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Omron R88D-1SN01H-ECT, User Manual

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11   Adjustment Functions

11 - 26

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

11-11 Friction Torque Compensation 

Function

You can set the following three types of friction torque compensations to reduce the influence of 
mechanical frictions.
• Unbalanced load compensation: Offsets the constantly applied unbalance torque
• Dynamic friction compensation: Compensates friction that changes its direction in accordance with 

the operating direction.

• Viscous friction compensation: Compensates friction that varies in accordance with velocity.

The friction torque compensation function is enabled under the following conditions.
• Position control or velocity control
• The Servo is ON.

The following table shows the relationship between the control method and enabled compensation 
functions.

 

The friction torque compensation function needs the combined settings of the following four objects.

 

Precautions 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, set the 
update selection of Load Characteristic Estimation to 

0

.

11-11-1 Operating Conditions

Control method

Viscous friction 

compensation

Unbalanced load 

compensation

Dynamic friction 

compensation

TDF control

Enabled

Enabled

Enabled

ODF control

Disabled

Enabled

Enabled

11-11-2 Objects Requiring Settings

Index (hex)

Subindex 

(hex)

Name

Description

Refer-

ence

3310

---

Torque Compensa-
tion

Sets the torque compensation.

P. 9-42

01

Viscous Friction 
Coefficient

Adjusts the amount of viscous friction compensation torque. 
This object is enabled only in two-degree-of-freedom (TDF) 
control.

P. 9-42

02

Unbalanced Load 
Compensation

Sets the amount of unbalanced load torque compensation.

P. 9-42

03

Positive Dynamic 
Friction Compen-
sation

Sets the amount of dynamic friction compensation in the posi-
tive direction.

P. 9-42

04

Negative Dynamic 
Friction Compen-
sation

Sets the amount of dynamic friction compensation in the nega-
tive direction.

P. 9-43

Summary of Contents for R88D-1SN01H-ECT

Page 1: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 E1 04 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: ...erCAT 1 3 1 1 3 Object Dictionary 1 4 1 2 System Configuration 1 5 1 3 Names and Functions 1 6 1 3 1 Servo Drive Part Names 1 6 1 3 2 Servo Drive Functions 1 10 1 3 3 Servomotor Part Names 1 12 1 3 4...

Page 9: ...0 2 4 6 Noise Filter Dimensions 2 89 Section 3 Specifications 3 1 Servo Drive Specifications 3 3 3 1 1 General Specifications 3 3 3 1 2 Characteristics 3 4 3 1 3 EtherCAT Communications Specifications...

Page 10: ...ure 4 24 4 2 3 Connector Attachment Procedure 4 26 4 2 4 Power Brake Connector Attachment Procedure 4 27 4 2 5 Terminal Block Wiring Procedure for Footprint type Noise Filter 4 28 4 3 Wiring Conformin...

Page 11: ...s 7 3 7 1 1 Objects Requiring Settings 7 4 7 1 2 Default Setting 7 6 7 1 3 Function Input Details 7 7 7 2 General purpose Output Signals 7 8 7 2 1 Objects Requiring Settings 7 8 7 2 2 Default Setting...

Page 12: ...O Function via Safety Input Signals 8 4 8 2 1 I O Signal Specifications 8 4 8 2 2 Operation Example 8 6 8 2 3 Connection Example 8 7 8 3 STO Function via EtherCAT Communications 8 10 8 3 1 Connection...

Page 13: ...e Prohibition 9 59 9 7 2 3B11 hex Software Position Limit 9 60 9 7 3 3B20 hex Stop Selection 9 62 9 7 4 3B21 hex Deceleration Stop 9 66 9 7 5 3B30 hex Touch Probe 1 9 66 9 7 6 3B31 hex Touch Probe 2 9...

Page 14: ...9 9 15 16 463E hex Monitor Input 7 9 119 9 15 17 463F hex Monitor Input 8 9 120 9 16 General purpose Output Setting Objects 9 121 9 16 1 Setting 9 121 9 16 2 4650 hex Error Output 9 122 9 16 3 4651 he...

Page 15: ...11 17 11 8 Load Characteristic Estimation 11 18 11 8 1 Objects Requiring Settings 11 19 11 8 2 Setting Load Characteristic Estimation Function 11 20 11 9 Adaptive Notch Filter 11 21 11 9 1 Objects Re...

Page 16: ...lied Adjustment Functions A 5 A 1 4 Changing the Mode of Operation A 5 A 1 5 Homing Mode Specifications A 7 A 2 CoE Objects A 12 A 2 1 Object Dictionary Area A 12 A 2 2 Data Type A 12 A 2 3 Object Des...

Page 17: ...15 CONTENTS AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 18: ...nt 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 un...

Page 19: ...panies 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 provided as a g...

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: ...sk Assessment and Risk Reduction z 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 s...

Page 22: ...Carefully 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...

Page 23: ...cific time Not doing so may cause electric shock or burning 10 minutes R88D 1SN06F ECT R88D 1SN10F ECT R88D 1SN15F ECT R88D 1SN20F ECT R88D 1SN30F ECT 15 minutes R88D 1SN01L ECT R88D 1SN02L ECT R88D 1...

Page 24: ...to ensure safety of people nearby even when the machine is restarted Doing so may cause injury Use appropriate tools to wire terminals and connectors Check that there is no short circuit before use N...

Page 25: ...d the product Follow the instructions on the product label Injury or failure may result Be sure to observe the specified amount when piling up products Injury or failure may result The allowable numbe...

Page 26: ...or burning may result Use a robot cable for the wiring to separately install the Servo Drive and Servomotor to moving and fixed parts of the equipment Equipment damage may result Connect the Servo Dr...

Page 27: ...rew type terminal blocks Do not connect bare stranded wires directly to terminals blocks Fire may result Always use the power supply voltage specified in this document Burning may result Do not apply...

Page 28: ...a stopping device on the machine to ensure safety The holding brake is not a stopping device to ensure safety Injury may result Install an immediate stop device externally to the machine so that the...

Page 29: ...Install an external protective device such as temperature sensor to ensure safety when using the External Regeneration Resistor After replacing the Servo Drive transfer to the new Servo Drive all data...

Page 30: ...Safety Precautions 28 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Dispose of the Servo Drive as industrial waste Disposal...

Page 31: ...r For use by OMRON xxxx Serial number M gives the month 1 to 9 January to September X October Y November Z December This product comes with the following accessories INSTRUCTION MANUAL 1 copy Warning...

Page 32: ...ircuit wire is connected to the connector 2 The connector with 3 terminals is included 3 The connector with 4 terminals is included 4 One opener is included Specifications Control I O connector CN1 Br...

Page 33: ...ocation 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 the Servomotor with a flange size of 80 x 80 or...

Page 34: ...lerator Therefore refer to the following table for correspondence between the model numbers on nameplates and Decelerators Example of nameplate 200 W Decelerator backlash 3 arcminutes max reduction ra...

Page 35: ...I 1 45 R88G HPG20A45200B HPG 20A 45 J2GDI R88G HPG20A45200BJ HPG 20A 45 J6GDI 400 W 1 5 R88G HPG14A05400B HPG 14A 05 J2AXW R88G HPG14A05400BJ HPG 14A 05 J6AXW 1 11 R88G HPG20A11400B HPG 20A 11 J2GDK R...

Page 36: ...1 J2NFI R88G HPG32A211K5BJ HPG 32A 21 J6NFI 1 33 R88G HPG50A332K0B HPG 50A 33 J2ADBA R88G HPG50A332K0BJ HPG 50A 33 J6ADBA 1 45 R88G HPG50A451K5B HPG 50A 45 J2ADBA R88G HPG50A451K5BJ HPG 50A 45 J6ADBA...

Page 37: ...3 R88G HPG32A33600SB HPG 32A 33 J2NFJ R88G HPG32A33600SBJ HPG 32A 33 J6NFJ 1 45 R88G HPG50A451K5B HPG 50A 45 J2ADBA R88G HPG50A451K5BJ HPG 50A 45 J6ADBA 1 kW 1 5 R88G HPG32A053K0B HPG 32A 05 J2MCK R88...

Page 38: ...8G HPG32A11900TBJ HPG 32A 11 J6PAL 1 21 R88G HPG50A21900TB HPG 50A 21 J2BADB R88G HPG50A21900TBJ HPG 50A 21 J6BADB 1 33 R88G HPG50A33900TB HPG 50A 33 J2BADB R88G HPG50A33900TBJ HPG 50A 33 J6BADB 2 kW...

Page 39: ...ate indicates the model number rated output reduction ratio serial number and ship date Decelerator Backlash 15 Arcminutes Max MADE IN CHINA GEAR R88G 100 W XXXXXXXXX XXXX XX RATIO 1 5 VRXF05B100CJ PO...

Page 40: ...res and system con figuration Introduction Part names and functions General specifications Installation and wiring Maintenance and inspec tion Use this manual together with the NJ series CPU Unit Soft...

Page 41: ...User s Man ual Cat No W500 and with the NJ NX series CPU Unit Software User s Manual Cat No W501 NX series Safety Control Units User s Manual Z930 NX SL NX SI NX SO Learning how to use the NX series S...

Page 42: ...space and a coherent physical memory location Index Address of an object within an application process Object Abstract representation of a particular component within a device which consists of data...

Page 43: ...e for a Controller or network Service Data Object SDO CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written Slave Information Interface SII Slave i...

Page 44: ...e end of the catalog number found in the front and back cover Example Revision code Date Revised content 01 June 2016 Original production 02 August 2016 Made changes accompanying release of R88M 1L Co...

Page 45: ...s 1 6 1 3 2 Servo Drive Functions 1 10 1 3 3 Servomotor Part Names 1 12 1 3 4 Servomotor Functions 1 13 1 4 System Block Diagram 1 14 1 5 Applicable Standards 1 18 1 5 1 EU Directives 1 18 1 5 2 UL an...

Page 46: ...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 47: ...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 48: ...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 49: ...ns is shown below 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...

Page 50: ...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 51: ...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 52: ...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 53: ...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 54: ...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 55: ...the main circuit power supply input and external regeneration resistor Applicable models R88D 1SN15H ECT 1SN20H ECT 1SN30H ECT 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1SN30F ECT Connector for a D...

Page 56: ...ain circuit power supply cable FG wire inside the control panel and FG wire for the motor cable and shielded wire 2 on front 1 on bottom R88D 1SN15H ECT 1SN20H ECT 1SN30H ECT 1SN06F ECT 1SN10F ECT 1SN...

Page 57: ...e equipment and use the mounting holes to screw the Servomotor Used for supplying power to the phase U V and W of the Servomotor For Servomotors with a brake and flange size of 100 x 100 or more the p...

Page 58: ...N02H ECT 1SN04H ECT L1 N2 P B1 B2 B3 U V W N1 ECAT IN CN10 ECAT OUT CN11 CN1 CN1 CN2 CN12 CN7 L2 L3 24 V DC DC 0 N3 CNA CNA Fuse CNA CNC USB Power supply Brake interlock Safety Encoder Control interfa...

Page 59: ...B2 B3 U V W N1 DC FAN CN1 CN1 CN2 CN12 CN7 L2 L3 24 V DC DC 0 N3 CNA CNA CNA CNC Power supply Display area rotary switch USB Brake interlock Safety Encoder Control interface EtherCAT communications co...

Page 60: ...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 supply Cont...

Page 61: ...L1 B1 B2 B3 U V 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 cir...

Page 62: ...ch complies with IEC 60269 1 CLASS gG between the power supply and noise filter Select a fuse from the following table 1 5 1 EU Directives EU Directives Product Applicable standards EMC Directive Serv...

Page 63: ...e number UL standards Servo Drives UL 61800 5 1 E179149 Servomotors UL 1004 1 UL 1004 6 E331224 Footprint type Noise Filters UL1283 E191135 CSA standards 1 1 IN CANADA TRANSIENT SURGE SUPPRESSION SHAL...

Page 64: ...dio Regulations KC The main power supply inputs can conform to the SEMI F47 standard for momentary power interrup tions voltage sag immunity for no load operation This standard applies to semiconducto...

Page 65: ...d 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 th...

Page 66: ...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 67: ...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 68: ...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 69: ...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 70: ...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 71: ...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 72: ...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 73: ...2 Servomotor Model Tables 2 9 2 3 3 Servo Drive and Servomotor Combination Tables 2 13 2 3 4 Decelerator Model Tables 2 14 2 3 5 Servomotor and Decelerator Combination Tables 2 17 2 3 6 Cable and Conn...

Page 74: ...vo Drives Obtain the Sysmac Studio 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 1...

Page 75: ...s Servo Drive R88D 1SN ECT 100 VAC 200 VAC 400 VAC Feedback signal 1S series Servomotor R88M 1L 1M 3 000 r min 2 000 r min 1 000 r min Backlash 3 Arcminutes max R88G HPG Backlash 15 Arcminutes max R88...

Page 76: ...es Servomotors 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 R88D 1SN01H ECT 100...

Page 77: ...d tap Without brake None S2 O OS2 With brake B BS2 BO BOS2 100 200 400 600 750 900 1K0 1K5 2K0 3K0 10 20 30 S T C R88M 1M10030S BOS2 100 W 200 W 400 W 600 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 1 000 r m...

Page 78: ...50A 65A B 1 5 1 11 1 20 1 21 1 25 1 33 1 45 100 W 200 W 400 W 600 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW J 40 x 40 60 x 60 90 x 90 120 x 120 170 x 170 230 x 230 Decelerator for Servomotor Appli...

Page 79: ...le Servomotor backlash etc 2 2 4 Decelerator Backlash 15 Arcminutes Max 100 200 400 750 100 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 f...

Page 80: ...ive Model Table Specifications Model Reference Single phase 100 VAC 100 W R88D 1SN01L ECT P 2 25 200 W R88D 1SN02L ECT P 2 26 400 W R88D 1SN04L ECT P 2 27 Single phase 3 phase 200 VAC 100 W R88D 1SN01...

Page 81: ...M10030T OS2 P 2 29 200 W R88M 1M20030T R88M 1M20030T S2 R88M 1M20030T O R88M 1M20030T OS2 P 2 31 400 W R88M 1M40030T R88M 1M40030T S2 R88M 1M40030T O R88M 1M40030T OS2 P 2 31 750 W R88M 1M75030T R88M...

Page 82: ...0T BO R88M 1M75030T BOS2 P 2 34 1 kW R88M 1L1K030T B R88M 1L1K030T BS2 R88M 1L1K030T BO R88M 1L1K030T BOS2 P 2 36 1 5 kW R88M 1L1K530T B R88M 1L1K530T BS2 R88M 1L1K530T BO R88M 1L1K530T BOS2 P 2 36 2...

Page 83: ...S2 P 2 49 1 5 kW R88M 1M1K520C R88M 1M1K520C S2 R88M 1M1K520C O R88M 1M1K520C OS2 P 2 49 2 kW R88M 1M2K020C R88M 1M2K020C S2 R88M 1M2K020C O R88M 1M2K020C OS2 P 2 49 3 kW R88M 1M3K020C R88M 1M3K020C S...

Page 84: ...W R88M 1M90010C R88M 1M90010C S2 R88M 1M90010C O R88M 1M90010C OS2 P 2 59 2 kW R88M 1M2K010C R88M 1M2K010C S2 R88M 1M2K010C O R88M 1M2K010C OS2 P 2 61 3 kW R88M 1M3K010C R88M 1M3K010C S2 R88M 1M3K010...

Page 85: ...88D 1SN01H ECT 200 W 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...

Page 86: ...SN30H ECT 3 phase 400 VAC 900 W R88M 1M90010C R88D 1SN10F ECT 2 kW R88M 1M2K010C R88D 1SN20F ECT 3 kW R88M 1M3K010C R88D 1SN30F ECT 2 3 4 Decelerator Model Tables Backlash 3 Arcminutes Max Specificati...

Page 87: ...0A213K0B Specifications Model Reference Servomotor rated output Reduction ratio 400 W 1 5 R88G HPG32A052K0B P 2 71 1 11 R88G HPG32A112K0B 1 21 R88G HPG32A211K5B 1 33 R88G HPG32A33600SB 1 45 R88G HPG32...

Page 88: ...HPG50A212K0TB 1 25 R88G HPG65A255K0SB 3 kW 1 5 R88G HPG50A055K0SB 1 11 R88G HPG50A115K0SB 1 20 R88G HPG65A205K0SB 1 25 R88G HPG65A255K0SB Backlash 15 Arcminutes Max Specifications Model Reference Ser...

Page 89: ...030 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 R88G HPG 32A21750B R88G HPG 32A33750B R88G...

Page 90: ...10030 R88G VRXF05B100CJ R88G VRXF09B100CJ R88G VRXF15B100CJ R88G VRXF25B100CJ R88M 1M20030 R88G VRXF05B200CJ R88G VRXF09C200CJ R88G VRXF15C200CJ R88G VRXF25C200CJ R88M 1M40030 R88G VRXF05C400CJ R88G V...

Page 91: ...A1C020S R88A CA1C020B 30 m R88A 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 Servomo...

Page 92: ...88A CR1A010CF 15 m R88A CR1A015CF 20 m R88A CR1A020CF 30 m R88A CR1A030CF 40 m R88A CR1A040CF 50 m R88A CR1A050CF 200 V 400 V 200V 3 000 r min Servomotors of 1kW or more 2 000 r min Servomotors 1 000...

Page 93: ...5BF 10 m R88A CA1C010SF R88A CA1D010BF 15 m R88A CA1C015SF R88A CA1D015BF 20 m R88A CA1C020SF R88A CA1D020BF 30 m R88A CA1C030SF R88A CA1D030BF 40 m R88A CA1C040SF R88A CA1D040BF 50 m R88A CA1C050SF R...

Page 94: ...For R88D 1SN15H ECT 1SN20H ECT 1SN30H ECT 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1SN30F ECT R88A CN104P 4 Motor connector CNC For R88D 1SN01L ECT 1SN02L ECT 1SN04L ECT 1SN01H ECT 1SN02H ECT 1SN04...

Page 95: ...RR30015 Regeneration process capacity 60 W 15 R88D 1SN15H ECT R88A RR30017 Regeneration process capacity 60 W 17 R88D 1SN08H ECT 1SN10H ECT 1SN20F ECT 1 1SN30F ECT 1 1 Use two series connected Externa...

Page 96: ...R88A PD2037 R88D 1SN06F ECT R88A PD4007 R88D 1SN10F ECT 1SN15F ECT R88A PD4015 R88D 1SN20F ECT R88A PD4022 R88D 1SN30F ECT R88A PD4037 2 3 9 Noise Filter Model Table Applicable Servo Drive Model R88D...

Page 97: ...the external dimensions and mounting dimensions of Servo Drives Servomotors Decelerators and peripheral devices The Servo Drives are described in order of increasing rated output of the applicable Se...

Page 98: ...S series with Built in EtherCAT Communications User s Manual I586 Single phase 100 VAC R88D 1SN02L ECT 200 W Single phase 3 phase 200 VAC R88D 1SN04H ECT 400 W External dimensions Mounting dimensions...

Page 99: ...2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions 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...

Page 100: ...e 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 1SN30F ECT 600 W to 3 kW External d...

Page 101: ...ted 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 2 4 2 Servomotor Dimensions 3 000 r min Servomotors 10...

Page 102: ...al are 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 B O OS2 R88M 1M10030T B O OS2 131 1 M...

Page 103: ...umber 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 OS2 R88M 1M20030T O OS2 86 5 1 R88M 1M40030...

Page 104: ...S 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 B O OS2 R88M 1M20030T B O OS2 114 5 1 R88M 1M40030S B O OS2 R88M 1M40030T B O OS2 140 5...

Page 105: ...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 Model Dimensions mm LL R88M 1M75030T...

Page 106: ...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 B O OS2 160 1 Mod...

Page 107: ...al are 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...

Page 108: ...odel number 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 9...

Page 109: ...e The standard 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...

Page 110: ...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 215 2 119 2...

Page 111: ...the model 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...

Page 112: ...th key 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...

Page 113: ...e The standard 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...

Page 114: ...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 215 2 119 2...

Page 115: ...d with 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 O...

Page 116: ...model number 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...

Page 117: ...The standard 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...

Page 118: ...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 219 2 119 2...

Page 119: ...ber Models 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 5...

Page 120: ...al are indicated 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...

Page 121: ...an oil 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 1...

Page 122: ...nd of the 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...

Page 123: ...The standard 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...

Page 124: ...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 219 2 119 2...

Page 125: ...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 with...

Page 126: ...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 130 130 2 1...

Page 127: ...e standard 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 Sha...

Page 128: ...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 92 1 180 180 2 4 13 5 0 5 dia 1...

Page 129: ...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...

Page 130: ...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 114 3 0 0 035 dia 80 1 162 1 26...

Page 131: ...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 with...

Page 132: ...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 130 130 2 1...

Page 133: ...e standard 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 Sha...

Page 134: ...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 92 1 180 180 2 4 13 5 0 5 dia 1...

Page 135: ...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...

Page 136: ...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 114 3 0 0 035 dia 75 80 1 162 1...

Page 137: ...s mm LM LR C1 C2 D1 D2 D3 D4 D5 D6 2 E F1 F2 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 R...

Page 138: ...D5 dia D4 dia D3h7 dia E T F1 F2 LR G LM QK b h t1 D1 dia D6 dia D6 dia C2 C2 4 Z2 Set bolt AT Key and tap dimensions Set bolt AT 4 Z2 C2 C2 Note Only one set bolt For R88G HPG11B series two set bolt...

Page 139: ...1 R88G HPG32A21750B 2 104 133 120 122 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...

Page 140: ...y do not give the details of the product shape z Outline Drawing 1 z Outline Drawing 2 D2 dia 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 t1 D1 dia Flange side Se...

Page 141: ...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 R88G HPG32A052K0B 2 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0B 2 110 133...

Page 142: ...they do not give the details of the product shape z Outline Drawing 1 z Outline Drawing 2 4 Z1 dia Sh7 dia D5 dia D4 dia D3h7 dia E T F1 F2 LR G LM D1 dia QK b h t1 C1 C1 Flange side Servomotor side D...

Page 143: ...a 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 HPG32A33...

Page 144: ...a 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 D...

Page 145: ...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 146: ...Flange side Servomotor side D6 dia C1 C1 4 Z1 dia D1 65 2 M10 20 Taps for eye bolts 4 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 147: ...3900TB 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 2...

Page 148: ...s Manual I586 z Outline Drawing 1 D6 dia 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 C1 C1 4 Z1 dia D1 65 2 M10 20 Taps for eye bolts 4 Set bolt AT Key and tap dime...

Page 149: ...J 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 70 3 8 19...

Page 150: ...78 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 z 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 151: ...re the dimensions of External Regeneration Resistors and External Regeneration Resis tance Units 2 4 4 Dimensions of External Regeneration Resistors and External Regeneration Resistance Units R88A RR1...

Page 152: ...S series with Built in EtherCAT Communications User s Manual I586 The following are the dimensions of Reactors 2 4 5 Reactor Dimensions R88A PD2002 1 6 2 terminal M4 screw 78 68 55 76 67 16 Terminal b...

Page 153: ...s 1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 5 Reactor Dimensions R88A PD2004 55 78 1 6 68 76 67 16 Terminal block top view U X 50 ma...

Page 154: ...Communications User s Manual I586 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 max 50 max 60 62 18 71 76 86 1 2...

Page 155: ...1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 5 Reactor Dimensions R88A PD2022 86 60 86 77 1 2 76 18 2 terminal M4 screw Terminal block...

Page 156: ...2 84 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD2037 105 64 1 6 93 102 88 26 2 terminal M4 screw Terminal block top view U X 4 mounting hole...

Page 157: ...s 1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 5 Reactor Dimensions R88A PD4007 78 55 1 6 68 76 67 16 2 terminal M4 screw Terminal bloc...

Page 158: ...2 86 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD4015 86 60 1 2 76 71 62 18 2 terminal M4 screw Terminal block top view U X 4 mounting hole fo...

Page 159: ...1S series with Built in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 5 Reactor Dimensions R88A PD4022 86 60 1 2 76 86 77 18 2 terminal M4 screw Terminal block...

Page 160: ...2 88 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 R88A PD4037 105 64 93 102 88 26 1 6 2 terminal M4 screw Terminal block top view U X 4 mounting hole...

Page 161: ...ng are the dimensions of Footprint type Noise Filters 2 4 6 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...

Page 162: ...88A 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 25 notch 2 4 5 dia 92 5 1 0 70 0 5 4...

Page 163: ...ilt in EtherCAT Communications User s Manual I586 2 4 External and Mounting Dimensions 2 2 4 6 Noise Filter Dimensions 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...

Page 164: ...2 Models and External Dimensions 2 92 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 165: ...3 18 3 1 9 Control Output Details 3 18 3 1 10 Encoder Pulse Output Specifications 3 19 3 1 11 Safety I O Specifications 3 20 3 1 12 Brake Interlock Connector CN12 Specifications 3 21 3 1 13 Encoder Co...

Page 166: ...3 93 3 5 1 General Specifications 3 93 3 5 2 Characteristics 3 94 3 5 3 External Regeneration Resistance Unit Specifications 3 96 3 6 Reactor Specifications 3 97 3 6 1 General Specifications 3 97 3 6...

Page 167: ...ve failure Do not perform a dielectric strength test on the Servo Drive Internal elements may be dam aged 3 1 1 General Specifications Item Specifications Operating ambient temperature and humidity 0...

Page 168: ...rrent 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 power...

Page 169: ...umption 2 600 mA Rated current A 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...

Page 170: ...UL Low Voltage Directive Therefore you do not need 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 p...

Page 171: ...y the 1S series product for the UL Low Voltage Directive Therefore you do not need to consider it when you select a DC power supply for each model 900 mA Rated current A rms Main circuit power supply...

Page 172: ...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 mapping Mailbox CoE Emergency messages SDO...

Page 173: ...60 Hz 47 5 to 63 Hz R88D 1SN H ECT 3 phase 200 to 240 VAC 170 to 252 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 Extern...

Page 174: ...istor between B1 and B2 Open between B2 and B3 B2 B3 L3 Main circuit power supply input R88D 1SN15H ECT Single phase 1 200 to 240 VAC 170 to 252 V 50 60 Hz 47 5 to 63 Hz R88D 1SN15H ECT 1SN20H ECT 1SN...

Page 175: ...or Be sure to wire them correctly V Phase V U Phase U FG FG Terminal Block Wire Sizes Item Unit Model R88D 1SN 01L ECT 02L ECT 04L ECT Power supply capacity kVA 0 4 0 6 1 0 Main circuit power supply i...

Page 176: ...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 Control circuit power supply input 24 V Wire size AWG 20 to 16 0 5 to 1 5 mm2 Motor connec tion ter...

Page 177: ...V Wire size AWG 20 to 16 0 5 to 1 5 mm2 Motor connection terminals U V and W 1 2 1 Connect OMRON Power Cables to the motor connection terminals 2 Use the wire with the same current capacity for the w...

Page 178: ...1 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 Maximum service voltage 30 VDC Maximum output...

Page 179: ...ort circuit protection 22 SFA Reserved 3 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...

Page 180: ...ser s Manual I586 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 wires are connected to the connector 1 2...

Page 181: ...4 k 12 32 IN1 IN2 36 COMMON Photocoupler input External power supply 12 VDC 5 to 24 VDC 5 Input current specification 10 mA max per point Signal level ON level 9 V or more OFF level 3 V or less To ano...

Page 182: ...IN1 Error Stop Input ESTP 32 General input 2 IN2 Positive Drive Prohibition Input POT 13 General input 3 IN3 Negative Drive Prohibition Input NOT 33 General input 4 IN4 Home Proximity Input DEC 14 Gen...

Page 183: ...R OUT1 30 General Output 2 OUT2 11 General Output 3 OUT3 Remote Output 2 R OUT2 31 General Output 3 OUT3 3 1 10 Encoder Pulse Output Specifications Pin No Symbol Name Function and interface 17 A Encod...

Page 184: ...erface 3 and 23 SF1 Safety input 1 Inputs 1 and 2 for operating the STO function which are two inde pendent circuits This input turns OFF the power transistor drive signals in the Servo Drive to cut o...

Page 185: ...terlock Connector CN12 Specifications Pin No Symbol Name 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 4 3 k 430 24 VDC 5 4 3 k 4...

Page 186: ...er Connector CN2 Specifications Pin No Symbol Name 1 E5V Encoder power supply voltage 2 E0V Encoder power supply GND 3 Not used NC 4 Not used NC 5 PS Encoder phase S I O 6 PS Encoder phase S I O Shell...

Page 187: ...ves the time from when the control power supply for the Servo Drive is turned ON until the control I O and EtherCAT communications are enabled Communications with the master is started after the Ether...

Page 188: ...old start is longer than that 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...

Page 189: ...n S BS lock OS BOS rotation OS BOS lock Detection time s Output current ratio 100 150 200 250 300 350 400 0 1 10 1 100 1000 10000 S rotation S lock BS rotation BS lock OS BOS rotation OS BOS lock R88M...

Page 190: ...tection time s Output current ratio 100 150 200 250 300 350 400 0 1 10 1 100 1000 10000 1L75030C rotation 1L75030C lock 1L1K030C rotation 1L1K030C lock 1M1K020C rotation 1M1K020C lock 1M90010C rotatio...

Page 191: ...3 1 Servo Drive Specifications 3 3 1 17 Overload Characteristics Electronic Thermal Function 3 kW Detection time s Output current ratio 100 150 200 250 300 350 400 0 1 10 1 100 1000 10000 1L3K030C ro...

Page 192: ...ith 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 value must not b...

Page 193: ...is possible to use an absolute encoder as an incremental encoder Refer to 9 13 Encoder related Objects on page 9 102 for setting 3 2 2 Encoder Specifications Item Specifications Encoder system Optical...

Page 194: ...28 0 30 Power rate 1 3 kW s 11 9 18 5 36 6 Mechanical time constant 3 ms 1 1 0 76 0 61 Electrical time constant ms 0 84 2 4 2 4 Allowable radial load 4 N 68 245 245 Allowable thrust load 4 N 58 88 88...

Page 195: ...s 11 9 18 5 36 6 31 4 Mechanical time constant 3 ms 1 2 0 78 0 56 0 66 Electrical time constant ms 0 83 2 4 2 6 3 3 Allowable radial load 4 N 68 245 245 490 Allowable thrust load 4 N 58 88 88 196 Wei...

Page 196: ...58 0 56 0 62 Power rate 1 3 kW s 48 108 169 134 Mechanical time constant 3 ms 0 58 0 58 0 50 0 47 Electrical time constant ms 5 9 6 1 6 4 11 Allowable radial load 4 N 490 Allowable thrust load 4 N 196...

Page 197: ...6 Torque constant 1 N m A rms 0 91 1 17 1 17 Power rate 1 3 kW s 44 48 108 Mechanical time constant 3 ms 1 09 0 6 0 58 Electrical time constant ms 4 3 5 9 5 9 Allowable radial load 4 N 490 Allowable...

Page 198: ...or inertia Without brake 10 4 kg m2 2 4042 6 8122 With brake 10 4 kg m2 2 8542 7 3122 Applicable load inertia 10 4 kg m2 60 2 118 Torque constant 1 N m A rms 1 15 1 23 Power rate 1 3 3 This value is f...

Page 199: ...cs 4 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating tempera tures The allowable radial loads are applied as shown in the following diag...

Page 200: ...00 4000 5000 6000 Rotation r min Torque N m Momentary operation range Continuous operation range 0 1000 2000 3000 4000 5000 6000 0 0 5 1 1 5 2 2 5 Torque N m Momentary operation range Continuous opera...

Page 201: ...of 40 C when the Servomotor is horizontally installed on a specified radiator plate Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 0 5 10 15...

Page 202: ...ms 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 490 784 Allowable thrust loa...

Page 203: ...rque constant 1 N m A rms 1 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 th...

Page 204: ...2 9 0042 12 2042 15 3122 With brake 10 4 kg m2 9 5042 12 7042 17 4122 Applicable load inertia 10 4 kg m2 79 9 100 142 Torque constant 1 N m A rms 1 75 1 75 1 74 Power rate 1 3 3 This value is for mode...

Page 205: ...cs 4 The allowable radial and thrust loads are the values determined for a limit of 20 000 hours at normal operating tempera tures The allowable radial loads are applied as shown in the following diag...

Page 206: ...mbient 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 doing so will reduce the outp...

Page 207: ...adiator plate Continuous operation 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 Contin...

Page 208: ...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 209: ...1 176 1 470 Allowable thrust load 4 N 196 490 Weight Without brake kg 8 5 18 28 With brake kg 10 5 22 33 Radiator plate dimensions material mm 470 470 t20 aluminum 540 540 t20 aluminum Brake specifi...

Page 210: ...nd thrust loads are the values determined for a limit of 20 000 hours at normal operating tempera tures The allowable radial loads are applied as shown in the following diagram 5 This is a non excitat...

Page 211: ...ally installed on a specified radiator plate Continuous operation at the maximum speed is also possible However doing so will reduce the output torque 0 5 10 15 20 25 0 1000 2000 Rotation r min Moment...

Page 212: ...272 5 8 82 6 545 18 8 0 197 280 1119 1 1 1 21 R88G HPG20A21200B 142 10 2 76 2 285 35 9 0 49 800 2817 2 9 1 33 R88G HPG20A33200B 90 17 0 80 6 181 57 3 0 45 916 3226 2 9 1 45 R88G HPG20A45200B 66 23 5 8...

Page 213: ...2 0 3 8 889 3542 7 4 1 11 R88G HPG32A112K0B 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...

Page 214: ...0SB 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 9...

Page 215: ...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 min N m r...

Page 216: ...1 15 R88G VRXF15B100CJ 200 4 10 86 400 14 32 0 053 588 294 0 70 1 25 R88G VRXF25B100CJ 120 6 84 86 240 23 87 0 051 686 343 0 70 200 W 100 V 1 5 R88G VRXF05B200CJ 600 2 93 92 1200 8 79 0 147 392 196 0...

Page 217: ...nnect between Servo Drives and Servomo tors and the connectors to be used Select an appropriate cable for the Servomotor These cables are used to connect the Servo Drive with an encoder installed in t...

Page 218: ...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 219: ...pprox 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 40 m Appr...

Page 220: ...rox 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 R88A CR1A050CF 50 m Approx 3 7 kg L Ser...

Page 221: ...a 33 mm Approx 0 3 kg R88A CR1B005NF 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 R88...

Page 222: ...6 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...

Page 223: ...B010S 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 15...

Page 224: ...ht 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...

Page 225: ...L 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...

Page 226: ...ox 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...

Page 227: ...010SF 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...

Page 228: ...R88A 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 Ferrite core E04SR...

Page 229: ...e 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...

Page 230: ...R88A 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...

Page 231: ...8A 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...

Page 232: ...Cables with Brake Wire Standard Cable Model Length L Outer diameter of sheath Weight R88A CA1B003B 3 m 12 5 dia Approx 1 2 kg R88A CA1B005B 5 m Approx 1 9 kg R88A CA1B010B 10 m Approx 3 5 kg R88A CA1...

Page 233: ...UL2586 AWG20 2C UL2586 JL10 6A20 18SE EB JL04 2022CK 12 R M4 Crimp terminal Blue Red White Green Yellow Black Black Ferrite core E04SR301334 SEIWA ELECTRIC MFG CO Ltd Servo Drive side Semi strip Ferr...

Page 234: ...ox 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 R88D 1SN Servomotor side R88M 1 L 175...

Page 235: ...005B 5 m Approx 1 9 kg R88A CA1D010B 10 m 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 CA1D0...

Page 236: ...motors of 3 kW 1 000 r min Servomotors of 2 kW 3 kW Cable types Connection configuration and external dimensions mm Model Length L Outer diameter of sheath Weight R88A CA1E003B 3 m 14 0 dia Approx 1 4...

Page 237: ...D NC AWG14 4C UL2586 AWG20 2C UL2586 Servomotor side connector Connector model JL10 6A24 11SE EB Japan Aviation Electronics Clamp model JL04 2428CK 14 R Japan Aviation Electronics Blue Red White Green...

Page 238: ...20B 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 239: ...l dimensions mm Power Cables with Brake Wire Flexible Cable Model Length L Outer diame ter of sheath Minimum bending radius Weight R88A CA1B003BF 3 m 12 5 dia 90 mm Approx 1 2 kg R88A CA1B005BF 5 m Ap...

Page 240: ...reen Yellow Black Servo Drive side M4 Crimp terminal Ring terminal NICHIFU R5 5 4 F Z SUMITOMO ELECTRIC FINE POLYMER INC Ferrite core E04SR301334 SEIWA ELECTRIC MFG CO Ltd Cable Servomotor side Symbol...

Page 241: ...A CA1C010BF 10 m Approx 3 5 kg R88A CA1C015BF 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...

Page 242: ...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 3 kg R88A CA1D050BF 50 m Approx 16 5...

Page 243: ...3 kW 2 000 r min Servomotors of 3 kW 1 000 r min Servomotors of 2 kW 3 kW Cable types Connection configuration and external dimensions mm Model Length L Outerdiameter of sheath Minimum bending radius...

Page 244: ...86 JL10 6A24 11SE EB JL04 2428CK 14 R Blue Red White Green Yellow Green Yellow Black Servo Drive side M4 Crimp terminal Ring terminal NICHIFU R5 5 4 F Z SUMITOMO ELECTRIC FINE POLYMER INC Cable Servom...

Page 245: ...rox 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 sid...

Page 246: ...3 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 CA1A...

Page 247: ...h 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...

Page 248: ...functional 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 tha...

Page 249: ...A1B SF 1 R88A CA1C SF 1 90 mm 500 to 1 000 mm 20 million times R88A CA1E SF 1 90 mm 500 to 1 000 mm 20 million times R88A CA1F SF 1 100 mm 500 to 1 000 mm 20 million times Model Bend test conditions E...

Page 250: ...or 3 4 4 Connector Specifications Encoder Cable Connectors Item Specifications Applicable Servomotor 1S series Servomotors of all capacities Connector This is a soldering type connector Receptacle 3E2...

Page 251: ...cable 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 t...

Page 252: ...in Servomotors of 100 to 400 W 200 V 3 000 r min Servomotors of 100 to 750 W Connector This is a crimping type connector For required tools contact the manufacturers directly Angle plug JN6FS05SJ2 Jap...

Page 253: ...le Servo motor 100 V 3 000 r min Servomotors of 100 to 400 W 200 V 3 000 r min Servomotors of 100 to 750 W Connector This is a crimping type connector For required tools contact the manufacturers dire...

Page 254: ...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 255: ...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 256: ...he ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo Drive Do not connect the ECAT OUT connector on the last Servo Drive Precautions for Correct Use Always turn OF...

Page 257: ...ce Unit Refer to 2 4 4 Dimensions of External Regeneration Resistors and External Regeneration Resistance Units on page 2 79 for external dimensions 3 5 1 General Specifications Item Model R88A RR120...

Page 258: ...or Wire size Model Resis tance value Power 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 Aluminu...

Page 259: ...e insulated wires HIV at the ambient temperature of 50 C External Regeneration Resistance Unit Applicable Servo Drive R88D 1SN ECT External Regeneration Resistance Unit Wire size 2 Model Resis tance v...

Page 260: ...External regeneration resistor 640 W 2 R 3 Protective earth PE Ground terminal 4 24V Fan power supply input Input voltage 24 VDC 20 4 to 27 6 V Input current 0 27 A 5 0V 6 SENS Fan rotation error sign...

Page 261: ...tion Storage ambient tempera ture and humidity 20 to 65 C 90 max with no condensation Operating and storage atmosphere No corrosive gases 3 6 2 Characteristics Applicable Servo Drive DC Reactor Wire s...

Page 262: ...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 263: ...e current For the external dimensions refer to 2 4 6 Noise Filter Dimensions on page 2 89 For the Book type Noise Filters refer to Noise Filter for Power Input on page 4 36 in 4 3 Wiring Con forming t...

Page 264: ...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 265: ...z 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 1SN...

Page 266: ...3 Specifications 3 102 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 267: ...type Noise Filter Installation Conditions 4 12 4 2 Wiring 4 13 4 2 1 Peripheral Equipment Connection Examples 4 14 4 2 2 Terminal Block Wiring Procedure 4 24 4 2 3 Connector Attachment Procedure 4 26...

Page 268: ...the Servo Drives according 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...

Page 269: ...nstall the 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...

Page 270: ...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 271: ...from the Servomotor Operating humidity 20 to 90 max with no condensation Operating ambient atmosphere No corrosive gases The Servomotor is resistant to vibration of up to 49 m s2 If the Servomotor is...

Page 272: ...precision is not adequate allow backlash to ensure that no radial load is placed on the motor shaft When you use bevel gears a load is applied in the thrust direction depending on the assembly precisi...

Page 273: ...vide enough radiation space on the mounting area because the heat is radiated from the mounting surface Otherwise the Servomotor tem perature may rise too high One of the preventive measures is to ins...

Page 274: ...ion The motor shaft is coated with anti corrosion oil when it is shipped but you should also apply anti corrosion oil or grease when you connect the com ponents that apply load to the shaft Other Prec...

Page 275: ...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 276: ...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 b...

Page 277: ...ON decelerator together with a 1S series Servomotor due to system configura tion requirement select the Decelerator so that the loads on the motor shaft i e both the radial and thrust loads are within...

Page 278: ...ertical 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 Filter Installation Conditions Mounting Direction...

Page 279: ...th Built in EtherCAT Communications User s Manual I586 4 2 Wiring 4 4 1 5 Footprint type Noise Filter Installation Conditions 4 2 Wiring This section gives the examples of connection with peripheral e...

Page 280: ...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 281: ...mount of regeneration is large remove the short circuit wire between B2 and B3 and connect a regeneration resistor between B1 and B2 4 There is no internal regeneration resistor for 1SN01L ECT to 1SN0...

Page 282: ...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 283: ...n the amount of regenera tion is large remove the short circuit wire between B2 and B3 and connect a regeneration resistor between B1 and B2 4 There is no Internal Regeneration Resistor for 1SN01H ECT...

Page 284: ...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 285: ...Short circuit B2 and B3 for models with a built in regeneration resistor 1SN10H ECT When the amount of regeneration is large remove the short circuit wire between B2 and B3 and connect a regeneration...

Page 286: ...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 287: ...Short circuit B2 and B3 for models with a built in regeneration resistor 1SN15H ECT When the amount of regenera tion is large remove the short circuit wire between B2 and B3 and connect a regeneratio...

Page 288: ...B2 B1 3 4 CNC CNA X X 1MC OFF ON X 1MC 1MC 8 28 N2 N1 CNB DC24V CND 24V 0V E CAT IN CN10 E CAT OUT CN11 BKIR 4 BKIR 3 24V_BKIR 2 0V_BKIR 1 DC24V ERR ERR MCCB Fuse Main circuit contactor 1 Main circuit...

Page 289: ...0H ECT 1SN30H ECT 1SN06F ECT 1SN10F ECT 1SN15F ECT 1SN20F ECT 1SN30F ECT When the amount of regeneration is large remove the short circuit wire between B2 and B3 and connect a regeneration resistor be...

Page 290: ...with the terminal block in place 2 Strip off the covering from the wire Refer to Terminal Block Wire Sizes on page 3 11 for applicable wire sizes If the stripped wire is bended loose or too large in...

Page 291: ...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 the terminals are wired return...

Page 292: ...with the key position and fit the connector into 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 til...

Page 293: ...hen the turned coupling nut clicks into 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 dir...

Page 294: ...re gently to check that it does not come out z 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 t...

Page 295: ...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 296: ...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 297: ...hase R88D 1SN01H ECT 3 phase R88D 1SN02H ECT R88A FI1S203 3 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 25...

Page 298: ...t as possible Install a surge absorber and noise filter near the main circuit connector of Servo Drive Separate I O wires from each other for the wiring 10 Brake interlock cable 20 m Non shielded Sign...

Page 299: ...RIC MFG E04SR301334 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...

Page 300: ...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 301: ...D 1SN10F ECT 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 Interfac...

Page 302: ...3 2 4 0 mA max at 200 VAC 60 Hz delta connection and single phase ground R88D 1SN F E CT HF3020C SZC 20 Arms 7 mA max at 400 VAC 50 Hz by UL1283 2 Applicable Servo Drive Footprint type Noise Filter Ph...

Page 303: ...ring If input and output cables are placed in the same duct the noise immunity will be impaired Place the noise filter as close as possible to the opening of the control panel Use the diagram below to...

Page 304: ...and Wiring 4 38 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 z Circuit Diagram of Book type Noise Filter HF2020A SZC 33DDD HF3020C SZC 33DDD LOAD LINE...

Page 305: ...o Main Circuit and Motor Connections on page 3 9 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 devic...

Page 306: ...currents of the main circuit power supplies in the above table will be increased Increase in current 2 main circuit power supply volt age external regeneration resistance Model Main circuit power sup...

Page 307: ...mA 3 phase 200 V 1M1K520T Single phase 200 V 3 phase 200 V 1SN20H ECT 1L2K030T 3 phase 200 V 1M2K020T 3 phase 200 V 1M2K010T 3 phase 200 V 1SN30H ECT 1L3K030T 3 phase 200 V 1M3K020T 3 phase 200 V 1M3K...

Page 308: ...19 Separator operation indicator Lead wire L3 Lead wire L1 Ground wire 4 3 d i a Case 28 250 38 4 33 5 25 4 For single phase 22 5 19 Separator operation indicator Lead wire L3 Lead wire L1 Ground wir...

Page 309: ...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 310: ...r Voltage Model Model Rated current Inductance 0 to 20 100 VAC R88D 1SN01L ECT R88A PD2002 1 6 A 21 4 mH R88D 1SN02L ECT R88A PD2004 3 2 A 10 7 mH R88D 1SN04L ECT R88A PD2007 6 1 A 6 75 mH 200 VAC R88...

Page 311: ...Information Some Servo Drive models do not have the Internal Regeneration Resistor Regenerative energy absorption capacity depends on the Servo Drive model Refer to Amount of Internal Regeneration Ab...

Page 312: ...ative energy values in each region can be calculated from the following equations Note Due to the loss from winding resistance the actual regenerative energy will be approximately 90 of the values cal...

Page 313: ...culates the average regenerative power Pr 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 t...

Page 314: ...phase 3 phase Main cir cuit power supply voltage Rated output Model Regenera tive energy to be absorbed by built in capacitor J Average regenera tive energy to be absorbed by Internal Regenera tion Re...

Page 315: ...near equipment and wiring that is easily affected by heat Refer to 3 5 Specifications of External Regeneration Resistors and External Regeneration Resistance Units on page 3 93 for details on the spec...

Page 316: ...onnect an External Regeneration Resistor between B1 and B2 as shown below Precautions for Correct Use In Regeneration 4310 hex set a value which is appropriate for the external regeneration resistor t...

Page 317: ...is not necessary Do 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...

Page 318: ...4 Configuration and Wiring 4 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 319: ...us Indicators 5 3 5 2 Structure of the CAN Application Protocol over EtherCAT 5 5 5 3 EtherCAT State Machine 5 6 5 4 Process Data Objects PDOs 5 7 5 4 1 PDO Mapping Settings 5 7 5 4 2 Sync Manager PDO...

Page 320: ...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 321: ...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 322: ...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 323: ...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 324: ...ications are not possible Pre Operational Pre Op 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...

Page 325: ...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 326: ...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 327: ...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 328: ...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 329: ...e the 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 S...

Page 330: ...ons 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 th...

Page 331: ...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 332: ...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 333: ...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 334: ...utomation 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 mon...

Page 335: ...g 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 add...

Page 336: ...ysmac 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 Inf...

Page 337: ...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 338: ...5 EtherCAT Communications 5 20 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 339: ...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 340: ...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 341: ...ng without lowering servo rigidity In the ODF control the offset can be input as you expect because there is no interruption due to feed forward input from the TDF control section Use TDF control in n...

Page 342: ...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 343: ...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 344: ...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 345: ...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 346: ...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 347: ...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 348: ...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 349: ...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 350: ...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 351: ...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 352: ...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 353: ...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 354: ...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 355: ...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 356: ...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 357: ...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 358: ...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 359: ...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 360: ...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 361: ...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 362: ...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 363: ...ming The value of offset used by the Servo Drive is 0 06 Home Offset 0 3B10 Drive Prohibition Drive prohibition input is disabled for the Servo Drive and this function is handled by the controller 01...

Page 364: ...Input The Home Proximity Input is allocated to General Input 4 IN4 with positive logic NO contact 01 Port Selection 4 02 Logic Selection 0 1 If the unit version of the NJ NX series CPU Units is 1 10...

Page 365: ...and the Absolute Encoder Counter Overflow is ignored 01 Operation Selection when Using Absolute Encoder 2 4630 Positive Drive Prohibition Input The Positive Drive Prohibition Input is allocated to Gen...

Page 366: ...6 Basic Control Functions 6 28 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 367: ...s 7 15 7 3 1 Objects 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...

Page 368: ...Settings 7 34 7 10 2 Mode Selection 7 36 7 10 3 Gain Switching in Position Control 7 37 7 11 Touch Probe Function Latch Function 7 38 7 11 1 Related Objects 7 38 7 11 2 Trigger Signal Settings 7 40 7...

Page 369: ...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 370: ...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 9 116 01 Port Selection The function is the same as 4630 01 hex 02 L...

Page 371: ...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 9 119 01 Port Selection The function is the same as 4630 01...

Page 372: ...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 1 Positive logic NO contact 4636 Negative Torque Limit Input...

Page 373: ...able 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 z Home Proximity Input DEC This is the deceleration signal for ho...

Page 374: ...put READY Positioning Completion Output 1 INP1 Positioning Completion Output 2 INP2 Velocity Attainment Detection Out put TGON Torque Limit Output TLMT Zero Speed Detection Output ZSP Velocity Conform...

Page 375: ...Detection Out put Sets the output signal allocation and logic P 9 124 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 376: ...election The function is the same as 4651 01 hex 02 Logic Selection The function is the same as 4651 02 hex 7 2 2 Default Setting Index hex Name Default setting Subindex 01 hex Port Selection Subindex...

Page 377: ...nd INP2 INP1 will turn ON when the following error is less than or equal to Positioning Completion Noti fication Position Window 3B51 01 hex INP2 output will turn ON as specified in the Positioning Co...

Page 378: ...0 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 z Zero Speed Detection Output ZSP This output turns ON...

Page 379: ...et 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 z Position Command Status Output PCMD This output turns...

Page 380: ...and ZONE2 Zone Notification Output 1 turns ON when the present position is within the range between Lower Limit 3B40 01 hex and Upper Limit 3B40 02 hex of Zone Notification 1 Zone Notification Output...

Page 381: ...ects whether to enable or disable the drive pro hibition function 0 Drive prohibition disabled 1 Drive prohibition enabled P 9 59 02 Stop Selection Selects the operation when Positive Drive Prohibi ti...

Page 382: ...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 383: ...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 384: ...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 385: ...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 386: ...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 387: ...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 388: ...the motor speed at which the Brake Interlock Output BKIR can be turned OFF brake is held after the Servo OFF command is detected when the Servo OFF is per formed during motor operation P 9 111 04 Har...

Page 389: ...ake designed only to hold the motor in the stop state when the operation is stopped Accordingly set an appropriate time so that the brake is applied after the Servomotor stops If the brake is applied...

Page 390: ...ue in Brake Interlock Output Hardware Delay Time 4610 04 hex Note The brake attraction time and release time vary depending on the Servomotor brake For details refer to 3 2 Servomotor Specifications o...

Page 391: ...ications 4 t1 is the period 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...

Page 392: ...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 undervoltage will occur in...

Page 393: ...ck Output Hardware Delay 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 comman...

Page 394: ...Units is 1 10 or ealier some Servomotors cannot be driven at the maximum rotation speed In such a case set the electronig gear ratio of the Servo Drive to 2 1 or higher When the Servo Drive is connect...

Page 395: ...encoder 8 388 608 pulses per 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...

Page 396: ...orque 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 2 Objects Requiring Setting...

Page 397: ...are limited by the maximum torque 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...

Page 398: ...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 Refer ence 3021 Velocity Comm...

Page 399: ...cceleration Time and the Deceleration 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 Comm...

Page 400: ...P 9 34 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 34 04 Time Sets the time to switch the gain completely when the g...

Page 401: ...isable the 1st torque command filter 0 Disabled 1 Enabled P 9 40 02 Cutoff Frequency Sets the cutoff frequency for the filter P 9 40 3234 2nd Torque Command Fil ter Sets the 2nd torque command filter...

Page 402: ...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 Selection is set to 1 2st Pos...

Page 403: ...lower and the Gain Switching in Position 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 S...

Page 404: ...9 67 83 Positive Edge Time Stamp Gives the time which is latched by the Latch Function 1 Touch Probe 1 P 9 67 3B31 Touch Probe 2 P 9 69 01 Touch Probe 2 Source 1 External Latch Input 1 EXT1 2 External...

Page 405: ...eral Input 8 IN8 02 Logic Selection 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 to...

Page 406: ...tings Function Description A General purpose input function selection including logic selection Allocation of general purpose input signals and logic selection B Touch probe source Selecting the latch...

Page 407: ...vent 60B8 hex Bit 1 9 0 Trigger first 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 funct...

Page 408: ...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 shows the pulses that are...

Page 409: ...led P 9 112 02 Dividing Numerator Sets the number of output pulses per motor rotation P 9 112 03 Dividing Denominator For applications for which the number of out put pulses per rotation is not an int...

Page 410: ...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 Denominator If the values are not set correctly...

Page 411: ...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 rating Do not use it for the stop in normal operation The following freque...

Page 412: ...e operation after stopping Use the Stop Selection Shutdown Option Code 3B20 01 hex for setting 3B20 Stop Selection P 9 62 01 Shutdown Option Code Selects the operation for the time when the PDS state...

Page 413: ...t does not cause the deceleration stop or when 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 Decelerat...

Page 414: ...e deceleration stop occurs the deceleration stop is per formed according to the setting of Operation A If an error that does not cause the decelera tion stop occurs the dynamic brake operation or free...

Page 415: ...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 416: ...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 417: ...ations in the user s manuals so that you can design a system that meets all requirements of those standards and specifications Qualified engineers must develop your safety related system and install s...

Page 418: ...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 419: ...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 420: ...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 421: ...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 422: ...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 423: ...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 424: ...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 425: ...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 operat...

Page 426: ...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 427: ...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 428: ...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 429: ...eries Safety CPU Units use the Safety Output Unit s procesing 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 430: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 431: ...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 27 9 3 1 3112 hex ODF...

Page 432: ...hex Zone Notification 2 9 71 9 7 9 3B50 hex Position Detection Function 9 72 9 7 10 3B51 hex Positioning Completion Notification 9 72 9 7 11 3B52 hex Positioning Completion Notification 2 9 73 9 7 12...

Page 433: ...8 9 15 12 463A hex Monitor Input 3 9 118 9 15 13 463B hex Monitor Input 4 9 118 9 15 14 463C hex Monitor Input 5 9 119 9 15 15 463D hex Monitor Input 6 9 119 9 15 16 463E hex Monitor Input 7 9 119 9 1...

Page 434: ...ame 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 chan...

Page 435: ...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 436: ...n Direction Selec tion 0 to 1 1 R 4 bytes INT32 RW csp csv 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 R 4 bytes INT32 RW csp cs...

Page 437: ...Switches the control method between TDF two degree of freedom control and ODF one degree of freedom control z Description of Set Values Selects whether to enable or disable the extended functions whi...

Page 438: ...thin 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 439: ...lues 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...

Page 440: ...Supported 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...

Page 441: ...s 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 cs...

Page 442: ...ex 1 byte U8 RO 01 Inertia Ratio 0 to 30 000 1 1 The setting range is specified from 0 to 10 000 for the unit version 1 0 250 A 4 bytes INT32 RW csp csv cst pp pv hm 02 Backlash Com pensation Selectio...

Page 443: ...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 444: ...ay 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...

Page 445: ...mplete access Modes of oper ation 3010 Position Com mand Possible 00 Number of entries F2 hex 1 byte U8 RO 81 Position Demand Value Command unit 4 bytes INT32 RO csp pp hm 82 Position Demand Inter nal...

Page 446: ...de is switched to the Cyclic synchronous position mode Gives the following error between the command position and the present position Sets the command position in the Cyclic synchronous position mode...

Page 447: ...of Set Values Sets the cutoff frequency for the IIR filter 9 2 5 3011 hex Position Command Filter Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PD...

Page 448: ...l 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...

Page 449: ...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 450: ...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 451: ...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 452: ...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 453: ...utoff 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 Mo...

Page 454: ...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 455: ...d 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 in...

Page 456: ...Description of Set Values Sets the value of the interpolation time period 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 h...

Page 457: ...le the low pass filter in the velocity feed forward z 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 V...

Page 458: ...ee 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 Although the following ability is im...

Page 459: ...ff frequency for the one degree of freedom torque feed forward This object is intended for PDO assignment Use this object to change the LPF Cutoff Frequency subindex 03 hex from a PDO Sets the operati...

Page 460: ...ontrol Command Following Gain Selection 3120 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...

Page 461: ...hex is set to 0 use the Command Following Gain Selects the command following gain switching method z Description of Set Values Sets the cutoff frequency to the velocity command The higher the set valu...

Page 462: ...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 Sub index hex Object name Set ting...

Page 463: ...s 83 hex 1 byte U8 RO 81 Position 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 Posit...

Page 464: ...t Use this object to change the Proportional 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 Eth...

Page 465: ...ing range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of opera tion 3214 2nd Position Control Gain Possible 00 Number of entries 01 hex 1 byte U8 RO 01 Proportional...

Page 466: ...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 Control Effort Subindex 92 hex Mo...

Page 467: ...ity Control Possible 00 Number of entries 01 hex 1 byte U8 RO 01 Mode Selection 0 to 2 0 E 4 bytes INT32 RW csv pv Subindex 01 hex Mode Selection Set value Description 0 Always Gain 1 1 Always Gain 2...

Page 468: ...ain 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 Integral Gain Command 9 4 10 3224 hex 2n...

Page 469: ...a tion 3230 Internal Torque Command 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 Det...

Page 470: ...x 01 hex Mode Selection Set value Description 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...

Page 471: ...object to change the Cutoff Frequency from a PDO 9 4 15 3234 hex 2nd Torque Command Filter Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Co...

Page 472: ...tries 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 0 1 0 A 4 bytes INT32 RW csp csv cst...

Page 473: ...Update Selection 3B80 03 hex is set 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 automa...

Page 474: ...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 Adaptive Notch Filter Possible 00 Numbe...

Page 475: ...ange Unit Default setting Data attri 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 I...

Page 476: ...n 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 is updated automatically when th...

Page 477: ...ange Unit Default setting Data attri 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 I...

Page 478: ...n 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 is updated automatically when th...

Page 479: ...range Unit Default setting Data attri 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 I...

Page 480: ...n 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 is updated automatically when th...

Page 481: ...ange Unit Default setting Data attri 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 I...

Page 482: ...n 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 is updated automatically when th...

Page 483: ...v hm 03 Positive Torque Limit Value 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 Tor...

Page 484: ...imit 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 limit value 2 Gives the torque limit...

Page 485: ...te INT8 RW 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...

Page 486: ...ts 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 Not specifie...

Page 487: ...nterrupted or 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...

Page 488: ...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 homing metho...

Page 489: ...Default setting Data attri bute Size 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...

Page 490: ...etting 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 Enable Selection 0 to 3 0 E 4 bytes IN...

Page 491: ...used State after stopping Lock at the 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 Exce...

Page 492: ...te U8 RO 01 Shutdown Option Code 7 to 0 5 C 2 bytes INT16 RW 02 Disable Opera tion Option 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 Op...

Page 493: ...lues Mirror object of 605C hex z Description of Set Values Precautions for Correct Use When the error is cleared a process which makes the internal command position follow the actual position comes in...

Page 494: ...operation to the operation after stopping The following error is cleared for all set values after the Servomotor stops Mirror object of 605D hex z Description of Set Values Subindex 03 hex Halt Option...

Page 495: ...ault Reaction Option Code 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...

Page 496: ...eceleration 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 Latch Function on page 7 38 for det...

Page 497: ...which is latched by the Latch Function 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 Pr...

Page 498: ...g 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 every trigger input Bit 2 and 3...

Page 499: ...ex Object name Setting range Unit 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...

Page 500: ...ion 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 setting in the Touch probe source 1...

Page 501: ...ess than or equal to lower limit 1 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 but...

Page 502: ...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 1 byte U8 RO 05 Following Error Wind...

Page 503: ...ng Completion Notification 2 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 3B52 Positioning Com pletion...

Page 504: ...ject 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 of entries 81 hex 1 byte U8 RO 01...

Page 505: ...scriptions Sets the vibration detection 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 o...

Page 506: ...ons 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 or 2nd Torque Command Filter Cut...

Page 507: ...Character istic Estimation Possible 00 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...

Page 508: ...ate load characteristics from load changes during the load characteris tic estimation The higher the set value is the earlier the load characteristic change is followed but the estimated variation aga...

Page 509: ...Manual I586 9 7 Applied Function Objects 9 9 7 15 3B80 hex Load Characteristic Estimation Gives the execution status of the load characteristic estimation z Description of Set Values Subindex FF hex...

Page 510: ...ng 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 manufacturer specific area FF00 to FFFF hex...

Page 511: ...07 hex 1 byte U8 RO 01 Warning Mask 1 Selection 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...

Page 512: ...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 is elimi nated the error reset comman...

Page 513: ...nd Warning related Objects 9 9 8 2 4020 hex Warning Customization Changes the warning level When a bit is set to 1 the level of the corresponding warning is set as the error z Description of Set Value...

Page 514: ...ze 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 hex 0 hex A 4 bytes INT32 RW 03 Selec...

Page 515: ...x hex Sub index hex Object name Setting range 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 0...

Page 516: ...is set as the error z Description of Set Values 9 8 5 4030 hex Information Customization Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Comp...

Page 517: ...nded to four bytes by the sign extension 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...

Page 518: ...ccess 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 Count Clear 0 to 1 0 A 4 bytes INT32 W Subind...

Page 519: ...ion Mirror object of 6621 01 hex z Description 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...

Page 520: ...sword 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 4131 hex Safety Command Monitor 1...

Page 521: ...the safety connection is in execution 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...

Page 522: ...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 mation Possible 00 Number of entries...

Page 523: ...erformed with the dynamic brake The 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 m...

Page 524: ...urrent 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 execution Bit 1 Status of Life...

Page 525: ...9 9 Monitoring related Objects 9 9 9 7 4150 hex Overload 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 c...

Page 526: ...on the 7 segment display on the front panel z Description of Set Values Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Mode...

Page 527: ...the external regeneration resistor 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 ope...

Page 528: ...terruption 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 supply operates according to the setting...

Page 529: ...nction When the function is enabled the electric charge in the capacitor is discharged through the internal or external regeneration resistor by turning the main circuit power supply OFF while the con...

Page 530: ...f connected motor Mirror object of 6402 hex 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 4410 Motor Id...

Page 531: ...9 Gives the motor manufacturer name Mirror object of 6404 hex The Motor ID Setup is executed by the writing of 7465 736D hex Gives the execution status of Motor Setup z Description of Set Values Subi...

Page 532: ...ing 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...

Page 533: ...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 534: ...ting of 1 to this object Gives the status of the multi rotation counter of the absolute encoder and Encoder Communications Error Count Clear z Description of Set Values Subindex F1 hex Absolute Encode...

Page 535: ...e 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 536: ...hex 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 I...

Page 537: ...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 538: ...1 hex 1 byte U8 RO 01 Bit Mask 00000000 to FFFFFFFF hex 00000000 hex A 4 bytes U32 RW F1 Physical Out puts 00000000 to FFFFFFFF hex 00000000 hex A 4 bytes U32 W Subindex 01 hex Bit Mask Bit Signal Sym...

Page 539: ...e Output 3 R OUT3 0 OFF 1 ON 24 Gain Switching G SEL 0 Gain 1 1 Gain 2 9 14 4 4604 hex Control Input Change Count Index hex Subindex hex Object name Setting range Unit Default setting Data attribute S...

Page 540: ...ues 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 Contr...

Page 541: ...of Threshold Speed at Servo OFF may 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 bec...

Page 542: ...s longer Sets the encoder dividing pulse output Selects whether to enable or disable the encoder dividing pulse output function z Description of Set Values Sets the number of output pulses per motor r...

Page 543: ...es per motor rotation can be set with the dividing ratio which is calculated from the dividing numerator and dividing denom inator z Description of Set Values Selects whether to reverse the encoder di...

Page 544: ...ts the port to be allocated z Description of Set Values Sets 0 positive logic NO contact or 1 negative logic NC contact z Description of Set Values Gives the signal status z Description of Set Values...

Page 545: ...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 546: ...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 547: ...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 548: ...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 549: ...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 550: ...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 551: ...com mon to all general purpose outputs Selects the port to be allocated z Description of Set Values Sets 0 positive logic NO contact or 1 negative logic NC contact z Description of Set Values Gives t...

Page 552: ...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 553: ...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 554: ...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 555: ...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 556: ...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 557: ...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 558: ...ex Distribution Completed Output Index hex Sub index hex Object name Setting range Unit Default setting Data attri bute Size Access PDO map Complete access Modes of operation 4662 Distribution Com ple...

Page 559: ...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 560: ...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 561: ...lock There should be no load on the 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 conn...

Page 562: ...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 563: ...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 564: ...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 565: ...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 566: ...put 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 pulled ou...

Page 567: ...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 568: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 569: ...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 S...

Page 570: ...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 571: ...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 572: ...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 573: ...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 574: ...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 575: ...mpensation P 9 42 03 Positive Dynamic Friction Compensation P 9 42 04 Negative Dynamic Friction Compensation P 9 43 3320 Adaptive Notch Filter P 9 44 01 Adaptive Notch Selection P 9 44 3321 1st Notch...

Page 576: ...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 577: ...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 27 01 Gain P 9 27 02 LPF Enable P 9 27 03 LPF Cutoff Frequency P 9 27 3113 ODF Torq...

Page 578: ...ed tuning For how to use refer to the Sysmac Studio Drive Functions Operation Manual Cat No I589 3323 3rd Notch Filter P 9 49 01 Enable P 9 49 02 Frequency P 9 49 03 Q value P 9 49 04 Depth P 9 50 332...

Page 579: ...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 580: ...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 581: ...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 582: ...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 583: ...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 584: ...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 585: ...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 586: ...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 587: ...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 78 05 Viscous Friction Tun ing Coe...

Page 588: ...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 589: ...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 590: ...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 591: ...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 592: ...hex P 9 47 04 Depth Sets the notch depth of the 2nd resonance suppression notch filter The function is the same as 3321 hex P 9 48 3323 3rd Notch Filter Sets the 3rd resonance suppression notch filter...

Page 593: ...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 594: ...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 595: ...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 596: ...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 597: ...internal command is for the target position P 9 30 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 598: ...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 599: ...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 600: ...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 601: ...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 602: ...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 14 z When an Error Does Not Exist Make an analysis acc...

Page 603: ...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 604: ...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 605: ...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 606: ...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 81 01 Warning Mask 1 Selection When a bit is...

Page 607: ...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 82 05 Warning Level Change 1 Selec tion When a bit i...

Page 608: ...the cooling performance 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 Warn...

Page 609: ...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 610: ...cut off the power 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 Undervo...

Page 611: ...trap State Transition Request Error Yes A 87 00 Error Stop Input Yes A 88 01 ESC Initialization Error A 02 Synchronization Interruption Error A 03 SII Verification Error A 04 ESC Error A 90 00 Mailbox...

Page 612: ...e 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 66 01 Torque Sets the torque limit value during...

Page 613: ...Description Refer ence 4030 Information Customi zation Sets the information P 9 86 01 Information Level Change Selection Sets the level change of information When a bit is set to 1 the level of the co...

Page 614: ...ays Error List Error No Name Cause Measures Main hex Sub hex 12 00 Overvoltage Error The main circuit power supply voltage P N voltage exceeded the operation guarantee range The P N voltage exceeded t...

Page 615: ...ime so as not to detect this error due to a momentary decrease in voltage Servo Drive failure If this event occurs again after you performed all corrections shown above replace the Servo Drive 01 Main...

Page 616: ...or the value of resis tance became too small If there is a short circuit on the wir ing of External Regeneration Resis tor correct the wiring The insulation resis tance failed between the U V or W mot...

Page 617: ...just the gain or inertia ratio If torque waveforms oscillate excessively adjust the system by the tuning so that the oscillation does not occur Set the appropriate brake timing Increase the capacities...

Page 618: ...n Resistor failure Check whether the Regeneration Resistor is faulty and use one with out failures 02 Regenera tion Process ing Error The regeneration pro cessing was stopped to protect the Regenera t...

Page 619: ...der cable Separate the motor cable and the encoder cable if they are bundled together Connect the shield to FG Confirm that the motor ground wire is connected to FG Contact failure of the signal line...

Page 620: ...l is inap propriate Increase the setting of the Exces sive Velocity Deviation Detection Level to an acceptable range Dis able the Excessive Velocity Devia tion Detection if it is unnecessary to monito...

Page 621: ...Position Limit When the Software Position Limit Stop Selection was set to a Stop according to the setting of Fault reaction option code the position exceeded the value set in the Software Position Lim...

Page 622: ...Check and correct an error on the switch wire power supply and wir ing that is connected to the Positive Drive Prohibition Input or Negative Drive Prohibition Input False detection occurred because th...

Page 623: ...ute Position Detection Error The encoder detected a multi rotation counter error A detection error was detected in the multi rotation detection section of the encoder Perform the Absolute Encoder Setu...

Page 624: ...set to a value inappropri ate for the communications cycle or the configuration correct it and transfer the setting to the Safety CPU Unit The processing was not completed within the watchdog time be...

Page 625: ...nected loose broken or has a contact failure Connect the EtherCAT communica tions cable securely If the cable is broken replace it Noise Take noise countermeasures if excessive noise affects the Ethe...

Page 626: ...AT slave Failure of the EtherCAT slave communications controller or false detec tion If this event does not occur after you cycled the power supply use the product continuously It is sup posed that a...

Page 627: ...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 628: ...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 629: ...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 630: ...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 631: ...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 632: ...when the 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...

Page 633: ...thod for homing Start homing at the timing of when homing is not performed The positioning start command was received in the Profile position mode Set a supported value for bit 5 and 6 in the Controlw...

Page 634: ...strap 0014 SII Verifica tion Error An error occurred in SII data of the EtherCAT slave communications controller Data was incorrectly over written in the non volatile memory of the EtherCAT slave com...

Page 635: ...the total size of objects mapped as the variable PDOs exceeds the maximum size If 1B10 hex is not mapped while 1710 hex is mapped in 1710 hex 1B10 hex mapping If there were too many or too little data...

Page 636: ...the synchroniza tion with the EtherCAT Master could not be achieved The power supply to the host controller was inter rupted during PDO com munications Reset the error in the host control ler This ev...

Page 637: ...rCAT master 0051 Error of the EtherCAT slave communications controller or false detec tion If this event occurs repeatedly after you cycled the power supply the EtherCAT slave communications controlle...

Page 638: ...e listed in 12 5 1 Troubleshooting Using Error Dis plays on page 12 14 The Servo does not lock The power cable is not con nected correctly Check to see if the motor power cable is connected properly W...

Page 639: ...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 640: ...k the actual and target values Check the rotation direction The Servomotor power cable is wired incorrectly Check the wiring Wire correctly The Servomotor power cable is wired incorrectly and condi ti...

Page 641: ...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 642: ...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 643: ...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 644: ...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 645: ...ilt in EtherCAT Communications 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...

Page 646: ...per long term operation of Servomotors and Servo Drives Quoted from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depends o...

Page 647: ...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 648: ...When the Servomotor is used for a belt hook 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...

Page 649: ...t 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 Man...

Page 650: ...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 651: ...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 652: ...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 653: ...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 654: ...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 655: ...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 656: ...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 657: ...e 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 i...

Page 658: ...ity 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 659: ...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 660: ...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 661: ...able 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 Possible t...

Page 662: ...hex 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 In...

Page 663: ...200 W R88D 1SN02L ECT 400 W R88D 1SN04L ECT Single phase 3 phase 200 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...

Page 664: ...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 665: ...umber 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 1018 Identity Object Possible 00 Number of entries...

Page 666: ...e is used to execute the message clear Index hex Sub index hex Object name Setting range Unit Default set ting Data attri bute Size Access PDO map Com plete access Modes of operation 10E0 Node Address...

Page 667: ...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 668: ...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 669: ...CAT communications state is Safe Operational Safe Op or Operational Op b Writing with non existent objects specified c Writing with incorrect object size specified d Writing with objects that cannot b...

Page 670: ...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 671: ...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 672: ...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 673: ...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 674: ...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 675: ...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 676: ...state is Safe Operational Safe Op or Operational Op 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...

Page 677: ...a 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 41...

Page 678: ...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 679: ...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 680: ...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 681: ...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 682: ...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 683: ...x Object 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 ch...

Page 684: ...ault setting 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 PD...

Page 685: ...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 Synchronization Type gives th...

Page 686: ...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 687: ...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 688: ...is used to execute the Unit Restart function This function is executed by the writing of 746573657261 hex If a value other than 746573657261 hex is written an ABORT code is returned Index hex Sub ind...

Page 689: ...01 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 ra...

Page 690: ...f 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...

Page 691: ...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 cleare...

Page 692: ...The Servomotor stops according to the setting of Operation B while in an STO status that does not cause the deceleration stop or when the P N Voltage drops to the specified value or lower In other ca...

Page 693: ...al command position follow the actual position comes into effect To execute commands that perform feeding for interpola tion after the Servo turns ON reset the command coordinates in the host controll...

Page 694: ...ion 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 ma...

Page 695: ...n 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...

Page 696: ...n 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 697: ...g 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...

Page 698: ...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 699: ...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 700: ...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 701: ...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...

Page 702: ...O 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 hex Su...

Page 703: ...i 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 cont...

Page 704: ...or without Latch 1 positive data 0 Without latch data 1 With latch data Bit 8 Enable or disable Latch Function 2 0 Enabled 1 Disabled Bit 9 With or without Latch 2 positive data 0 Without latch data 1...

Page 705: ...on z 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 Si...

Page 706: ...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 707: ...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 708: ...cle 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...

Page 709: ...ible 00 Number of entries 02 hex 1 byte U8 RO 01 Physical out puts 00000000 to FFFFFFFF hex 00000000 hex A 4 bytes U32 W RxPDO 02 Bit mask 00000000 to FFFFFFFF hex 00000000 hex A 4 bytes U32 RW Bit Si...

Page 710: ...ta attri bute Size Access PDO map Com plete access Modes of operation 6402 Motor type 3 2 bytes U16 RO Not possi ble Index hex Sub index hex Object name Setting range Unit Default setting Data attri b...

Page 711: ...Access PDO map Com plete 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...

Page 712: ...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 the safety connection...

Page 713: ...1 the safety connection 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 Objec...

Page 714: ...t 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 bute Size Access PDO map C...

Page 715: ...Device Type 000A0192 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 Manufac...

Page 716: ...44 073 709 551 615 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 60400010 he...

Page 717: ...ject to be 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 Numb...

Page 718: ...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 66400001 hex...

Page 719: ...6 6th Input 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 m...

Page 720: ...70010 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 U32 08 8...

Page 721: ...ed PDO 0000 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 1BF...

Page 722: ...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 Fault 4 1...

Page 723: ...0 E 4 bytes INT32 04 Backlash Compensation Time 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 Revolution...

Page 724: ...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 ficient 50 to...

Page 725: ...t 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 ror object of 607F hex 0 to 2 147 483 647 Command unit s 2 147 483 647 A 4 b...

Page 726: ...100 A 4 bytes INT32 10 Command Following Gain Selection 2 0 to 1 0 A 4 bytes INT32 11 Command Following Gain 2 2 1 to 50 000 0 1 Hz 219 A 4 bytes INT32 3210 Internal Position Com mand 81 Position Com...

Page 727: ...Present Motor Velocity r min 4 bytes INT32 TxPDO 83 Acceleration rad s2 4 bytes INT32 3222 Gain Switching in Veloc ity Control 01 Mode Selection 0 to 2 0 E 4 bytes INT32 3223 1st Velocity Control Gai...

Page 728: ...mic Fric tion Compensation 0 to 1 000 0 1 0 A 4 bytes INT32 04 Negative Dynamic Fric tion Compensation 0 to 1 000 0 1 0 A 4 bytes INT32 81 Viscous Friction Coeffi cient Display 0 1 4 bytes INT32 82 Un...

Page 729: ...T32 02 Frequency 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...

Page 730: ...47 483 647 Command unit s 5 000 A 4 bytes U32 05 Homing Acceleration Mirror object of 609A hex 1 to 2 147 483 647 Command unit s2 1 000 000 A 4 bytes U32 06 Home Offset Mirror object of 607C hex 2 147...

Page 731: ...rror object of 605D hex 1 to 3 1 E 2 bytes INT16 04 Fault Reaction Option Code Mirror object of 605E hex 7 to 0 4 E 2 bytes INT16 3B21 Deceleration Stop 01 Torque 1 to 5 000 0 1 5 000 E 4 bytes INT32...

Page 732: ...1 to 2 147 483 647 Command unit 8 000 A 4 bytes U32 3B51 81 Status 4 bytes INT32 3B52 Positioning Completion Notification 2 01 Position Window 1 to 2 147 483 647 Command unit 8 000 A 4 bytes INT32 02...

Page 733: ...6 4020 Warning Customization 01 Warning Mask 1 Selec tion 00000000 to FFFFFFFF hex 0 hex R 4 bytes INT32 03 Warning Mask 3 Selec tion 00000000 to FFFFFFFF hex 0 hex R 4 bytes INT32 04 Warning Hold Sel...

Page 734: ...afety Status Monitor 81 Safety Status 4 bytes INT32 TxPDO 91 Safety Controlword 1st Byte Mirror object of 6620 01 hex 1 byte U8 92 Safety Controlword 2nd Byte Mirror object of 6620 02 hex 1 byte U8 A1...

Page 735: ...put Relay ON Count Time 0 4 bytes INT32 F1 Motor Operating Time Clear 00000000 to FFFFFFFF hex 0 A 4 bytes INT32 F2 Clear 00000000 to FFFFFFFF hex 0 A 4 bytes INT32 FF Clear Status 4 bytes INT32 4150...

Page 736: ...es INT32 FF Setup Status 4 bytes INT32 4510 Encoder 01 Operation Selection when Using Absolute Encoder 0 to 2 2 R 4 bytes INT32 02 Absolute Encoder Counter Overflow Warn ing Level 0 to 32 767 rotation...

Page 737: ...INT32 86 General Input 6 0 4 bytes INT32 87 General Input 7 0 4 bytes INT32 88 General Input 8 0 4 bytes INT32 F1 Count Clear 0 to 1 0 A 4 bytes INT32 FF Count Clear Execution Status 4 bytes INT32 46...

Page 738: ...81 Logic Status 4 bytes INT32 4632 External Latch Input 1 01 Port Selection 0 to 8 7 R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Logic Status 4 bytes INT32 4633 External Latch Input...

Page 739: ...n 0 to 8 0 R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Logic Status 4 bytes INT32 463B Monitor Input 4 01 Port Selection 0 to 8 0 R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 byt...

Page 740: ...es INT32 4653 Positioning Completion Output 2 01 Port Selection 0 to 7 hex 0 hex R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Logic Status 4 bytes INT32 4654 Velocity Attainment Dete...

Page 741: ...s 4 bytes INT32 465B Error Clear Attribute Out put 01 Port Selection 0 to 7 hex 0 hex R 4 bytes INT32 02 Logic Selection 0 to 1 0 R 4 bytes INT32 81 Logic Status 4 bytes INT32 465C Remote Output 1 01...

Page 742: ...E 2 bytes INT16 605C 00 Disable operation option code 6 to 0 4 E 2 bytes INT16 605D 00 Halt option code 1 to 3 1 E 2 bytes INT16 605E 00 Fault reaction option code 7 to 0 4 E 2 bytes INT16 6060 00 Mo...

Page 743: ...or revolutions 0 to 1 073 741 824 1 R 4 bytes U32 02 Shaft revolutions 1 to 1 073 741 824 1 R 4 bytes U32 6098 00 Homing method 0 to 37 0 E 1 byte INT8 6099 Homing speeds 01 Speed during search for sw...

Page 744: ...2 bytes INT16 07 7th supported homing method 37 2 bytes INT16 60F4 00 Following error actual value Command unit 4 bytes INT32 TxPDO 60FA 00 Control effort Command unit s 4 bytes INT32 TxPDO 60FC 00 Po...

Page 745: ...on Sta tus 1 bit BOOL TxPDO E700 FSoE Master Frame Ele ments Axis Ch1 01 FSoE Master CMD 00 to FF hex 00 hex 1 byte U8 RxPDO 02 FSoE Master Conn_ID 0000 to FFFF hex 0000 hex 2 bytes U16 RxPDO 03 FSoE...

Page 746: ...access from the non OMRON EtherCAT master when the AL status code is 0050 hex P A 110 08390000 Power Module Error An error was detected in the power module There is a short circuit ground fault or con...

Page 747: ...is overloaded Encoder failure P A 116 08430000 1 rotation Counter Error The encoder detected a one rotation counter error There is excessive noise Failure due to vibration impact condensation for eig...

Page 748: ...0 Encoder Communi cations Error Illegal data was received from the encoder the speci fied number of times Noise into the encoder cable Contact failure of the signal line and disconnection of the encod...

Page 749: ...c tion is enabled The power supply voltage is low or insufficient Broken wiring of the main circuit power supply input Servo Drive failure P A 126 280D0000 Runaway Detected 1 The motor rotated in the...

Page 750: ...n was enabled when the communications period was set to 125 s P A 133 38780000 General Input Allo cation Duplicate Error More than one function input is allocated to one general input More than one fu...

Page 751: ...Error The speed deviation is greater than or equal to the value set in the Excessive Velocity Deviation Detection Level The motor operation does not follow the command because a parameter value is ina...

Page 752: ...Unit P A 145 48080000 FPGA WDT Error An FPGA error was detected False detection due to a data read error that was caused by excessive noise Hardware failure P A 145 64E30000 Drive Prohibition Input Er...

Page 753: ...r The Brake Interlock Output BKIR was output by the Timeout at Servo OFF The Brake Interlock Output BKIR was output because the motor rotation speed did not decrease to or less than the speed set in t...

Page 754: ...e of the EtherCAT slave communications con troller or false detection P A 154 84B90000 Synchronization Interruption Error Synchronization interrup tion did not occur within the specified period Incorr...

Page 755: ...dervoltage to the encoder P A 160 08470000 Encoder Lifetime Warning The encoder lifetime is close to the end Temporary noise The end of the encoder life P A 161 084C0000 Fan Rotation Warn ing The rota...

Page 756: ...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 started The positioning start co...

Page 757: ...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 758: ...e 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 Correction Prevention...

Page 759: ...motor cables are not broken 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 w...

Page 760: ...he 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 Hardware failure Attached inform...

Page 761: ...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 Name None None None Caus...

Page 762: ...en 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 the load ratio of R...

Page 763: ...priately external devices such 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...

Page 764: ...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 Precautions Remarks AL status cod...

Page 765: ...o that the motor is not rotated by external forces Encoder failure and false detec tion If this event occurs repeatedly the encoder is faulty Replace the motor None Attached information None Precautio...

Page 766: ...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 Name None None None Cause and co...

Page 767: ...Correction Prevention Incorrect 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 connect them Check the wiring of...

Page 768: ...e 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 Regeneration Resistor Correct the...

Page 769: ...ion 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 the motor ground wi...

Page 770: ...se 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 the m...

Page 771: ...Attached information Attached 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 Me...

Page 772: ...ormation 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 Description An error of data s...

Page 773: ...ffects 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 Name None None None Cause...

Page 774: ...s 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 single and 3 phase input type S...

Page 775: ...variables Variable Data type 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 show...

Page 776: ...ex 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 EtherCAT Master Function Mo...

Page 777: ...with ESI data Attached information 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...

Page 778: ...ive 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 Remarks AL status code 001E hex...

Page 779: ...pecifications of ETG or FSoE 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...

Page 780: ...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 Error Event code 35860000 hex...

Page 781: ...EtherCAT NET ERR EtherCAT LINK ACT ON 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 wh...

Page 782: ...eneral 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 Allocation Duplicate Error Precaut...

Page 783: ...er Dividing Pulse Output Dividing Denominator and Dividing Numer ator Set the Encoder Dividing Pulse Output Dividing Numerator to a value smaller than the Dividing Denominator Attached information Non...

Page 784: ...o Drive Overheat Event code 38800000 hex Meaning The internal temperature of Servo Drive exceeded the circuit protection level Source EtherCAT Master Function Mod ule Source details Slave Detection ti...

Page 785: ...the load Adjust the gain or 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 t...

Page 786: ...en 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 the load ratio of R...

Page 787: ...NET ERR EtherCAT LINK ACT System 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 Iden...

Page 788: ...ol 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 the acceleration deceleration...

Page 789: ...icators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The velocity comman...

Page 790: ...ected to external forces Take countermeasures so that the motor operation is not interfered by external forces Attached information None Precautions Remarks AL status code Error No 2903 hex Event name...

Page 791: ...dicators EtherCAT NET RUN EtherCAT 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...

Page 792: ...ing 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 Attached information None Precautio...

Page 793: ...usly established in another system 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 WD...

Page 794: ...use 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 POT or Negative Drive Prohibi...

Page 795: ...ACT System defined variables 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 Neg...

Page 796: ...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 Connect the USB cable or Ether CAT...

Page 797: ...arks AL status code Error No 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...

Page 798: ...opriate 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 Error Event code 78210000 hex...

Page 799: ...ed variables Variable Data type 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 at...

Page 800: ...specifications for communications state transi tions in the host controller and pro gram host controller processing Attached information None Precautions Remarks AL status code 0011 hex Error No 8301...

Page 801: ...ble Error of the EtherCAT slave 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 st...

Page 802: ...one Failure of the EtherCAT slave communications controller Attached information None Precautions Remarks AL status code Error No 8801 hex Event name SII Verification Error Event code 84B70000 hex Des...

Page 803: ...CAT slave communications controller 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 t...

Page 804: ...ction Assumed cause Correction Prevention The power supply to the host controller was interrupted during PDO communications Reset the error in the host control ler This event reports an error that was...

Page 805: ...that are given on the left There 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 wher...

Page 806: ...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 Warning Event code 081D0000 hex...

Page 807: ...on 1 1 You can change the level 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 E...

Page 808: ...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 the motor ground wire is conne...

Page 809: ...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 performance decreases Sourc...

Page 810: ...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 Operation Selec tion when Us...

Page 811: ...fetime may not be detected correctly 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 Repl...

Page 812: ...e 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 does not occur Set the appropri...

Page 813: ...Regeneration Resistor 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 b...

Page 814: ...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 None Cause and correction Assum...

Page 815: ...Use the Servo Drive after confirm 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 support...

Page 816: ...nnect the EtherCAT communi cations cable securely If the cable is broken replace it Confirm that the EtherCAT com munications cable is not broken and connect is securely before use Noise Take noise co...

Page 817: ...nnect the input wiring for safety 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...

Page 818: ...ils Slave Detection timing Operation by user Error attributes Level Information Recovery Log category System log Effects User program Continues Operation Not affected Indicators EtherCAT NET RUN Ether...

Page 819: ...r your master unit when you calculate the system 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...

Page 820: ...elect the unit version of your Servo Drive from the device list of Sysmac Studio When you use the Sysmac Studio without its update select from the displayed unit versions Example Unit version 1 1 of S...

Page 821: ...nit version 1 0 and restore them to the unit version 1 1 only parameters that are covered by the unit version 1 0 are restored When you back up files by the unit version 1 1 of the EtherCAT slave conf...

Page 822: ...Appendices A 174 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...

Page 823: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...

Page 824: ...3 18 7 3 7 7 EtherCAT Communications Connector 1 6 3 22 EtherCAT Slave Information ESI 5 18 EtherCAT State Machine ESM 5 6 Event code A 98 External Latch Input 3 18 7 3 External Regeneration Resistan...

Page 825: ...eral Specifications 3 28 Installation Conditions 4 5 Model Tables 2 9 Replacing 12 4 Servo Drive and Servomotor Combination Tables 2 13 Servomotor model number 2 5 Slave Information Interface SII 5 19...

Page 826: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...

Page 827: ......

Page 828: ...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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