signal Status 4 bytes INT32 RO 9 15 9 4637 hex Error Stop Input Index hex Sub index hex Object name Setting range Unit Default setting Data attri...

Page 680: ...Status 4 bytes INT32 RO 9 15 12 463A hex Monitor Input 3 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of operation 4...

Page 681: ...0 to 1 0 R 4 bytes INT32 RW 81 Signal Status 4 bytes INT32 RO 9 15 15 463D hex Monitor Input 6 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO m...

Page 682: ...7 463F hex Monitor Input 8 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of operation 463F Monitor Input 8 Possible 0...

Page 683: ...are com mon to all general purpose outputs Selects the port to be allocated Description of Set Values Sets 0 positive logic NO contact or 1 negative logic NC contact Description of Set Values Gives th...

Page 684: ...2 RW 81 Signal Status 4 bytes INT32 RO 9 16 3 4651 hex Servo Ready Output Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Mod...

Page 685: ...RW 02 Logic Selection 0 to 1 0 R 4 bytes INT32 RW 81 Signal Status 4 bytes INT32 RO 9 16 6 4654 hex Velocity Attainment Detection Output Index hex Sub index hex Object name Setting range Unit Default...

Page 686: ...81 Signal Status 4 bytes INT32 RO 9 16 9 4657 hex Velocity Conformity Output Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access...

Page 687: ...1 0 R 4 bytes INT32 RW 81 Signal Status 4 bytes INT32 RO 9 16 12 465A hex Velocity Limiting Output Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PD...

Page 688: ...al Status 4 bytes INT32 RO 9 16 15 465D hex Remote Output 2 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera ti...

Page 689: ...Selection 0 to 1 0 R 4 bytes INT32 RW 81 Signal Status 4 bytes INT32 RO 9 16 18 4660 hex Zone Notification Output 2 Index hex Sub index hex Object name Setting range Unit Default setting Data attri b...

Page 690: ...4662 Distribution Com pleted Output Possible 00 Number of entries 81 hex 1 byte U8 RO 01 Port Selection 0 to 7 0 R 4 bytes INT32 RW 02 Logic Selection 0 to 1 0 R 4 bytes INT32 RW 81 Signal Status 4 by...

Page 691: ...dure 10 2 10 2 Preparing for Operation 10 3 10 2 1 Items to Check Before Turning ON the Power Supply 10 3 10 2 2 Turning ON the Power Supply 10 4 10 2 3 Checking the Displays 10 5 10 2 4 Absolute Enco...

Page 692: ...ied installation and wiring conditions particularly for models that conforms to the EU Directives Section 4 4 2 Preparing for operation Check the necessary items and then turn ON the commercial power...

Page 693: ...e Servomotor Do not connect mechanical systems The Servomotor side power lines and the power cables must be securely connected The encoder cable must be securely connected to the encoder connector CN2...

Page 694: ...ntrol It is enabled the next time the Unit power supply is turned ON Turn ON the control circuit power after you finish the checks which you must conduct before turning ON the power supply You can tur...

Page 695: ...displayed if an error occurs A warning code is displayed if a warning occurs 10 2 3 Checking the Displays 7 segment LED Display Control circuit power ON Fully OFF Fully ON Node address set value of th...

Page 696: ...Display example 0 to 255 Expressed as 2 digit hexa decimal numbers from 0 to FF 256 to 511 The dot of the indicator is lit The address is expressed as numbers from 0 to F F 512 or more Expressed as 0...

Page 697: ...the Servo is OFF Be sure to execute the Unit Restart or cycle the power supply after you finish the setup For information on setup using the Sysmac Studio refer to the Sysmac Studio Drive Functions Op...

Page 698: ...y input and motor output Make sure that there are no short circuits Check the ground for short circuits as well Make sure that there are no loose connections Make sure that the EtherCAT cable is pulle...

Page 699: ...e pp or Profile velocity mode pv If the torque compensation is set the axes move because the compensation command is out put when the Servo is turned ON When you perform a test run via USB communicati...

Page 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 701: ...Tuning 11 10 11 4 Manual Tuning 11 11 11 4 1 Objects That Are Set 11 11 11 4 2 Executing Manual Tuning 11 11 11 5 Data Trace 11 12 11 6 FFT 11 13 11 7 Damping Control 11 14 11 7 1 Objects Requiring Se...

Page 702: ...r s Manual I586 11 11 Friction Torque Compensation Function 11 26 11 11 1 Operating Conditions 11 26 11 11 2 Objects Requiring Settings 11 26 11 11 3 Operation Example 11 27 11 12 Feed forward Functio...

Page 703: ...tment functions 11 1 1 Adjustment Methods Adjustment Function of Sysmac Studio Function Description Reference Easy Tuning Adjusts the gain automatically while motor operation is repeated Use this func...

Page 704: ...11 23 Friction Torque Compensa tion Reduces the influence of mechanical frictions P 11 26 Feed forward Uses the velocity and torque feed forward to increase responsive ness P 11 29 Damping Control Red...

Page 705: ...stem responsiveness cannot be set high for machines with a low resonance fre quency low machine rigidity To improve machine rigidity Install the machine on a secure base so that it does not have any p...

Page 706: ...t are set when the easy tuning is executed The values of the following objects are adjusted automatically when the easy tuning is executed 11 2 1 Objects That Are Set Objects That Are Adjusted Automat...

Page 707: ...mpensation P 9 43 03 Positive Dynamic Friction Compensation P 9 43 04 Negative Dynamic Friction Compensation P 9 44 3320 Adaptive Notch Filter P 9 45 01 Adaptive Notch Selection P 9 45 3321 1st Notch...

Page 708: ...tuning also may not operate properly Refer to 11 8 Load Characteristic Estimation on page 11 18 and 11 9 Adaptive Notch Filter on page 11 21 for details Objects That Are Set to Fixed Values Index hex...

Page 709: ...d Filter P 9 17 03 IIR Filter Enable P 9 17 04 IIR Filter Cutoff Frequency P 9 17 3112 ODF Velocity Feed forward P 9 28 01 Gain P 9 28 02 LPF Enable P 9 28 03 LPF Cutoff Frequency P 9 28 3113 ODF Torq...

Page 710: ...ed tuning For how to use refer to the Sysmac Studio Drive Functions Operation Manual Cat No I589 3323 3rd Notch Filter P 9 50 01 Enable P 9 50 02 Frequency P 9 50 03 Q value P 9 50 04 Depth P 9 51 332...

Page 711: ...bjects That Are Set Objects That Are Changed According to Set Values for Machine Rigidity Index hex Subindex hex Name Reference 3011 Position Command Filter P 9 17 04 IIR Filter Cutoff Frequency P 9 1...

Page 712: ...regular intervals and displays the tracing results by the use of the Sysmac Studio For 1S series Servo Drives the data trace on single Servo Drive and the synchronized data trace on multiple Servo Dr...

Page 713: ...with Built in EtherCAT Communications User s Manual I586 11 6 FFT 11 11 6 FFT When you use the Sysmac Studio you can measure the frequency characteristics of velocity closed loop For how to use refer...

Page 714: ...ition Precautions for Correct Use If you change the operation mode while damping control is used stop the Servomotor before you change the mode Changing the operation mode during motor operation may r...

Page 715: ...the same as 01 hex P 9 20 08 4th Damping Time Coefficient The function is the same as 02 hex P 9 20 3014 Damping Filter 2 Sets the damping filter 2 P 9 20 01 1st Frequency Sets the damping frequency...

Page 716: ...mping Filter 1 Selection 01 hex of Damping Control 3012 hex to 1 If vibration persists after you set the frequency increase or decrease the damping frequency to find a proper frequency at which vibrat...

Page 717: ...g Control 11 11 7 3 Setting Frequency with Sysmac Studio When you use a function of the Sysmac Studio you can set the damping control easily based on the vibration frequency that is detected automatic...

Page 718: ...rol Precautions for Correct Use The Load Characteristic Estimation function may not operate properly under the following conditions In such cases set the related objects manually Conditions that inter...

Page 719: ...whether to estimate load characteristics and update a value of the dynamic friction compensation 0 Use the present set value 1 Update with the estimation result P 9 79 05 Viscous Friction Tun ing Coe...

Page 720: ...te Optimized Parameters Apply Parameters 3002 F1 hex and Store Parameters 1010 01 hex Precautions for Correct Use If the value that is set in the Inertia Ratio 3001 01 hex is extremely different from...

Page 721: ...3323 hex 4th Notch Filter 3324 hex Frequency Display Subindex 82 hex Q value Display Subindex 83 hex and Depth Display Subindex 84 hex Refer to 11 10 Notch Filters on page 11 23 for information on not...

Page 722: ...This is not an error if it disappears right away If the vibration or unusual noise however continues for three or more reciprocating operations take the following measures in the possible order Write...

Page 723: ...tion and noise Thus you may not be able to set a high gain The notch filter suppresses the resonance peak to reduce vibration and noise and allows you to set a high gain The 1S series Servo Drives pro...

Page 724: ...hex P 9 48 04 Depth Sets the notch depth of the 2nd resonance suppression notch filter The function is the same as 3321 hex P 9 49 3323 3rd Notch Filter Sets the 3rd resonance suppression notch filter...

Page 725: ...f you want to set the objects for the notch filter manually disable Adaptive Notch Filter This section explains how to set width and depth of the notch filter Use Q value to set the notch filter width...

Page 726: ...ons for Correct Use If the update selection of the Load Characteristic Estimation is set to 1 the friction torque compensation is set automatically If you want to set the torque compensation manually...

Page 727: ...ful when a constant amount of unbalanced load torque is always applied to the Servomotor at axes such as a vertical axis By setting the friction torque for each rotation direction in Positive Dynamic...

Page 728: ...on Compensation together or separately Take note that the following use limit is applied depending on the operation mode switching or servo ON condition During torque control The friction torque compe...

Page 729: ...internal command is for the target position P 9 31 10 Command Following Gain Selection 1 1 These objects are available for the unit version 1 1 or later Selects the command following gain switching me...

Page 730: ...gets This trade off between the overshooting suppression and internal command delay is adjusted with the command following gain The smaller the set value of Command Following Gain is the more the ove...

Page 731: ...locity feed forward gain 11 12 2 Feed forward Control in ODF Control ODF Control related Objects Index hex Subindex hex Name Description Refer ence 3112 ODF Velocity Feed forward Sets the velocity fee...

Page 732: ...forward Gain 3113 01 hex little by little Since the following error during constant acceleration deceleration can be close to 0 it can be controlled almost to 0 throughout the entire operation range i...

Page 733: ...ions When a Problem Occurs 12 3 12 1 3 Replacing the Servomotor or Servo Drive 12 4 12 2 Warnings 12 6 12 2 1 Related Objects 12 6 12 2 2 Warning List 12 8 12 3 Errors 12 10 12 3 1 Error List 12 10 12...

Page 734: ...Check the error display and make an analysis based on the error that is indicated Refer to 12 5 1 Troubleshooting Using Error Displays on page 12 16 When an Error Does Not Exist Make an analysis accor...

Page 735: ...e to conduction via bypassing circuit If the encoder signal is lost the Servomotor may run away or an error may occur Be sure to discon nect the Servomotor from mechanical systems before you check the...

Page 736: ...ysmac Studio you can clear the Motor Operating Time retained by the Servo Drive 1 Take a record of all object settings Use the Sysmac Studio to read all of the servo parameters in the Parameters tab p...

Page 737: ...io and go online with the Servo Drive via EtherCAT or USB communica tions 2 In the Sysmac Studio right click the target Servo Drive under Configurations and Setup and select Motor and Encoder 3 Click...

Page 738: ...of the error 12 2 1 Related Objects Index hex Subindex hex Name Description Refer ence 4020 Warning Customi zation Sets the warning detection function P 9 82 01 Warning Mask 1 Selection When a bit is...

Page 739: ...second 1 Hold the warning enabled in Warning Mask 3 Selection After the cause of the warning is eliminated the error reset command must be sent P 9 83 05 Warning Level Change 1 Selec tion When a bit i...

Page 740: ...erfor mance decreases Bit 11 A4 00 Encoder Communications Warning Encoder communications errors occurred in series more frequently than the specified value Bit 2 A6 00 Motor Vibration Warning The moto...

Page 741: ...warning may be recorded in the error history if the power supply to the 1S series Servo Drive is turned OFF immediately after the power supply to the master unit is turned OFF EtherCAT Communications...

Page 742: ...r supply immediately 12 3 1 Error List Error No Error name Attribute Main hex Sub hex Can be reset 1 Deceleration operation 2 12 00 Overvoltage Error B 13 00 Main Power Supply Undervoltage insufficien...

Page 743: ...or Yes A 02 EtherCAT Illegal State Change Error Yes A 03 Communications Synchronization Error Yes A 04 Synchronization Error Yes 6 A 05 Sync Manager WDT Error Yes A 06 Bootstrap State Transition Reque...

Page 744: ...on operation shows the operation Operation A or Operation B that is used when Fault reac tion option code 605E hex is set to 4 to 7 3 This error can occur in the unit version 1 2 only 4 This error can...

Page 745: ...E 00 Fault reaction option code Sets the state during deceleration and after stopping for when an error occurs P A 46 3B21 Deceleration Stop Sets the torque for deceleration stop P 9 67 01 Torque Sets...

Page 746: ...lection Sets the level change of information When a bit is set to 1 the level of the corresponding informa tion is set as the error Bit 0 STO P 9 87 12 4 2 Information List Error No Information name W...

Page 747: ...ion identify the cause of the error and take appropriate measures as shown below For the error occurrence check its frequency timing and the environment in which the error occurred You can reduce erro...

Page 748: ...Replace the external resistor The External Regenera tion Resistor is set or selected inappropriately Confirm the necessary regeneration processing capacity and connect an appropriate External Regenera...

Page 749: ...entary decrease in voltage Servo Drive failure If this event occurs again after you performed all corrections shown above replace the Servo Drive When there is a failure in inrush current prevention c...

Page 750: ...ountermeasures Servo Drive failure If this event occurs again after you performed all corrections shown above replace the Servo Drive 01 Power Mod ule Error An error was detected in the power module T...

Page 751: ...ation Resistor is correct Wait until the voltage between P and N1 goes to less than 1 V to check the resistance value between P and N1 If it is less than 10 k replace the Servo Drive Wait until the vo...

Page 752: ...specified range Encoder failure Replace the motor if this event occurs repeatedly 16 00 Overload Error The load ratio of Servo Drive or motor 4105 81 hex exceeded 100 Operation was contin ued for a l...

Page 753: ...s regenerative braking The Regeneration Resistor cannot be used for continuous regenera tive braking The applied power sup ply voltage is higher than the specified value Apply the specified power supp...

Page 754: ...the direction opposite to the command There is incorrect wir ing of the motor cable or a broken cable Connect the motor cable as shown in the wiring diagram If the cable is broken replace it Or conne...

Page 755: ...low ing error window to an acceptable range 01 Excessive Speed Devia tion Error The speed deviation is greater than or equal to the value set in the Excessive Velocity Deviation Detection Level The mo...

Page 756: ...y not be fol lowed depending on operation patterns In that case change the operation pattern by increasing the acceleration deceleration time or the like The motor is rotated or limited on the operati...

Page 757: ...self diagnosis of the safety function False detection due to a data read error that was caused by excessive noise If this event does not occur after you cycled the power supply use the product continu...

Page 758: ...Prohibition Input NOT is wired incorrectly If the cable is broken replace it Incorrect setting of the Drive Prohibition Input Review the setting of the drive pro hibition input port and set it cor rec...

Page 759: ...faulty Replace the motor 58 00 Main Circuit Temperature Monitoring Circuit Fail ure A temperature monitoring circuit failure was detected on the main circuit If this event occurs repeatedly after you...

Page 760: ...process data communications were not established with the Safety CPU Unit because an incorrect frame was received An incorrect frame was received in safety pro cess data communica tions The Servo Driv...

Page 761: ...ications cable Failure of the EtherCAT physical layer of a Servo Drive If this event occurs again after you performed all corrections shown above replace the Servo Drive 04 Synchroniza tion Error A si...

Page 762: ...s event does not occur after you cycled the power supply use the product continuously It is sup posed that a temporary error occurred due to a read error If this event occurs again the Servo Drive is...

Page 763: ...on periods An error occurs if you map a larger number of objects than that speci fied above This error is also detected in the following case the cycle time is an integral multiple of 125 s and is not...

Page 764: ...nd then download it to the EtherCAT master again 08 TxPDO Map ping Error An incorrect TxPDO was set such as out of the allowable range of Index Subindex or size This error is detected when the followi...

Page 765: ...support the communications period The electronic gear ratio was not 1 1 when the communications period was set to 125 s Correct the electronic gear ratio to 1 1 or set the communications period to lo...

Page 766: ...lease it Increase in friction Check machine conditions and remove the cause of the friction A1 00 Regenera tion Over load Warning The Regeneration Load Ratio 4310 81 hex exceeded 85 of the regeneratio...

Page 767: ...coder cable Separate the motor cable and the encoder cable if they are bundled together Connect the shield to FG Check that the motor ground wire is connected to FG Contact failure of the encoder cabl...

Page 768: ...power supply was turned ON Perform the Lifetime Information Clear Note that the lifetime may not be detected correctly after the clear operation because the value of life time information is cleared I...

Page 769: ...eceived in the Profile position mode Set a supported value for bit 5 and 6 in the Controlword B2 00 EtherCAT Communica tions Warning An EtherCAT communi cations error occurred more than one time An Et...

Page 770: ...n to unsupported Bootstrap was requested by the EtherCAT master Check the EtherCAT master setting so that the EtherCAT master does not request the transition to Boot strap 0014 SII Verifica tion Error...

Page 771: ...the total size of objects mapped as the variable PDOs exceeds the maximum size If 1710 hex is not mapped while 1B10 hex is mapped in 1710 hex 1B10 hex mapping If there were too many or too little data...

Page 772: ...de operation setting Check the DC Mode setting and then download it to the EtherCAT master again 0034 Communica tions Synchro nization Error Communications were not established consecutively because t...

Page 773: ...ber of objects is more than the maximum number of mapped objects for the cycle time Set the number of objects to a value smaller than the maximum number of mapped objects for the cycle time The cycle...

Page 774: ...rm inspection If the Servo Drive is faulty replace it An error occurred Read the error number and the error log Check the cause listed in 12 5 1 Troubleshooting Using Error Displays on page 12 16 The...

Page 775: ...Negative Drive Prohi bition Input NOT is OFF Check the ON OFF state of the POT and NOT signals from the Sysmac Studio Turn ON the POT and NOT signals Disable them in the settings when the POT and NOT...

Page 776: ...tions under which the runaway detection function cannot work are satisfied The holding brake does not work Power is supplied to the hold ing brake Check to see if power is sup plied to the holding bra...

Page 777: ...eck if manual tuning can achieve proper adjustment The load inertia is too large Check the load inertia Check the Servomotor rota tion speed Review the load inertia Replace the Servomotor and Servo Dr...

Page 778: ...bration fre quency is 100 Hz or lower If the frequency is 100 Hz or lower set the correct damping frequency for the damping filter to eliminate the vibration Vibration occurs due to machine resonance...

Page 779: ...the encoder cable Shorten the encoder cable to less than 50 m Noise is entering into the signal lines because the encoder cable is stuck or the sheath is damaged Check the encoder cable for damage Cor...

Page 780: ...trol sig nal lines and power supply lines are bound together Separate control signal lines from power supply lines Use a low impedance power supply for control signals The command velocity or torque i...

Page 781: ...User s Manual I586 This section explains maintenance and inspection of the Servomotors and Servo Drives 13 1 Periodic Maintenance 13 2 13 2 Servo Drive Lifetime 13 3 13 3 Servomotor Lifetime 13 4 13...

Page 782: ...pply Phase Loss Error Error No 13 01 does not occur and the Servo Drive operates That causes shortening of parts life of the Servo Drive Therefore measure the conductivity of the terminals between L1...

Page 783: ...e design life expectancy is ten years The use of the Servo Drive in a hot environment shortens its lifetime We recommend that the ambi ent temperature and the power supply ON time be reduced as much a...

Page 784: ...ok such as timing pulley the radial load during motor opera tion is generally two or more times the static load Consult with the belt and pulley manufacturers to adjust designs and system settings so...

Page 785: ...power supply to Servo Drive A and B If the L A OUT indicator of Servo Drive A and the L A IN indicator of Servo Drive B are ON the ring disconnection status has been fixed If the L A IN and L A OUT in...

Page 786: ...power supply 6 Turn ON the power supply to the devices and then establish EtherCAT communications Connect the EtherCAT communications cables correctly and turn ON the power supply to the EtherCAT mast...

Page 787: ...Dictionary Area A 12 A 2 2 Data Type A 12 A 2 3 Object Description Format A 13 A 2 4 Communication Objects A 14 A 2 5 PDO Mapping Objects A 20 A 2 6 Sync Manager Communication Objects A 35 A 2 7 Manu...

Page 788: ...ails on the states and State Control Commands on page A 3 for details on the state control Note Quick stop active state is not supported Even if a Quick stop command is received it will be ignored A 1...

Page 789: ...cause determination is in progress Servo Drive parameters can be set Fault There is an error in the Servo Drive Servo Drive parameters can be set State Control Commands Command Controlword bit Move t...

Page 790: ...d a Command Warning will occur State Coding Status Bit 6 sod 1 1 sod switch on disabled Bit 5 qs 2 2 qs quick stop Bit 4 ve 3 3 ve voltage enabled Bit 3 f 4 4 f fault Bit 2 oe 5 5 oe operation enabled...

Page 791: ...e csv which is a velocity control mode Target velocity 60FF hex is enabled as the command value Therefore when the operation mode changes from the position control mode to the velocity control mode a...

Page 792: ...tion Warning 0 nma The current operation mode is retained None 1 pp 3 pv 6 hm 8 csp 9 csv or 10 cst Changed to the specified mode None 2 4 5 or 7 The current operation mode is retained Command Warning...

Page 793: ...ing by Home Proximity Input and home signal negative operation start P A 9 19 Homing without home signal positive operation start P A 10 20 Homing without home signal negative operation start P A 10 3...

Page 794: ...ng operation start 0 Do not start homing procedure 1 Start or continue homing procedure 1 8 Halt 0 Enable bit 4 1 Stop axis according to the Halt option code 605D hex Statusword 6041 hex in Homing Mod...

Page 795: ...home signal is detected When the Home Proxim ity Input is ON it is opposite to the direction in which the home signal is detected The operation direction reverses by the positive drive prohibition in...

Page 796: ...ty Input is used The Homing method 19 stops the homing operation when the Home Proximity Input turns OFF and the Homing method 20 stops the homing operation when the Home Proximity Input turns ON The...

Page 797: ...time If the home signal is not detected before the drive prohibition input in the drive direction turns ON Precautions for Correct Use During the homing operation the stop function for Drive Prohibiti...

Page 798: ...ications 2000 to 2FFF Manufacturer Specific Area 1 Objects with common definitions for all OMRON products 3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S series Se...

Page 799: ...ritable object Unit Physical units Default setting Default value set before shipment Data attribute The timing when a change in the contents is updated for a writable object A Always updated D Possibl...

Page 800: ...ex 4 bytes U32 RO Not possible Bit Name Description 0 to 15 Device profile number 402 192 hex Drive Profile 16 to 23 Type 0A Servo Drive with safety function 24 to 31 Mode 0 Manufacturer specific Inde...

Page 801: ...VAC 100 W R88D 1SN01H ECT 200 W R88D 1SN02H ECT 400 W R88D 1SN04H ECT 750 W R88D 1SN08H ECT 1 5 kW R88D 1SN15H ECT 3 phase 200 VAC 1 kW R88D 1SN10H ECT 2 kW R88D 1SN20H ECT 3 kW R88D 1SN30H ECT 5 5 kW...

Page 802: ...x load The restored servo parameters are stored in the non volatile memory A value of 00000001 hex command valid is given when reading Reset the control power supply to enable the objects If any of th...

Page 803: ...es of operation 1018 Identity Object Possible 00 Number of entries 04 hex 1 byte U8 RO 01 Vendor ID 00000083 hex 4 bytes U32 RO 02 Product Code Refer to the table 4 bytes U32 RO 03 Revision Number Ref...

Page 804: ...ewest Acknowledged Message is used to execute the message clear Bit Description 0 to 15 Minor revision number 16 to 31 Major revision number Index hex Sub index hex Object name Setting range Unit Defa...

Page 805: ...CPU Unit will also be displayed as 1970 1 1 0 00 00 Subindex 01 hex Present Time for Event Log stores the time information that is distributed by the EtherCAT master and uses it for time stamp of the...

Page 806: ...A00 to 1BFF hex are used for transmit PDO mapping Subindexes after subindex 01 hex provide information about the mapped application object A 2 5 PDO Mapping Objects 31 16 15 8 7 0 Index Sub index Bit...

Page 807: ...erCAT communications state is Safe Operational or Operational b Writing with non existent objects specified c Writing with incorrect object size specified d Writing with objects that cannot be mapped...

Page 808: ...tional Gain E2 20 1st Velocity Control Gain Integral Gain 3224 E1 20 2nd Velocity Control Gain Proportional Gain E2 20 2nd Velocity Control Gain Integral Gain 3233 E1 20 1st Torque Command Filter Cuto...

Page 809: ...Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 1701 258th receive PDO Mapping Possible 00 Number of objects in this PDO 04 hex...

Page 810: ...value 60E0 hex and Negative torque limit value 60E1 hex Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 1...

Page 811: ...imit value 60E0 hex and Negative torque limit value 60E1 hex Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operat...

Page 812: ...60E0 hex and Negative torque limit value 60E1 hex and Torque offset 60B2 hex Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access...

Page 813: ...des of operation 1710 273th receive PDO Mapping Possible 00 Number of objects in this PDO 13 hex 1 byte U8 RO 01 1st Output Object to be mapped E7000108 hex 4 bytes U32 RO 02 2nd Output Object to be m...

Page 814: ...s state is Safe Operational or Operational b Writing with non existent objects specified c Writing with incorrect object size specified d Writing with objects that cannot be mapped in the PDO mapping...

Page 815: ...via PDO Monitor Data 1 82 20 Monitor Data via PDO Monitor Data 2 83 20 Monitor Data via PDO Monitor Data 3 84 20 Monitor Data via PDO Monitor Data 4 4130 81 20 Safety Status Monitor Safety Status 4150...

Page 816: ...ndex hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 1B01 258th transmit PDO Mapping Possible 00 Number of objects in this PD...

Page 817: ...ub index hex Object name Setting range Unit Default set ting Data attri bute Size Access PDO map Com plete access Modes of operation 1B02 259th transmit PDO Mapping Possible 00 Number of objects in th...

Page 818: ...ange Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 1B03 260th transmit PDO Mapping Possible 00 Number of objects in this PDO 0A hex 1 byte U8 RO 01 1st O...

Page 819: ...hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 1B04 261th transmit PDO Mapping Possible 00 Number of objects...

Page 820: ...smit PDO Mapping Possible 00 Number of objects in this PDO 13 hex 1 byte U8 RO 01 1st Output Object to be mapped E6000108 hex 4 bytes U32 RO 02 2nd Output Object to be mapped 66400001 hex 4 bytes U32...

Page 821: ...t name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 1C00 Sync Manager Communication Type Possible 00 Number of used Sync Manager channels...

Page 822: ...tting Data attri bute Size Access PDO map Com plete access Modes of operation 1C13 Sync Manager 3 PDO Assign ment Possible 00 Number of assigned PDOs 00 to 03 hex 01 hex D 1 byte U8 W 01 1st PDO Map p...

Page 823: ...input data could not be updated because the internal processing was not completed before the next SM event This object gives the parameters for synchronization of Sync Manager 3 Subindex 01 hex Synchr...

Page 824: ...of the Sysmac Error Status Subindex 01 hex Sysmac Error Status notifies that the Servo Drive detected an error If you connect the Servo Drive with a Machine Automation Controller NJ NX series CPU Unit...

Page 825: ...s OS RO 03 Observation 3 12 bytes OS RO 04 Observation 4 12 bytes OS RO 05 Observation 5 12 bytes OS RO Item Data type Details Error code UINT32 The event code is stored in little endian format Error...

Page 826: ...ject sets a value to detect a Synchronization Interruption Error Error No 88 02 If the set value is 0 the detection time will be 120 seconds This object is used to execute the Unit Restart function Th...

Page 827: ...1 hex Main error number 1 FF02 hex Main error number 2 FF99 hex Main error number 99 FFA0 hex Warning A0 hex FFC0 hex Information C0 hex Others Reserved Index hex Sub index hex Object name Setting ran...

Page 828: ...operation 6041 Statusword 0000 to FFFF hex 0000 hex 2 bytes U16 RO TxPDO Not pos sible csp csv cst pp pv hm Bit Name Description 0 Ready to switch on These bits give the status For details refer to St...

Page 829: ...Shutdown When the running motor decelerates and the speed reaches 30 r min or lower the operation changes from the Deceleration Operation to the Operation after Stopping The following error is cleared...

Page 830: ...7 Operation A 1 1 The Servomotor stops according to the setting of Operation B while in an STO status that or when the P N Voltage drops to the specified value or lower In other cases the Servomotor...

Page 831: ...l command position follow the actual position comes into effect To execute commands that perform feeding for interpolation after the Servo turns ON reset the command coordinates in the host controller...

Page 832: ...on to the Operation after Stopping The following error is cleared regardless of the set value Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map...

Page 833: ...ABORT code is returned Set value Deceleration operation Operation after stopping 7 Operation A 1 1 Operation A and B indicate whether or not to perform the deceleration stop when an error occurs If a...

Page 834: ...0 Not specified 1 Profile position mode pp 3 Profile velocity mode pv 6 Homing mode hm 8 Cyclic synchronous position mode csp 9 Cyclic synchronous velocity mode csv 10 Cyclic synchronous torque mode...

Page 835: ...range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 6063 Position actual internal value Encod er unit 4 bytes INT32 RO TxPDO Not pos sible csp csv cst p...

Page 836: ...torque 100 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete access Modes of operation 606B Velocity demand value Command unit s 4 b...

Page 837: ...mit function is disabled when this condition is not met The software position limit function is disabled when home is not defined Index hex Sub index hex Object name Setting range Unit Default setting...

Page 838: ...file velocity 0 to 2 147 483 647 Com mand unit s 2 147 483 647 A 4 bytes U32 W RxPDO Not pos sible cst pp pv Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size...

Page 839: ...occur For details on homing refer to A 1 5 Homing Mode Specifications on page A 7 Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Com plete a...

Page 840: ...e U8 RO 01 Speed during search for switch 1 to 2 147 483 647 Command unit s 5 000 A 4 bytes U32 RW hm 02 Speed during search for zero 1 to 2 147 483 647 Command unit s 5 000 A 4 bytes U32 RW hm Index...

Page 841: ...ble Set value Description Bit 0 Enable or disable Latch Function 1 0 Latch Function 1 is disabled 1 Latch Function 1 is enabled Bit 1 Latch 1 operation 0 Latch on the first trigger only 1 Latch conti...

Page 842: ...r without Latch 1 positive data 0 Without latch data 1 With latch data Bit 8 Enable or disable Latch Function 2 0 Disabled 1 Enabled Bit 9 With or without Latch 2 positive data 0 Without latch data 1...

Page 843: ...ion Description of Set Values This object gives the extended functions which are supported by the Servo Drive Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Siz...

Page 844: ...e rated torque 100 This object is intended for PDO assignment Use this object to set the negative torque limit value from a PDO To use the limit value without mapping it to a PDO set the value in Torq...

Page 845: ...ng method 19 2 bytes INT16 RO hm 04 4th supported homing method 20 2 bytes INT16 RO hm 05 5th supported homing method 33 2 bytes INT16 RO hm 06 6th supported homing method 34 2 bytes INT16 RO hm 07 7t...

Page 846: ...le 1 Phase Z signal detected during communication cycle 17 External Latch Input 1 EXT1 0 OFF 1 ON 18 External Latch Input 2 EXT2 0 OFF 1 ON 20 Monitor Input 1 MON1 0 OFF 1 ON 21 Monitor Input 2 MON2 0...

Page 847: ...g Data attri bute Size Access PDO map Com plete access Modes of operation 60FE Digital out puts Possible 00 Number of entries 02 hex 1 byte U8 RO 01 Physical out puts 00000000 to FFFFFFFF hex 0000 000...

Page 848: ...disabled 1 Output enabled 18 Remote Output 3 R OUT3 0 Output disabled 1 Output enabled 24 Gain Switching G SEL 0 Setting disabled 1 Setting enabled 28 NO Contact Brake Interlock Output 1 2 2 This bit...

Page 849: ...lete access Modes of operation 6502 Supported drive modes 000003A5 hex 4 bytes U32 RO Not pos sible Bit Supported mode Value 0 pp Profile position mode 1 Supported 1 vl Velocity mode 0 Not sup ported...

Page 850: ...access Modes of operation 6620 safety controlword Possible 00 Number of entries 02 hex 1 byte U8 RO 01 safety controlword 1st Byte 1 byte U8 RO 02 safety controlword 2nd Byte 1 byte U8 RO Bit Descript...

Page 851: ...e written value will be ignored Bit Description 1 Gives the STO status 0 Normal status 1 STO status 7 Gives the error status of the safety function 0 No error 1 Error detected Bit Description 7 Gives...

Page 852: ...is in execution Access Description Read Gives the STO status 0 Normal status 1 STO status Write Issues the STO command 0 Activate STO 1 Reset STO Index hex Sub index hex Object name Setting range Unit...

Page 853: ...s by the writing of reset Subindex 03 hex FSoE Enable Reset resets the FSoE enabled state by the writing of disable Index hex Sub index hex Object name Setting range Unit Default setting Data attri bu...

Page 854: ...00A0192 hex 4 bytes U32 1001 00 Error Register 00 hex 1 byte U8 1008 00 Manufacturer Device Name R88D 1SN ECT 20 bytes VS 1009 00 Manufacturer Hardware Version 20 bytes VS 100A 00 Manufacturer Softwar...

Page 855: ...18 446 744 073 709 551 615 0 A 8 bytes U64 1600 1st receive PDO Map ping 00 Number of objects in this PDO 00 to 0A hex 03 hex D 1 byte U8 01 1st Output Object to be mapped 00000000 to FFFFFFFF hex 60...

Page 856: ...e mapped 60600008 hex 4 bytes U32 06 6th Output Object to be mapped 60B80010 hex 4 bytes U32 07 7th Output Object to be mapped 607F0020 hex 4 bytes U32 1703 260th receive PDO Map ping 00 Number of obj...

Page 857: ...20010 hex 4 bytes U32 1710 273th receive PDO Map ping 00 Number of objects in this PDO 13 hex 1 byte U8 01 1st Output Object to be mapped E7000108 hex 4 bytes U32 02 2nd Output Object to be mapped 664...

Page 858: ...ut Object to be mapped 60B90010 hex 4 bytes U32 07 7th Input Object to be mapped 60BA0020 hex 4 bytes U32 08 8th Input Object to be mapped 60BC0020 hex 4 bytes U32 09 9th Input Object to be mapped 60F...

Page 859: ...apped 60770010 hex 4 bytes U32 05 5th Input Object to be mapped 60610008 hex 4 bytes U32 06 6th Input Object to be mapped 60B90010 hex 4 bytes U32 07 7th Input Object to be mapped 60BA0020 hex 4 bytes...

Page 860: ...00 to 17FF hex 0000 hex D 2 bytes U16 1C13 Sync Manager 3 PDO Assignment 00 Number of assigned PDOs 00 to 03 hex 01 hex D 1 byte U8 01 1st PDO Mapping Object Index of assigned PDO 0000 to 1BFF hex 1B0...

Page 861: ...vation 3 12 bytes OS 04 Observation 4 12 bytes OS 05 Observation 5 12 bytes OS 2004 Sysmac Minor Fault 01 Minor Fault 1 12 bytes OS 02 Minor Fault 2 12 bytes OS 03 Minor Fault 3 12 bytes OS 04 Minor F...

Page 862: ...ime Constant 0 to 6 400 0 01 ms 0 E 4 bytes INT32 05 Motor Revolutions Mir ror object of 6091 01 hex 0 to 1 073 741 824 1 R 4 bytes U32 06 Shaft Revolutions Mirror object of 6091 02 hex 1 to 1 073 741...

Page 863: ...Frequency 5 to 3 000 0 1 Hz 3 000 A 4 bytes INT32 04 2nd Damping Time Coef ficient 50 to 200 1 100 A 4 bytes INT32 05 3rd Frequency 5 to 3 000 0 1 Hz 3 000 A 4 bytes INT32 06 3rd Damping Time Coef fi...

Page 864: ...1 0 A 2 bytes INT16 3031 Velocity Limit in Torque Control 01 Velocity Limit Value 0 to 20 000 r min 20 000 A 4 bytes INT32 82 Status 0 4 bytes INT32 3040 Profile Command F1 Max Profile Velocity Mir ro...

Page 865: ...wing Gain 10 to 5000 50 A 4 bytes INT32 10 Command Following Gain Selection 6 0 to 1 0 A 4 bytes INT32 11 Command Following Gain 2 6 1 to 50 000 0 1 Hz 219 146 4 A 4 bytes INT32 3121 TDF Velocity Cont...

Page 866: ...ocity Demand Value Mirror object of 606B hex Command unit s 4 bytes INT32 82 Motor Velocity r min 4 bytes INT32 83 Control Effort Mirror object of 60FA hex Command unit s 4 bytes INT32 92 Motor Veloci...

Page 867: ...00 0 1 Hz 1 536 1 024 4 A 4 bytes INT32 RxPDO 3234 2nd Torque Command Filter 01 Enable 0 to 1 0 A 4 bytes INT32 02 Cutoff Frequency 10 to 50 000 0 1 Hz 1 536 1 024 4 A 4 bytes INT32 E1 Cutoff Frequenc...

Page 868: ...cy 500 to 50 000 0 1Hz 50 000 A 4 bytes INT32 03 Q value 50 to 1 000 0 01 140 A 4 bytes INT32 04 Depth 0 to 60 dB 60 A 4 bytes INT32 81 Enable Display 4 bytes INT32 82 Frequency Display 0 1 Hz 4 bytes...

Page 869: ...A 2 bytes U16 81 Status 4 bytes INT32 3A00 Homing 01 Zero Position Range 0 to 2 147 483 647 Command unit 8 000 A 4 bytes INT32 02 Homing Method Mirror object of 6098 hex 0 to 37 0 E 1 byte INT8 03 Sp...

Page 870: ...T32 04 Max Position Limit Mir ror object of 607D 02 hex 2 147 483 648 to 2 147 483 647 Command unit 500 000 E 4 bytes INT32 81 Status 4 bytes INT32 3B20 Stop Selection 01 Shutdown Option Code Mirror o...

Page 871: ...atus 4 bytes INT32 3B41 Zone Notification 2 01 Lower Limit 2 147 483 648 to 2 147 483 647 Command unit 0 A 4 bytes INT32 02 Upper Limit 2 147 483 648 to 2 147 483 647 Command unit 0 A 4 bytes INT32 81...

Page 872: ...d Com pensation Update Selec tion 0 to 1 0 A 4 bytes INT32 04 Dynamic Friction Com pensation Update Selec tion 0 to 1 0 A 4 bytes INT32 05 Viscous Friction Tuning Coefficient 0 to 200 100 A 4 bytes IN...

Page 873: ...82 Monitor Data 2 4 bytes INT32 TxPDO 83 Monitor Data 3 4 bytes INT32 TxPDO 84 Monitor Data 4 4 bytes INT32 TxPDO 4120 EtherCAT Communica tions Error Count 81 Error Count 4 bytes INT32 F1 Error Count...

Page 874: ...Time 0 4 bytes INT32 86 Motor Operating Time min 0 4 bytes INT32 87 Brake Interlock Output Relay ON Count Time 0 4 bytes INT32 F1 Motor Operating Time Clear 00000000 to FFFFFFFF hex 0 A 4 bytes INT32...

Page 875: ...F1 Motor Setup 0 A 4 bytes INT32 FF Setup Status 4 bytes INT32 4412 Motor Advanced Set ting 2 02 Without Motor Operation Selection 0 to 1 R 4 bytes INT32 81 Without Motor Operation Status 4 bytes INT3...

Page 876: ...4604 Control Input Change Count 81 General Input 1 0 4 bytes INT32 82 General Input 2 0 4 bytes INT32 83 General Input 3 0 4 bytes INT32 84 General Input 4 0 4 bytes INT32 85 General Input 5 0 4 bytes...

Page 877: ...rive Prohibition Input 01 Port Selection 0 to 8 2 R 4 bytes INT32 02 Logic Selection 0 to 1 1 R 4 bytes INT32 81 Signal Status 4 bytes INT32 4631 Negative Drive Prohibi tion Input 01 Port Selection 0...

Page 878: ...01 Port Selection 0 to 8 5 R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Signal Status 4 bytes INT32 4639 Monitor Input 2 01 Port Selection 0 to 8 6 R 4 bytes INT32 02 Logic Selection...

Page 879: ...02 Logic Selection 1 1 R 4 bytes INT32 81 Signal Status 4 bytes INT32 4651 Servo Ready Output 01 Port Selection 0 to 7 hex 1 hex R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Signal...

Page 880: ...0 to 7 hex 0 hex R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Signal Status 4 bytes INT32 4659 Warning Output 2 01 Port Selection 0 to 7 hex 0 hex R 4 bytes INT32 02 Logic Selection...

Page 881: ...x 0 hex R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Signal Status 4 bytes INT32 4661 Position Command Sta tus Output 01 Port Selection 0 to 7 hex 0 hex R 4 bytes INT32 02 Logic Sele...

Page 882: ...to 5 000 0 1 0 A 2 bytes INT16 RxPDO 6072 00 Max torque 0 to 5 000 0 1 5 000 A 2 bytes U16 RxPDO 6074 00 Torque demand 0 1 2 bytes INT16 TxPDO 6077 00 Torque actual value 0 1 2 bytes INT16 TxPDO 607A...

Page 883: ...Command unit 4 bytes INT32 TxPDO 60C2 Interpolation time period 01 Interpolation time period value 0 to 255 1 E 1 byte U8 02 Interpolation time index 128 to 63 3 E 1 byte INT8 60D0 Touch probe source...

Page 884: ...safety controlword 2nd Byte 1 byte U8 6621 safety statusword 01 safety statusword 1st Byte 1 byte U8 02 safety statusword 2nd Byte 1 byte U8 6632 00 error acknowledge 0 to 1 0 A 1 bit BOOL RxPDO TxPD...

Page 885: ...0 for the unit version 1 0 3 This object is available for the unit version 1 4 or later 4 The first value is for the Servo Drive with its capacity 3 kw or less The second value is for the Servo Drive...

Page 886: ...An error of the Regenera tion Circuit was detected at power ON Power supply voltage is insufficient at power ON or rising slowly Power supply voltage fluctu ated at power ON L1 L2 and L3 terminals ar...

Page 887: ...d of the fan is 40 or less of the rat ing and the cooling perfor mance decreases There is a foreign matter in the cooling fan and it blocks the rotation Cooling fan failure P A 120 083F0000 Regenerati...

Page 888: ...etween P and N The main circuit power sup ply voltage fell below the operation guarantee range during Servo ON Incorrect wiring of the main circuit power supply The low power supply volt age is applie...

Page 889: ...due to a data read error that was caused by excessive noise A fatal software error was detected Hardware failure P A 131 183A0000 Non volatileMemory Data Error An error of data saved in the non volat...

Page 890: ...etting of Eth erCAT master is incorrect Servo Drive failure P A 137 35820000 RxPDO Mapping Error An incorrect RxPDO was set An incorrect RxPDO was set such as out of the allowable range of Index Subin...

Page 891: ...o exceeded the allowable range P A 143 38800000 Servo Drive Over heat The internal temperature of Servo Drive exceeded the circuit protection level The ambient temperature of the Servo Drive exceeded...

Page 892: ...ue was set in the Encoder Opera tion Selection when Using Absolute Encoder 4510 01 hex The multi rotation number of the encoder exceeded the maximum number of rotations P A 149 38880000 Safety Communi...

Page 893: ...ications between the Sysmac Studio and Servo Drive were inter rupted while a specific func tion was used from the Sysmac Studio The USB cable or EtherCAT cable was disconnected during the connection w...

Page 894: ...0 s P A 158 84B10000 EtherCAT State Change Error A communications state change command was received for which the cur rent communications state could not be changed A communications state change comma...

Page 895: ...CAT Mas ter could not be achieved The power supply to the host controller was inter rupted during PDO commu nications An EtherCAT communica tions cable is disconnected broken short circuited or has a...

Page 896: ...Rotation Warn ing The rotation speed of the fan is 80 or less of the rat ing and the cooling perfor mance decreases There is a foreign matter in the cooling fan and it blocks the rotation Cooling fan...

Page 897: ...e Enable operation com mand was received An operation command in the prohibition direction was received after the immedi ate stop by the Drive Prohi bition Input or Software Position Limit Homing star...

Page 898: ...r All Memory was per formed P A 176 98240000 Event Log Cleared The event log was cleared Clear Event Log was per formed P A 177 1 This error can occur in the unit version 1 2 only 2 This error can occ...

Page 899: ...s the source of the error event Source details Gives details on the source of the error Detection timing Tells when the error is detected Error attributes Level Tells the influ ence on con trol 1 Reco...

Page 900: ...he Regeneration Circuit was detected at power ON Source EtherCAT Master Function Mod ule Source details Slave Detection timing Continuously Error attributes Level Minor fault Recovery Error reset afte...

Page 901: ...the Servo Drive Check whether fluctuation in the power supply voltage or power supply occurs or not Make sure that an instantaneous power drop does not occur and that the power rise time is 500 ms or...

Page 902: ...us code Error No 1403 hex Event name Regeneration Circuit Error Event code 04B60000 hex 1 1 This error can occur in the unit version 1 3 or later Meaning An regeneration circuit error was detected Sou...

Page 903: ...peration Power drive circuit is OFF Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause Co...

Page 904: ...and connect them cor rectly There is a short circuit on the wir ing of External Regeneration Resistor or the resistance value is small If there is a short circuit on the wir ing of External Regenerat...

Page 905: ...event occurs again replace the Servo Drive If the normal operation can restart after you cycled the power supply consider noise countermeasures There may be excessive noise around the Servo Drive Har...

Page 906: ...es Operation Power drive circuit is OFF Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed caus...

Page 907: ...or in use Check the items given for correc tions in advance and take counter measures as required The Regeneration Resistor is selected inappropriately Check the operation pattern by the velocity moni...

Page 908: ...ch as UPS Use appropriately external devices such as UPS The Regeneration Resistor wir ing is broken If a resistance value of the external resistor is infinite between the ter minal B1 and B2 of the S...

Page 909: ...Adjust the operation before use so that the motor load ratio does not become high for a long time Encoder failure Replace the motor if this event occurs repeatedly None Attached information None Preca...

Page 910: ...ternal forces Encoder failure and false detec tion If this event occurs repeatedly the encoder is faulty Replace the motor None Attached information None Precautions Remarks AL status code Error No 47...

Page 911: ...g category System log Effects User program Continues Operation Power drive circuit is OFF Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Nam...

Page 912: ...ect wiring of the main cir cuit power supply If the power supply cables are not wired to the main circuit power supply terminals L1 L2 L3 con nect them Check the wiring of the main circuit power suppl...

Page 913: ...V or W motor cable Correct the connection of the U V or W motor cable Confirm that the motor cables are not broken and connect them cor rectly There is a short circuit on the wir ing of External Regen...

Page 914: ...Prevention Noise into the encoder cable Separate the motor cable and the encoder cable if they are bundled together Connect the shield to FG Check that the motor ground wire is connected to FG Separat...

Page 915: ...type Name None None None Cause and correction Assumed cause Correction Prevention Noise into the encoder cable Separate the motor cable and the encoder cable if they are bundled together Connect the s...

Page 916: ...ed information 1 System information Precautions Remarks AL status code Error No 3700 hex Event name Absolute Encoder Multi rotation Counter Error Event code 18230000 hex Meaning The encoder detected a...

Page 917: ...Hardware failure Attached information Attached information 1 System information Precautions Remarks AL status code Error No 3501 hex Event name Non volatile Memory Data Error Event code 183A0000 hex D...

Page 918: ...Operation Power drive circuit is OFF Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause...

Page 919: ...e Servo Drive specifica tions and perform the correct wir ing Confirm the Servo Drive specifica tions and perform the correct wir ing In the case where the sin gle phase power supply is input to a sin...

Page 920: ...Name None None None Cause and correction Assumed cause Correction Prevention There is incorrect wiring of the motor cable or a broken cable Connect the motor cable as shown in the wiring diagram If th...

Page 921: ...ode 0030 hex Error No 9003 hex Event name Synchronization Cycle Setting Error Event code 357E0000 hex Description When the DC mode was established the cycle time was set to the inoperable value Source...

Page 922: ...mation None Precautions Remarks AL status code 0016 hex Error No 9000 hex Event name RxPDO Setting Error Event code 35800000 hex Meaning An RxPDO setting error was detected Source EtherCAT Master Func...

Page 923: ...s faulty Replace the Servo Drive Configure the setting of communi cations to slaves in the EtherCAT master in accordance with ESI data Servo Drive failure None Attached information None Precautions Re...

Page 924: ...and configure the setting of communications to slaves in the EtherCAT master in accordance with ESI data Attached information None Precautions Remarks AL status code 0024 hex Error No 9008 hex Event n...

Page 925: ...ID switches Check the node address value Set a correct value if it is wrong Attached information None Precautions Remarks AL status code 0061 hex Error No 9009 hex Event name SM Event Mode Setting Er...

Page 926: ...LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The electronic gear ratio was not 1 1 when the communications period w...

Page 927: ...llocation Duplicate Error 5 General Input 5 IN5 Allocation Duplicate Error 6 General Input 6 IN6 Allocation Duplicate Error 7 General Input 7 IN7 Allocation Duplicate Error 8 General Input 8 IN8 Alloc...

Page 928: ...ding Denominator and Dividing Numer ator Set the Encoder Dividing Pulse Output Dividing Numerator to a value smaller than the Dividing Denominator Attached information None Precautions Remarks AL stat...

Page 929: ...r No 9300 hex Event name Servo Drive Overheat Event code 38800000 hex Meaning The internal temperature of Servo Drive exceeded the circuit protection level Source EtherCAT Master Function Mod ule Sour...

Page 930: ...inertia ratio If torque waveforms oscillate excessively adjust the system by the tuning so that the oscilla tion does not occur Set the appropriate brake timing Increase the capacities of the Servo Dr...

Page 931: ...r in use Check the items given for correc tions in advance and take counter measures as required The Regeneration Resistor is selected inappropriately Check the operation pattern by the velocity monit...

Page 932: ...tem defined variables Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The motor operation does not fol low the command Identify and remove a cause that...

Page 933: ...st the gain to improve the fol lowing ability Or increase the acceleration deceleration time for the internal position command velocity Adjust the gain to improve the fol lowing ability Or increase th...

Page 934: ...rCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The velocity command value is too large Do not g...

Page 935: ...so that the motor is not subjected to external forces Take countermeasures so that the motor operation is not interfered by external forces Attached information None Precautions Remarks AL status code...

Page 936: ...erCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The watchdog time was set incorrectly If the wa...

Page 937: ...onfiguration and setup according to the corrections that are given on the left There is excessive noise Take noise countermeasures Take noise countermeasures if excessive noise caused the error Attach...

Page 938: ...ystem perform the FSoE Slave Address Clear before you use the Servo Drive Attached information None Precautions Remarks AL status code Error No 7002 hex Event name FPGA WDT Error Event code 48080000 h...

Page 939: ...type Name None None None Cause and correction Assumed cause Correction Prevention An error occurred on the switch wire power supply and wiring that were connected to the Posi tive Drive Prohibition P...

Page 940: ...s Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention Incorrect or broken wiring of Pos itive Drive Prohibition Input POT or Negative Drive Prohibi tion Inp...

Page 941: ...bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The USB cable or EtherCAT cable was disconnected during the connection with the Sysmac Studio Conne...

Page 942: ...8700 hex Event name Software Limit Exceeded Event code 68230000 hex Description The Position actual value detected the position that exceeded the value set in the Software Position Limit and stopped...

Page 943: ...ng Numerator to a value appropriate for the maximum speed that is detected during oper ation Attached information None Precautions Remarks AL status code Error No 2800 hex Event name Brake Interlock E...

Page 944: ...pe Name None None None Cause and correction Assumed cause Correction Prevention When bit 9 Remote of the Sta tusword was set to 1 remote and the Servo Drive was in Oper ation enabled state Servo ON th...

Page 945: ...processing Check the command specifications for communications state transi tions in the host controller and pro gram host controller processing Attached information None Precautions Remarks AL statu...

Page 946: ...ve com munications controller If this event occurs again after you cycled the power supply replace the Servo Drive None Attached information None Precautions Remarks AL status code 002C hex Error No 8...

Page 947: ...ain replace the Servo Drive None Failure of the EtherCAT slave communications controller Attached information None Precautions Remarks AL status code Error No 8801 hex Event name SII Verification Erro...

Page 948: ...roller or false detection If this event does not occur after you cycled the power supply use the product continuously It is sup posed that a temporary error occurred due to a read error If this event...

Page 949: ...was inter rupted It does not indicate that an error currently exists If you turn OFF the power supply to the host controller also turn OFF the power supply to the Servo Drive An EtherCAT communicatio...

Page 950: ...here is excessive noise Take noise countermeasures Take noise countermeasures if excessive noise caused the error The Safety CPU Unit or safety slave entered a status where it could not continue safet...

Page 951: ...sary to replace the component that reached the ser vice life None Attached information None Precautions Remarks AL status code Error No A701 hex Event name Inrush Current Prevention Relay Lifetime War...

Page 952: ...vel to minor fault by using Warning Level Change 1 Selection 4020 05 hex Recovery Log category System log Effects User program Continues Operation Not affected Indicators EtherCAT NET RUN EtherCAT NET...

Page 953: ...Cause and correction Assumed cause Correction Prevention Noise into the encoder cable Separate the motor cable and the encoder cable if they are bundled together Connect the shield to FG Check that th...

Page 954: ...autions Remarks AL status code Error No A706 hex Event name Fan Rotation Warning Event code 084C0000 hex Description The rotation speed of the fan is 80 or less of the rating and the cooling performan...

Page 955: ...therCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention An inappropriate value was set in the Encoder...

Page 956: ...rrectly after the clear operation because the value of lifetime information is cleared If this event occurs repeatedly the area to save lifetime information is faulty Replace the Servo Drive None Atta...

Page 957: ...cceleration deceleration time and the stop time Lighten the load Adjust the gain or inertia ratio If torque waveforms oscillate excessively adjust the system by the tuning so that the oscilla tion doe...

Page 958: ...Check the items given for correc tions in advance and take counter measures as required The Regeneration Resistor is selected inappropriately Check the operation pattern by the velocity monitor Check...

Page 959: ...category System log Effects User program Continues Operation Not affected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None Non...

Page 960: ...firm ing the corrections that are given on the left The Enable operation command was received Send the Enable operation com mand under the following condi tions In supported operation mode The motor r...

Page 961: ...d connect it securely In a ring topology configura tion the ring disconnection sta tus occurred In a ring topology configura tion the ring disconnection sta tus was fixed Refer to 13 4 Method for Brok...

Page 962: ...ety inputs 1 and 2 If the cable is broken replace it Connect the input wiring for safety inputs 1 and 2 securely The STO input was turned OFF via EtherCAT communications Remove the cause that turned O...

Page 963: ...Function Mod ule Source details Slave Detection timing Operation by user Error attributes Level Information Recovery Log category System log Effects User program Continues Operation Not affected Indic...

Page 964: ...ystem I O response time The input response time of this product is given below Input response time Communication cycle Shift time The output response time of this product is given below Output respons...

Page 965: ...smac Studio When you use the Sysmac Studio without its update select from the displayed unit versions Example Unit version 1 2 of Servo Drive Sysmac Studio version 1 17 Sysmac Studio version 1 17 corr...

Page 966: ...e online connection to the unit version 1 0 of the Servo Drive is impossible Select the unit version 1 0 from the device list The specifications for when you use the backup function of Sysmac Studio a...

Page 967: ...ion 3120 10 hex Addition Ver 1 1 P 9 31 TDF Position Control Command Fol lowing Gain 2 3120 11 hex Addition Ver 1 1 P 9 31 TDF Velocity Control Command Follow ing Gain Selection 3121 10 hex Addition V...

Page 968: ...ns User s Manual I586 Applied Func tions Brake Interlock Addition Ver 1 2 P 7 22 Change Ver 1 4 1 With the unit version Ver 1 4 or later the default setting is changed Refer to 9 14 6 4610 hex Brake I...

Page 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...

Page 970: ...7 3 7 7 EtherCAT Communications Connector 1 6 1 10 1 12 1 13 3 36 EtherCAT Slave Information ESI 5 18 EtherCAT State Machine ESM 5 6 Event code A 100 External Latch Input 3 30 7 3 External Regeneratio...

Page 971: ...Specifications 3 43 Installation Conditions 4 7 Model Tables 2 12 Replacing 12 4 Servo Drive and Servomotor Combination Tables 2 17 Servomotor model number 2 5 Slave Information Interface SII 5 19 St...

Page 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...

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Page 974: ...IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron...

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