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6-7

6   Basic Control Functions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

6-2 Cyc

lic
 Sync

hr
o

n

o

u

s V

e

locity Mod

e

6

6-2-4  Bloc

k D

iag
ram f

or Speed Co

ntrol Mode  

The following block diagram is for speed control using an R88D-KN



-ECT-L-series Servo Drive.

Note 1

Numbers within parentheses are sub-index numbers.

2

Numbers within boxes are hexadecimal index numbers.

3

Read the word "torque" as "force."

6-2-4

Block Diagram for Speed Control Mode

+

-

3607

3608

3609

3312

3313

3314

3623

3624

6091 (01)

6092 (02)

3521

60E0

60E1

3013

3522

3525

3526

3112

3113

+

+

+

+

+

+

+

3203

3206

3209

3212

3202

3205

3208

3211

3201

3204

3207

3210

3200

3102

3107

3101

3106

3004

MAX

6072

3114

3120

3121

3122

3123

+

+

3103

3108

3610

3323

3326

3327

3902

3904

3905

3906

3907

3908

3909

3910

3922~3928

3912

3913

3914

3920

3901

3910

6074 or 6077 hex

External
Encoder

Motor

Speed detection

Friction compensation

Offset Value

Positive

Negative

Acceleration Limits

Acceleration

Time
Deceleration

Time

S-curve

Disturbance

Observer

Gain

Filter

Electronic gear

reverse conversion

Numerator

Denominator

Speed unit
conversion

Force limit

Selection

Positive

Negative

Force feed forward

Filter

Motor Velocity

Actual Value

Motor Control

Effort [mm/s]

6063 hex

Position actual

internal value

[External encoder pulses]

Notch Filter

Depth

Width

1

2

3

4

Frequency

Adaptive Filter

Selection

Speed Control

Linear Integral

Mass

1

2

60B2 hex

Torque offset

[0.1%]

Gain Switching

Setting 2

Mode

Delay Time

Level

Hysteresis

60FF hex

Target velocity

[command units/s]

60B1 hex

Velocity offset

[command units/s]

606C hex

Velocity actual value

[command units/s]

6064 hex

Position actual value

[command units/s]

60BA or 60BC hex

Touch probe pos

1/2 pos value

[command units]

Speed Detection Filter

Function Expansion 
Setting

Speed Feedback Filter 
Time Constant 1
Speed Feedback Filter
Time Constant 2

Input Settings

Type

Reverse

Phase-Z

Disabled

Motor Specifications

Rated Current

Peak Current 

Phase Inductance

Phase Resistance

Overspeed level

Pole Pitch

Mass

Rated Force

Current control

Current Response

Main
power
supply

Magnetic
Pole Detection

Proportional

Integral

Encoder Specifications

Resolution

Overspeed 
level

1

2

3

4

Gain

Torque demand or

Torque actual value

[0.1%]

Objects Related to
Magnetic Pole 
position estimation

3915

Two-stage 
Time

1

2

Force

Filter

3109

3916

Two-stage 
Attenuation

3104

Summary of Contents for R88D-KN series

Page 1: ...AC SERVO DRIVES G5 series WITH BUILT IN EtherCAT COMMUNICATIONS Linear Motor Type User s Manual I577 E1 01 R88D KN ECT L AC Servo Drives...

Page 2: ...respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change...

Page 3: ...aving electrical knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following Introducing FA equipment Designing FA systems Managing FA...

Page 4: ...hine Automation Controller NJ series Model NJ501 1 00 or Position Control Unit CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 F82 Section 6 Basic Control Functions This section explains an outline of basic...

Page 5: ...e or disable the disturbance observer in bit 1 0 Disabled 1 Enabled Set the operating conditions for enabling the function in bit 2 0 Enabled at all time 1 Enabled only when gain 1 is selected 2 Set t...

Page 6: ...d a Magnet Trac the magnet on the secondary side In addition to these components constructing a Linear Motor system also requires the following parts which are built into a component called the Linear...

Page 7: ...11 3 12 4 A 5 I 6 7 8 9 Features and System Configuration Operation Models and External Dimensions Adjustment Functions Specifications Troubleshooting and Maintenance System Design Appendicies I Inde...

Page 8: ...tionary 1 3 1 2 System Configuration 1 4 1 3 Names and Functions 1 5 1 3 1 Servo Drive Part Names 1 5 1 3 2 Servo Drive Functions 1 6 1 4 System Block Diagram 1 7 Section 2 Models and External Dimensi...

Page 9: ...tor Specifications 3 38 3 5 Reactor Specifications 3 39 Section 4 System Design 4 1 Installation Conditions 4 2 4 2 Wiring 4 4 4 2 1 Peripheral Equipment Connection Examples 4 4 4 2 2 Main Circuit and...

Page 10: ...rofile Position Mode 6 14 6 5 Homing Mode 6 15 6 6 Connecting with OMRON Controllers 6 16 Section 7 Applied Functions 7 1 Sequence I O Signals 7 2 7 1 1 Input Signals 7 2 7 1 2 Output Signals 7 5 7 2...

Page 11: ...n 9 Servo Parameter Objects 9 1 Basic Settings 9 2 9 2 Gain Settings 9 7 9 3 Vibration Suppression Settings 9 17 9 4 Analog Control Objects 9 23 9 5 Interface Monitor Settings 9 27 9 6 Extended Object...

Page 12: ...s Requiring Settings 11 27 11 8 3 Operating Procedure 11 27 11 9 Friction Force Compensation Function 11 28 11 9 1 Operating Conditions 11 28 11 9 2 Objects Requiring Settings 11 28 11 9 3 Operation E...

Page 13: ...n and Applied Functions A 6 A 1 5 Changing the Mode of Operation A 7 A 1 6 Homing Mode Specifications A 15 A 1 7 Object Dictionary A 22 A 1 8 Communication Objects A 24 A 1 9 PDO Mapping Objects A 30...

Page 14: ...AT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL IN...

Page 15: ...ossible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or...

Page 16: ...consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufact...

Page 17: ...ted using an illustration inside and text The symbol shown to the left indicates disassembly prohibited This symbol indicates a compulsory item The specific instruction is indicated using an illustrat...

Page 18: ...Drive Electric shock may result While the power is supplied do not remove the front cover terminal covers cables and options Electric shock may result Installation operation and maintenance or inspect...

Page 19: ...istor Fire may result Install the Servomotor Servo Drive and Regeneration Resistor on non flammable materials such as metals Fire may result When you perform a system configuration using the safety fu...

Page 20: ...subject to high levels of dust salt content or iron dust Location subject to splashes of water oil chemicals etc Location where the Servo Drive may receive vibration or impact directly Installing or s...

Page 21: ...ay result Do not apply strong impact on the Servo Drive Failure may result Wire the cables correctly and securely Runaway Servomotor injury or failure may result Securely tighten the mounting screws t...

Page 22: ...from the mechanical system and check its operation before installing the Servomotor to the machine Injury may result If an error occurs remove the cause of the error and ensure safety and then reset t...

Page 23: ...handling the Servo Drive be sure to observe the instructions provided on this label Dispose of the Servo Drive as industrial waste Location of Warning Label Instructions on Warning Label Disposal War...

Page 24: ...C Directives on page 4 31 Servo Drives conform to the SEMI F47 standard for momentary power interruptions voltage sag immunity for no load or light load operation This standard applies to semiconducto...

Page 25: ...gistered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation Gmb...

Page 26: ...If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Accessories Specifications Connector for main circuit...

Page 27: ...Motor Type Revision History The manual revision code is a number appended to the end of the catalog number found in the bottom left hand corner of the front or back cover Example Revision code Revisio...

Page 28: ...Revision History 26 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 29: ...rvo Drive and name of each part 1 1 Outline 1 2 1 1 1 Features of G5 series Servo Drives 1 2 1 1 2 What is EtherCAT 1 3 1 1 3 Object Dictionary 1 3 1 2 System Configuration 1 4 1 3 Names and Functions...

Page 30: ...for OMRON control devices such as an EtherCAT Slave designed with unified communications specifications and user interface specifications Combining the G5 series Servo Drive with a Machine Automation...

Page 31: ...s An object is a special data structure inside a device that consists of data parameters and methods An object dictionary is a data structure that describes the data type objects communications object...

Page 32: ...tem Configuration The system configuration for a G5 Series AC Servo Drive with Built in EtherCAT Communications Linear Motor Type is shown below EtherCAT Controller EtherCAT EtherCAT G5 Series AC Serv...

Page 33: ...ctor CN7 Analog monitor connector CN5 Motor connection terminals U V and W Control circuit power supply terminals L1C and L2C Main circuit power supply terminals L1 L2 and L3 External Regeneration Res...

Page 34: ...d for command input signals and I O signals Connector for an external encoder signal Connectors for EtherCAT communications You can use a special cable to monitor values such as the motor speed force...

Page 35: ...KN08H ECT L CN2 CN4 CN5 CN7 CN8 CN1 Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply GR L2C L1C L3 L2 L1 FUSE FUSE FUSE CN A 15 V G1 5 V 2...

Page 36: ...8 CN1 Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Regeneration control...

Page 37: ...N5 CN7 B1 B2 B3 NC U V W MPU ASIC CN8 USB Control interface Not used EtherCAT communications connector Display and setting circuit area Gate drive SW power supply main circuit Internal control Overcur...

Page 38: ...isplay and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Regeneration control Relay...

Page 39: ...DB1 DB2 Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Regeneration cont...

Page 40: ...B U V W CN8 CN1 DC DC Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Reg...

Page 41: ...2 U V W CN8 CN1 DC DC Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Rege...

Page 42: ...C Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Regeneration control Rel...

Page 43: ...CN1 DB1 DB2 Display and setting circuit area Gate drive SW power supply main circuit control Internal control power supply 12 V Overcurrent detection Current detection Voltage detection Regeneration...

Page 44: ...1 Features and System Configuration 1 16 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 45: ...1 Servo System Configuration 2 2 2 2 How to Read Model Numbers 2 4 2 2 1 Servo Drive 2 4 2 3 Model Tables 2 5 2 3 1 Servo Drive Model Table 2 5 2 3 2 Cable and Peripheral Device Model Tables 2 6 2 4 E...

Page 46: ...Integrated Tool Package CX Programmer CX Position and CX Motion CX One FA Integrated Tool Package Including CX Drive CX Drive WS02 DRVC1 Support Software Support Software NJ series CPU Unit with Ether...

Page 47: ...2 1 Servo System Configuration 2 USB communications EtherCAT communications G5 series Servo Drive R88D KN ECT L 100 VAC 200 VAC 400 VAC Motor power signals Feedback Signals AC Servo Drive Peripheral D...

Page 48: ...rvo Drive model number tells the Servo Drive type applicable Linear Motor power supply voltage etc 2 2 1 Servo Drive G5 series Servo Drive Drive Type Power Supply Voltage Maximum Applicable Linear Mot...

Page 49: ...phase 100 VAC 100 W R88D KN01L ECT L 200 W R88D KN02L ECT L 400 W R88D KN04L ECT L Single phase 3 phase 200 VAC 100 W R88D KN01H ECT L 200 W R88D KN02H ECT L 400 W R88D KN04H ECT L 750 W R88D KN08H EC...

Page 50: ...l Tables EtherCAT Communications Cable Recommended Size x Number of cable cores pairs Recommended manufacturer Model AWG24 x 4P Tonichi kyosan Cable Ltd NETSTAR C5E SAB 0 5 4P Kuramo Electric Co KETH...

Page 51: ...R88D KN01L ECT L KN02H ECT L For single phase input 3G3AX DL2004 R88D KN02L ECT L KN04H ECT L For single phase input 3G3AX DL2007 R88D KN04L ECT L KN08H ECT L KN10H ECT L For single phase input 3G3AX...

Page 52: ...g dimensions of Servo Drives and peripheral devices The dimensional description starts with a Servo Drive of the smallest capacity which is followed by the next smallest and so on Wall Mounting Extern...

Page 53: ...Linear Motor Type 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 40 7 180 170 150 5 2 R26 7 5...

Page 54: ...dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Single phase 100 VAC R88D KN02L ECT L 200 W Single phase 3 phase 200 VAC R88D KN04H ECT L 400 W 55 150...

Page 55: ...External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Single phase 100 VAC R88D KN04L ECT L 400 W Single phase 3 phase 200 VAC R8...

Page 56: ...nsions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Single phase 3 phase 200 VAC R88D KN10H ECT L KN15H ECT L 900 W to 1 5 kW 86 150 172 4 2 M4 140 150 70 8 5 8...

Page 57: ...t Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 3 phase 200 VAC R88D KN20H ECT L 2 kW 86 85 50 17 5 42 5 5 2 5 2 5 2 R2 6 R2 6 195 70 198 188 168 17 5 50 5 2 5 2 42 5...

Page 58: ...ackets External dimensions Mounting dimensions 3 phase 200 VAC R88D KN30H ECT L KN50H ECT L 3 to 5 kW R2 6 R2 6 5 2 R2 6 R2 6 5 2 130 100 15 65 5 2 5 2 220 240 250 5 2 5 2 65 100 15 214 70 3 5 6 M4 50...

Page 59: ...xternal and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Wall Mounting External dimensions Mounting dimensions 3 phase 200 VAC R88D KN75H ECT L 7 5 kW 334 3 5 2 5 70 27 72 117 162 207 222 233 5...

Page 60: ...Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 27 72 117 162 207 222 233 5 2 5 2 5 2 220 235 250 5 2 5 2 5 2 72 117 162 207 R2 6 27 R2 6 5 2 5 2 R2 6 R2 6 R2 6 R...

Page 61: ...AT Communications Linear Motor Type 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Wall Mounting External dimensions Mounting dimensions 3 phase 200 VAC R88D KN150H ECT L 15 kW 26...

Page 62: ...mensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 3 phase 400 VAC R88D KN06F ECT L KN10F ECT L KN15F ECT L 600 W to 1 5 kW 92 150 172 4 150 140 70 14 5 70 2...

Page 63: ...dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 3 phase 400 VAC R88D KN20F ECT L 2 kW 5 2 R2 6 R2 6 5 2 25 180 50 94 168 195 1 8 94 85 50 17 5 42 5 5 2...

Page 64: ...ounting Brackets External dimensions Mounting dimensions 3 phase 400 VAC R88D KN30F ECT L KN50F ECT L 3 to 5 kW 5 2 R2 6 5 2 R2 6 100 5 2 5 2 65 15 15 130 100 65 5 2 5 2 220 240 250 50 240 220 130 100...

Page 65: ...xternal and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Wall Mounting External dimensions Mounting dimensions 3 phase 400 VAC R88D KN75F ECT L 7 5 kW 5 2 5 2 5 2 72 117 162 207 R2 6 27 R2 6 R2...

Page 66: ...Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 27 72 117 162 207 222 233 5 2 5 2 5 2 220 235 250 5 2 5 2 5 2 72 117 162 207 R2 6 27 R2 6 R2 6 R2 6 R2 6 R2 6 5 2...

Page 67: ...AT Communications Linear Motor Type 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Wall Mounting External dimensions Mounting dimensions 3 phase 400 VAC R88D KN150F ECT L 15 kW 70...

Page 68: ...Type 2 4 2 External Regeneration Resistor Dimensions R88A RR08050S RR080100S R88A RR22047S RR22047S1 R88A RR50020S 20 t1 2 104 122 130 43 5 28 4 2 6 500 3 0 75mm 2 1 5 0 3mm 2 Thermal switch output 2...

Page 69: ...h Built in EtherCAT Communications Linear Motor Type 2 4 External and Mounting Dimensions 2 2 4 3 Reactor Dimensions 2 4 3 Reactor Dimensions 3G3AX DL2002 3G3AX DL2004 66 56 72 90 4 5 2 8 2 M4 98 85 G...

Page 70: ...mensions 2 26 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type 3G3AX DL2007 3G3AX DL2015 98 105 2 M4 4 5 2 8 66 56 72 90 Ground terminal M4 98 115 2 M4 4 5 2 8 66 56 7...

Page 71: ...ensions 3G3AX DL2022 3G3AX AL2025 AL2055 AL4025 AL4055 Model Dimensions mm A C Y K 3G3AX AL2025 130 82 67 4 3G3AX AL2055 140 98 75 4 3G3AX AL4025 130 82 67 4 3G3AX AL4055 130 98 75 5 116 105 2 M4 4 6...

Page 72: ...l Dimensions mm A C D H H1 X Y K W 3G3AX AL2110 160 103 70 170 106 60 80 5 3 12 3G3AX AL2220 180 113 75 190 136 90 90 8 4 16 5 3G3AX AL4110 160 116 75 170 106 60 98 5 0 12 5 3G3AX AL4220 180 103 75 19...

Page 73: ...5 2 5 2 5 11 0 2 33 40 5 2 15 10 17 9 5 R1 max R2 R2 2 R1 2 C 5 2 M4 countersunk 24 2 5 2 5 11 0 2 9 5 17 7 40 10 15 R1 m ax R 2 R2 5 2 2 C 5 Mounting bracket for top side Mounting bracket for bottom...

Page 74: ...Communications Linear Motor Type R88A TK04K 2 M4 countersunk 60 15 2 5 10 2 5 5 2 10 40 0 2 36 0 2 9 5 17 19 5 2 4 R1 R2 R2 2 C 5 2 M4 countersunk 5 2 5 10 2 5 15 60 36 0 2 9 5 17 10 40 0 2 R2 R2 R1...

Page 75: ...3 9 3 1 8 Control Output Circuits 3 11 3 1 9 Control Output Details 3 12 3 1 10 External Encoder Specifications 3 16 3 1 11 External Encoder Connector Specifications CN4 3 17 3 1 12 Analog Monitor Con...

Page 76: ...point Insulation resistance Between power supply terminals power terminals and FG terminal 0 5 M min at 500 VDC Dielectric strength Between power supply power line terminals and FG terminal 1 500 VAC...

Page 77: ...40 VAC 170 to 264 V 50 60 Hz Heat value 2 4 W 4 W 4 W 4 W 7 W 7 W Weight Approx 0 8 kg Approx 0 8 kg Approx 1 0 kg Approx 1 6 kg Approx 1 8 kg Approx 1 8 kg Maximum motor capacity Rated effective curr...

Page 78: ...g Approx 1 9 kg Approx 1 9 kg Approx 2 7 kg Maximum motor capacity Rated effective current of motor 1 5 Arms 2 9 Arms 4 7 Arms 6 7 Arms Maximum current of motor 4 5 Arms 8 7 Arms 14 1 Arms 19 7 Arms I...

Page 79: ...able with double aluminum tape and braided shielding is recommended Communications distance Distance between nodes 100 m max Process data Fixed PDO mapping Mailbox CoE Emergency messages SDO requests...

Page 80: ...sed input pins 3 1 5 Control I O Specifications CN1 Control I O Signal Connections and External Signal Processing General purpose input 1 ALM Error output General purpose output 1 General purpose outp...

Page 81: ...External Latch Signals 1 to 3 can be allocated only to IN5 to IN7 or pins 10 to 12 respectively 7 IN2 General purpose Input 2 Positive Drive Prohibition Input 8 IN3 General purpose Input 3 Negative Dr...

Page 82: ...Plug 10126 3000PE Sumitomo 3M R88A CNW01C Cable Case 10326 52A0 008 1 3 5 7 9 11 13 2 4 6 8 10 12 14 16 18 20 22 24 26 15 17 19 21 23 25 IN2 POT IN1 STOP OUTM1 BKIR BATGND OUTM2 READY ALMCOM ALM IN8 M...

Page 83: ...me time when you turn OFF the main power When the main power turns OFF due to an external immediate stop the motor will continues to operate due to residual voltage This may cause human injuries or da...

Page 84: ...l not operation in the default settings If prohibiting the drive input is required set the Drive Prohibit Input Selection 3504 hex to either 0 or 2 The setting on the Input Signal Selection 1 to 8 340...

Page 85: ...ve Force Limit Input NCL Turn ON these inputs to limit the force to the value set in the Positive Force Limit 3525 hex or the Negative Force Limit 3526 hex While the input is ON operation continues wi...

Page 86: ...on method 7 The Magnetic Pole Position Estimation Command Time changes with the servo parameter object settings Make sure that the magnetic pole position estimation completion output flag is turned ON...

Page 87: ...ngs the output is allocated to pins 1 and 2 Positioning Completion Output INP1 INP2 INP1 turns ON when the position error is equal to or less than Position window 6067 hex INP2 will turn 3 ON when the...

Page 88: ...default settings the output is not allocated Speed Conformity Output VCMP This output turns ON when the motor speed falls into the range set in the Speed Conformity Detection Range 3435 hex It is dete...

Page 89: ...n Mode The output is always OFF except in the Profile Position Mode pp With the default settings the outputs are not allocated Speed Limiting Output VLIMT This output turns ON when the motor speed rea...

Page 90: ...h or one cycle of electrical angle to at least 2048 pulses 2 This represents the encoder speed supported on the Servo Drive Check separately the external encoder operation manual for its supported spe...

Page 91: ...encoder power supply 5 0 VDC 5 250 mA max If the above capacity is exceeded provide an appropriate power supply 2 E0V This is connected to the control circuit ground connected to connector CN1 3 EXS...

Page 92: ...Encoder Input Signals and Processing of External Signals 5 0 V 5 250 mA max EXZ EXZ 9 10 EXA EXA GND E5 V 5 V E0 V 6 5 2 1 EXB EXB 7 8 FG FG 120 2 k 2 k 20 k 120 2 k 20 k 2 k 20 k 20 k 120 2 k 2 k 20...

Page 93: ...ample of Connection with External Encoder 20 k 2 k 20 k 120 2 k 20 k 2 k 20 k 120 2 k 20 k 2 k 20 k 120 2 k 5 V 0 V PA PA PB PB PC PC FG EXB 7 8 FG FG EXB 5 0 V 5 250 mA max EXA EXA GND E5 V 5 V E0 V...

Page 94: ...2 5 V FG FG EXS EXS GND E5 V 5 V E0 V 2 3 4 1 FG GND 680 680 120 RQ DT RQ DT Serial signal Absolute Linear Scale by Mitutoyo Corporation AT573A ST770A ST770AL Shell Shell Servo Drive side CN4 5 V FG F...

Page 95: ...n use objects 3416 hex and 3417 hex to change the item and unit You can use object 3421 hex to change the output method 2 AM2 Analog monitor output 2 Outputs the analog signal for the monitor Default...

Page 96: ...loading can be performed Precautions for Correct Use Precautions for Correct Use Use a commercially available USB cable that is shielded equipped with a ferrite core for noise immunity and supports US...

Page 97: ...and 2 for operating the STO function which are 2 independent circuits This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor 4 SF1 5 SF2...

Page 98: ...ircuit Servo Drive External power supply 12 VDC 5 to 24 VDC 5 Signal level ON level 10 V min OFF level 3 V max 4 7 k 1 0 k SF1 4 SF1 3 SF2 6 SF2 5 Photocoupler input 4 7 k 1 0 k Photocoupler input Ext...

Page 99: ...e motor temperature to drop before turning ON the power again If the error reset is repeated at short intervals the motor may burn out The following graphs show the motor overload characteristic curve...

Page 100: ...he overload protection function is not designed to provide protection against errors caused by heat generated by the motor If you improperly set the Motor Overload Curve Selection 3929 hex value too h...

Page 101: ...f use is used Precautions for Correct Use Precautions for Correct Use As for the limit data of bend radius durability is reference only use cables with margin The data of the minimum bend radius indic...

Page 102: ...nnector when preparing a control cable by yourself Dimensions Use this connector to connect to an external encoder Connector plug model MUF PK10K X J S T Mfg Co Ltd Pin Arrangement 3 3 2 Connector Spe...

Page 103: ...Correct Use The maximum length between nodes is 100 m However some cables are specified for less than 100 m Generally speaking if the conductors are twisted wire rather than solid wire transmission p...

Page 104: ...ations cable as shown below Note 1 Connect the cable shield to the connector hood at both ends of the cable 2 There are two connection methods for Ethernet T568A and T568B The T568A connection method...

Page 105: ...bles Connect the EtherCAT master to the ECAT IN connector on the first Servo Drive Connect the ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo Drive Do not conne...

Page 106: ...or Type Connection Configuration and External Dimensions 3 3 4 Analog Monitor Cable Specifications Analog Monitor Cable R88A CMK001S 1000mm 1m No 1 2 3 4 5 6 SP IM GND Symbol Black Red White Cable AWG...

Page 107: ...4 R88D KN Servo Drive side Connector Terminal Block Conversion Unit side XW2B 20G4 XW2B 20G5 XW2D 20G6 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 No 6 24 VIN DEC 9 7 POT 8 NOT 10 EXT1 EXT2 11...

Page 108: ...Use Precautions for Correct Use Use 0 3 to 1 25 mm2 wire AWG22 to 16 The wire inlet of M3 screw terminal block is 1 8 mm height 2 5 mm width Strip the insulation from the end of the wire for 6 mm as s...

Page 109: ...dimensions When connecting wires and crimp terminals to a terminal block tighten them to a tightening torque of 0 59 N m Applicable crimp terminals Applicable wires Round terminals 1 25 to 3 AWG22 to...

Page 110: ...erminals with the following dimensions When connecting wires and crimp terminals to a terminal block tighten them to a tightening torque of 0 7 N m Applicable crimp terminals Applicable wires Round te...

Page 111: ...3 3 5 Control Cable Specifications The example is for the XW2B 20G4 XW2B 20G5 and XW2D 20G6 1 Assign the brake interlock output BKIR to pin CN1 1 2 The XB contact is used to turn ON OFF the electromag...

Page 112: ...ntact Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA R88A RR080100S 100 80 W 20 W Aluminum 350 350 Thickness 3 0 Operating temperature 150 C 5 NC contact Rated out...

Page 113: ...rox 1 3 kg R88D KN04L ECT L R88D KN08H ECT L R88D KN10H ECT L For single phase input 3G3AX DL2015 9 3 A 3 51 mH Approx 1 6 kg R88D KN15H ECT L For single phase input 3G3AX DL2022 13 8 A 2 51 mH Approx...

Page 114: ...3 Specifications 3 40 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 115: ...Peripheral Equipment Connection Examples 4 4 4 2 2 Main Circuit and Linear Motor Connections 4 14 4 2 3 Terminal Block Wire Sizes 4 24 4 2 4 Terminal Block Wiring Procedure 4 29 4 3 Wiring Conforming...

Page 116: ...recommended that you apply conductive plating if you are making the mounting bracket yourself Mount the drive perpendicular on the panel so that the model number reads normally Environment Operating...

Page 117: ...rmined by the ambient temperature around the internal electrolytic capacitors When an electrolytic capacitor reaches its limit electrostatic capacity drops and internal resistance increases This leads...

Page 118: ...L ECT L Single phase 200 to 240 VAC 50 60Hz R88D KN H ECT L Ground to 100 or less Ground to 100 or less External Encoder cables Power cables 1 A recommended product is listed in 4 3 Wiring Confirming...

Page 119: ...supply Surge suppressor 1 G5 Series AC Servo Drive User side control device Noise filter Ground to 100 or less Main circuit contactor 1 Servo error display Control cables Motor External Encoder cable...

Page 120: ...ain circuit contactor 1 Servo error display G5 Series AC Servo Drive User side control device External Encoder cables Control cables Motor Power cables 1 A recommended product is listed in 4 3 Wiring...

Page 121: ...cuit contactor 1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V MY2 relay by OMRON can be used for a rated inductive load of 2...

Page 122: ...lly connected Dynamic Brake Resistor remove the short bar from between DB3 and DB4 4 Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur...

Page 123: ...in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V MY2 relay by OMRON can be used for a rated inductive load of 2 A 24 VDC 3 Provide auxiliary contacts to protect th...

Page 124: ...sor 1 Main circuit power supply 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V MY2 relay by OMRON can be used for a rated induc...

Page 125: ...it power supply 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V MY2 relay by OMRON can be used for a rated inductive load of 2 A...

Page 126: ...2 relay by OMRON can be used for a rated inductive load of 2 A 24 VDC 3 When using an externally connected Dynamic Brake Resistor remove the short bar from between DB3 and DB4 4 Provide auxiliary cont...

Page 127: ...ernal Encoder cables Power cables 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V MY2 relay by OMRON can be used for a rated ind...

Page 128: ...CT L KN02L ECT L R88D KN01H ECT L KN02H ECT L KN04H ECT L Symbol Name Function L1 Main circuit power supply input 1 R88D KN L ECT L 100 to 200 W Single phase 100 to 120 VAC 85 to 132 VAC 50 60 Hz R88D...

Page 129: ...mbol Name Function L1 Main circuit power supply input 1 R88D KN L ECT L 400 W Single phase 100 to 120 VAC 85 to 132 VAC 50 60 Hz R88D KN H ECT L 750 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264...

Page 130: ...External Regeneration Resistors between B1 and NC R88D KN20H ECT L Symbol Name Function L1 Main circuit power supply input 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2 L3 L1C Control circuit pow...

Page 131: ...External Regeneration Resistor set the Regeneration Resistor Selection servo parameter object 3016 hex Do not connect any External Regeneration Resistors between B1 and NC R88D KN30H ECT L KN50H ECT L...

Page 132: ...r set the Regeneration Resistor Selection servo parameter object 3016 hex Do not connect any External Regeneration Resistors between B1 and NC R88D KN75H ECT L Symbol Name Function L1 Main circuit pow...

Page 133: ...5 N m M5 If you are connecting an External Regeneration Resistor set the Regeneration Resistor Selection servo parameter object 3016 hex Do not connect any External Regeneration Resistors between B1 a...

Page 134: ...object 3016 hex Do not connect any External Regeneration Resistors between B1 and NC R88D KN06F ECT L KN10F ECT L KN15F ECT L KN20F ECT L Symbol Name Function L1 Main circuit power supply input 3 pha...

Page 135: ...block cover to a torque of 0 19 to 0 21 N m M3 If you are connecting an External Regeneration Resistor set the Regeneration Resistor Selection servo parameter object 3016 hex Do not connect any Exter...

Page 136: ...ation Resistor Selection servo parameter object 3016 hex Do not connect any External Regeneration Resistors between B1 and NC R88D KN75F ECT L Symbol Name Function L1 Main circuit power supply input 3...

Page 137: ...e of 2 0 to 2 5 N m M5 If you are connecting an External Regeneration Resistor set the Regeneration Resistor Selection servo parameter object 3016 hex Do not connect any External Regeneration Resistor...

Page 138: ...l Block Wire Sizes 100 VAC Input Drive Wire Sizes Model R88D KN01L ECT L KN02L ECT L KN04L ECT L Item Unit Power supply capacity kVA 0 4 0 5 0 9 Main circuit power supply input L1 and L3 or L1 L2 and...

Page 139: ...L KN08H ECT L KN10H ECT L KN15H ECT L Item Unit Power supply capacity kVA 0 5 0 5 0 9 1 3 1 8 2 3 Main circuit power supply input L1 and L3 or L1 L2 and L3 Rated current A 1 3 2 4 1 3 1 4 1 2 4 1 6 6...

Page 140: ...torque N m 2 0 2 0 to 2 4 2 2 to 2 5 Control circuit power supply input L1C and L2C Wire size AWG18 Screw size M5 M4 Tightening torque N m 2 0 1 3 to 1 5 0 7 to 0 8 Motor connection terminals U V W a...

Page 141: ...N10F ECT L KN15F ECT L KN20F ECT L Item Unit Main circuit power supply input L1 and L3 or L1 L2 and L3 Rated current A 2 8 2 8 3 9 5 9 Wire size AWG14 Screw size Tightening torque N m Control circuit...

Page 142: ...N m 2 0 1 3 to 1 5 0 7 to 0 8 Motor connection terminals U V W and FG 1 Rated current A 9 4 16 5 22 0 33 4 Wire size AWG12 AWG6 AWG4 Screw size M5 M6 Tightening torque N m 2 0 2 0 to 2 4 2 2 to 2 5 Ma...

Page 143: ...Terminal Block Wire Sizes on page 4 24 for applicable wire sizes 3 Open the wire insertion slots in the terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry th...

Page 144: ...been wired return the terminal block to its original position on the Servo Drive Additional Information The wire may not be inserted easily depending on the shape of the ferrule connected to it If th...

Page 145: ...onformance The Servo Drive must be installed in a metal case control panel The motor does not however have to be covered with a metal plate Noise filters and lightening surge absorptive elements surge...

Page 146: ...ould be separated and wired at the shortest distance Unit Details 1 A specified combination of Servo Drive and Linear Motor must be used Symbol Name Manufacturer Model Comment SG Surge absorber Okaya...

Page 147: ...Model Comment SG Surge absorber Okaya Electric Industries Co Ltd R A V 801BXZ 4 NF Noise filter Okaya Electric Industries Co Ltd 3SUP HQ10 ER 6 3SUP HL50 ER 6B Schaffner FN258 42 07 SD Servo Drive OM...

Page 148: ...ECT L SUP EK5 ER 6 5 A Single phase 1 0mA at 250VAC Okaya Electric Industries Co Ltd R88D KN02L ECT L R88D KN04L ECT L 3SUP HQ10 ER 6 10 A 3 phase 3 5mA at 500VAC R88D KN01H ECT L SUP EK5 ER 6 5 A Si...

Page 149: ...H ECT L 3SUP HU50 ER 6 50 A 3 phase 3 5mA at 500VAC Okaya Electric Industries Co Ltd R88D KN30H ECT L 3SUP HL50 ER 6B 50 A 3 phase 8 0mA at 500VAC R88D KN50H ECT L R88D KN75H ECT L FS5559 60 34 60 A 3...

Page 150: ...L50 ER 6B 105 115 5 5 43 70 52 10 95 Ground terminal M4 Attachment screw for cover M3 Cover Noise filter unit M4 50 0 60 0 12 0 10 0 11 6 13 0 75 0 7 0 2 0 88 0 100 2 0 53 1 2 0 5 0 2 4 5 6 75 2 4 5 6...

Page 151: ...scribed below when designing or selecting a control panel Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces are electrically conductive If as...

Page 152: ...the case Refer to the diagrams Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they are electrically cond...

Page 153: ...of all the motors when multiple Servo Drives are used The rated current of the power supply input for each Linear Motor model is provided in 4 2 2 Main Circuit and Linear Motor Connections on page 4 1...

Page 154: ...eakage current given in the following table as a reference value The following table shows the leakage current of each Servo Drive model R88D KN15F ECT L 28 48 R88D KN20F ECT L 32 48 R88D KN30F ECT L...

Page 155: ...r operating details 2 The surge immunity is for a standard impulse current of 8 20 s If pulses are wide either decrease the current or change to a larger capacity surge absorber R88D KN06F ECT L 3 pha...

Page 156: ...o be reduced by 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter Noise Filter for the Brake Power Supply Model Rated current Rated voltage Leakage current Manufacturer SUP EK5 ER 6 5 A 250 V 1...

Page 157: ...used for 100 W The maximum number of windings is 2 turns 4 Also used on the Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise...

Page 158: ...ns Linear Motor Type Model Rated current Dimensions mm A B C D1 D2 Core thickness E F RJ8035 35A 170 150 23 80 53 24 R3 5 7 RJ8095 95A 200 180 34 130 107 35 R3 5 7 51 5 25 5 57 2 D2 D1 102 17 5 5 1 3...

Page 159: ...1000 100 10 1 0 1 Frequency kHz Frequency kHz Impedance Impedance 1 1000 3G3AX ZCL2 3G3AX ZCL1 10000 10000 1000 100 10 1 0 1 0 01 1000 100 10 1 Impedance Impedance 10000 1000 100 10 1 0 1 0 01 Impedan...

Page 160: ...loads such as relays when the reset time is not a critical issue At power shutoff the surge voltage is the lowest but the reset time takes longer Used for 24 48 VDC systems Use a fast recovery diode w...

Page 161: ...ended When installing noise filters for external encoder cables use clamp cores The following table shows the recommended clamp cores Precautions for Correct Use Precautions for Correct Use Do not pla...

Page 162: ...s section explains the criteria for selecting the connection components required to improve noise resistance Improving Control I O Signal Noise Resistance Reactor to Reduce Harmonic Current Servo Driv...

Page 163: ...le shows the noise filters that are recommended for motor output lines Note 1 Motor output lines cannot use the same noise filters for power supplies 2 General noise filters are made for power supply...

Page 164: ...3G3AX NF003 NF004 NF005 NF006 Model Dimensions mm A B C E F H J N O P 3G3AX NF003 160 145 130 80 112 120 M4 154 3G3AX NF004 200 180 160 100 162 150 120 M5 M5 210 3G3AX NF005 220 200 180 100 182 170 1...

Page 165: ...in Internal Regeneration Resistor The regeneration absorption capacity of a Servo Drive varies depending on the Servo Drive model For information on whether or not your Servo Drive has an Internal Reg...

Page 166: ...average regeneration power Pr W which cannot be absorbed by the built in capacitors If this average regeneration power Pr W is equal to or less than the average amount of regeneration absorbable by th...

Page 167: ...J Internal regeneration resistor Allowable minimum regeneration resistance Average amount of regenerative energy absorbable W R88D KN01L ECT L 11 17 R88D KN02L ECT L 15 17 R88D KN04L ECT L 22 17 13 R...

Page 168: ...ity The amount of regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR08050S 50 80 W 20 W Aluminum 350 350 Thickness 3 0 Operating t...

Page 169: ...using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff seque...

Page 170: ...iagram below Precautions for Correct Use Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple Exte...

Page 171: ...Regenera tion Absorption Capacity on page 4 53 Precautions for Safe Use Surface temperatures on regeneration resistance can reach 200 C Do not place objects that tend to catch fire nearby To prevent...

Page 172: ...4 System Design 4 58 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 173: ...Area and Settings 5 2 5 1 1 Node Address Setting 5 2 5 1 2 Status Indicators 5 3 5 2 Structure of the CAN Application Protocol over EtherCAT 5 4 5 3 EtherCAT State Machine 5 5 5 4 Process Data Objects...

Page 174: ...k is determined by the value set on the node address switches If the node address is not between 00 and 99 a Node Address Setting Error Error No 88 0 will occur Additional Information EtherCAT Slave I...

Page 175: ...ate ERR Red OFF No error Blinking Communications setting error Single flash Synchronization error or communications data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT tim...

Page 176: ...the application layer contains parameters and application data as well as information on the PDO mapping between the process data servo interface and Servo Drive application The process data object PD...

Page 177: ...re Operational Pre Op Possible Not possible Not possible Only mailbox communications are possible in this state This state is entered after initialization has been completed It is used to initialize n...

Page 178: ...ime process data between the object dictionary and PDO The number of mapped objects is described in sub index 00 hex of the mapping table In this mapping table 1600 hex to 17FF hex are for RxPDOs and...

Page 179: ...les of RxPDO and TxPDO combinations are provided below This object gives the mapping for an application that uses only cyclic synchronous position mode csp Touch probe function is available 5 4 2 Sync...

Page 180: ...ouch probe status 60B9 hex Touch probe pos1 pos value 60BA hex Touch probe pos2 pos value 60BC hex and Digital inputs 60FD hex PDO Mapping 3 Position Control Speed Control Touch Probe Function and For...

Page 181: ...you changed are not saved in EEPROM you must specify objects each time you turn ON the power of the G5 series Servo Drive in order to use the mapping other than the default setting PDO Mapping 5 Posi...

Page 182: ...AT Communications Linear Motor Type allow you to use combinations of up to two PDO mappings To use multiple object mappings select two PDO mappings in Sync manager 2 PDO assignment 1C12 hex and Sync m...

Page 183: ...ts Refer to A 1 3 Communications Cycles and Corresponding Modes of Operation on page A 5 for details If the size of the mapped objects exceeds the maximum total size a Function Setting Error Error No...

Page 184: ...pped into the PDO 0604 0042 hex The number and length of the objects to be mapped would exceed the PDO length 0604 0043 hex General parameter incompatibility reason 0604 0047 hex General internal inco...

Page 185: ...cle The communications cycle is determined by setting the Sync0 signal output cycle Setting range 250 s 500 s 1 ms 2 ms 4 ms Precautions for Correct Use Precautions for Correct Use Set 6091 hex Gear r...

Page 186: ...10F3 hex Sub 05 hex Flags is 0 and no emergency message will be sent To send emergency messages set the sub index 05 hex Flags in the Diagnosis History object 10F3 hex to 1 every time the power is tu...

Page 187: ...automatically to the PDO Additional Information For the Sysmac Error Status 2002 01 hex refer to A 1 11 Manufacturer Specific Objects on page A 48 For errors displayed in Sysmac Studio refer to A 3 S...

Page 188: ...ameters on those slaves Compliance with ESI Specification ETG 2000 S R V1 0 1 The ESI Specification is a set of specifications that define the entries required in an EtherCAT Slave Information ESI fil...

Page 189: ...n specific to that 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...

Page 190: ...5 EtherCAT Communications 5 18 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 191: ...bjects Requiring Settings 6 6 6 2 3 Related Functions 6 6 6 2 4 Block Diagram for Speed Control Mode 6 7 6 3 Cyclic Synchronous Torque Mode 6 8 6 3 1 Related Objects 6 9 6 3 2 Objects Requiring Settin...

Page 192: ...force Read it as force when using these objects The following diagram shows the configuration of the Cyclic synchronous position mode The following diagram shows the configuration of the control func...

Page 193: ...10 0 607A hex 00 hex Target position RW INT32 Command units 2 147 483 648 to 2 147 483 647 0000 hex 6065 hex 1 00 hex Following error window RW U32 Command units 0 to 134 217 728 or 4 294 967 295 100...

Page 194: ...lue command units s 6064 hex Position actual value command units 60F4 hex Following error actual value command units Position Demand Value After Filtering command units Velocity Demand Value After Fil...

Page 195: ...e the object names between 6000 hex and 6999 hex may be represented using the word torque instead of force Read it as force when using these objects The following diagram shows the configuration of th...

Page 196: ...0000 hex 6 2 2 Objects Requiring Settings Index Name Description Reference 3312 hex Soft Start Acceleration Time Set the acceleration time for internally set speed control Set the time until 1 000 mm...

Page 197: ...or Speed unit conversion Force limit Selection Positive Negative Force feed forward Filter Motor Velocity Actual Value Motor Control Effort mm s 6063 hex Position actual internal value External encode...

Page 198: ...hex and 6999 hex may be represented using the word torque instead of force Read it as force when using these objects The following diagram shows the configuration of the Cyclic synchronous torque mode...

Page 199: ...tual value RO INT32 Command units 2 147 483 648 to 2 147 483 647 0000 hex 606C hex 00 hex Velocity actual value RO INT32 Command units s 2 147 483 648 to 2 147 483 647 0000 hex 6077 hex 00 hex Torque...

Page 200: ...ocity actual value command units s 60B2 hex Torque offset 0 1 607F hex Max profile velocity command units s Speed detection Main power supply External 1 External 2 Forward External Reverse External Ma...

Page 201: ...Profile position mode is as follows Profile Position Mode Configuration Target position 607A hex Path Generation Parameter Position Control Parameter Path Generation Function Position demand internal...

Page 202: ...to 1 073 741 823 500000 02 hex Max position limit RW INT32 Command units 1 073 741 823 to 1 073 741 823 500000 6081 hex 00 hex Profile velocity RW U32 Command units s 0 to 2 147 483 647 0000 hex 6083...

Page 203: ...o the set target position The Target value can be changed while PTP positioning is in progress During PTP positioning changing the Target position 607A hex Profile velocity 6081 hex value Changing the...

Page 204: ...s If set to 1 rel positioning does not occur due to a Command warning 8 Halt When set to 0 positioning starts or continues When set to 1 positioning stops according to the Halt option code 605D hex se...

Page 205: ...osition mode csp When performing the homing operation using this procedure refer to the operating manual for the controller Procedure 2 Use the Homing mode of the Servo Drive The controller specifies...

Page 206: ...tion 2 00818181 hex Positive Drive Prohibition Input NC 3402 hex 00 hex Input Signal Selection 3 00828282 hex Negative Drive Prohibition Input NC 3403 hex 00 hex Input Signal Selection 4 00222222 hex...

Page 207: ...n 7 00202020 hex External Latch Signal 1 NO 1 3504 hex 00 hex Drive Prohibition Input Selection 1 The drive prohibition input is disabled in the servo and processed in the controller 3508 hex 00 hex U...

Page 208: ...6 Basic Control Functions 6 18 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 209: ...Requiring Settings 7 20 7 6 2 Operation Example 7 21 7 7 Force Limit Switching 7 22 7 7 1 Operating Conditions 7 22 7 7 2 Objects Requiring Settings 7 23 7 8 Soft Start 7 25 7 8 1 Objects Requiring S...

Page 210: ...llocations 1 NO normally open and NC normally close in the table above refer to the following states NO Disabled OFF when signal input is open with COM Enabled ON when signal input is shorted with COM...

Page 211: ...NO normally open contacts 2E hex Speed control Disabled 00 hex Force control Positive Force Limit Input with NO contacts 2C hex Objects That Can Be Assigned Index Name Explanation Reference 3400 hex...

Page 212: ...ts an External Latch Input Allocation Error Error No 33 8 will occur The control input pins that are disabled do not affect the operation It also does not affect the response in EtherCAT Communication...

Page 213: ...ault Setting Index Output signal Default setting hex Default setting state Position control Speed control Force control Signal name Logic 1 1 NO normally open and NC normally close refer to the follow...

Page 214: ...me Symbol Set value NO or normally open contact NC or normally close contact Disabled 00 hex 00 hex Servo Ready Completed Output READY 02 hex 82 hex Brake Interlock Output BKIR 03 hex Setting not avai...

Page 215: ...control output pin the output transistor always stays OFF It also does not affect the response in EtherCAT Communications If you use the Brake Interlock Output BKIR you must set the function in all co...

Page 216: ...7 1 Sequence I O Signals on page 7 2 for details on input signal selections 1 to 8 Objects Requiring Settings Index Name Explanation Reference 3400 hex to 3407 hex Input Signal Selection 1 to 8 Set th...

Page 217: ...operation will be performed according to the setting of the Fault reaction option code 605E hex In the same way the Fault reaction option code 605E hex takes priority when any other error occurs Driv...

Page 218: ...mit Setting 3514 hex to appropriate values A Command Warning Warning No B1 hex will occur if a command is given in the drive prohibition direction while the motor is stopped i e decreases the speed to...

Page 219: ...position data is initialized This includes at a component setup request at homing when setting the coordinate system and at an adjustment command When magnetic pole detection is in progress Precaution...

Page 220: ...rs the error range due to vibration When a positive position command is entered the Linear Motor s allowable operating range increases by the commanded amount The resulting range will be the position...

Page 221: ...s Index Name Description Reference page 3704 hex Backlash Compensation Selection Select whether to enable or disable backlash compensation during position control Set the compensation direction page 9...

Page 222: ...erse operation after the initial backlash compensation is compensated Backlash compensation is not performed again as long as the operation continues in the same direction Until the output of backlash...

Page 223: ...s ON a Command Warning B1 hex will occur 7 5 1 Objects Requiring Settings Index Sub index Bit Name Explanation Reference 3437 hex Brake Timing when Stopped Set the time after a servo OFF command is is...

Page 224: ...T communications The above example shows when there is no brake release request from EtherCAT communications The BKIR is assigned to the general purpose output CN1 7 5 2 Operation Timing Basic Timing...

Page 225: ...example there is no release request command from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 4 t1 is the period until the value becomes lower than the set va...

Page 226: ...9 hex whichever is shorter Note 1 Even when the servo ON input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops 2 If the main circu...

Page 227: ...ned to the general purpose output CN1 Note After the error has been reset the system enters the servo OFF state motor not energized To turn ON the servo send a servo ON command again after resetting t...

Page 228: ...ange an Object Setting Error 1 Error No 93 0 will occur Whether the electronic gear is enabled is determined from the setting of the objects If the gear ratio setting is 1 1 the electronic gear is dis...

Page 229: ...resolution of 0 1 m pulse set as follows The resulting movement is the same as that of the Linear Slider with an external encoder having a resolution of 1 mm pulse 7 6 2 Operation Example 6091 01 hex...

Page 230: ...wing conditions When push motion operation is performed When the force at startup and during deceleration should be suppressed to protect the mechanical system etc The Force Limit Selection 3521 hex s...

Page 231: ...2 Set the second force limit value of the motor output force The upper limit of the set value is restricted based on the maximum force of the motor being connected page 9 42 3525 hex Force Limit 3 Set...

Page 232: ...CL is ON NCL OFF is the state in which both of these are OFF 3 The smaller of 60E0 hex or 3013 hex is used 4 The smaller of 60E1 hex or 3522 hex is used Force Limit in Position Speed and Force Control...

Page 233: ...to decrease the speed from the maximum motor speed to 0 mm s into the Soft Start Deceleration Time 3313 hex The time taken for acceleration or deceleration is calculated by the following formula wher...

Page 234: ...2 hex and the Soft Start Deceleration Time 3313 hex The S curve time is a duration around an inflection point during acceleration and deceleration 7 8 3 S curve Acceleration or Deceleration Time ta td...

Page 235: ...in Gain Switching Hysteresis in Position Control 3118 hex 2 If set to greater than the level set in Gain Switching Level in Position Control 3117 hex the hysteresis set in Gain Switching Hysteresis in...

Page 236: ...between Gain 1 and Gain 2 page 9 14 3121 hex Gain Switching Delay Time in Speed Control Set the time until the gain is actually switched after switching from the Gain 2 to Gain 1 Unit 0 1 ms page 9 14...

Page 237: ...elay Time in Position Control 3116 hex becomes effective when the gain is switched from 2 to 1 Gain Switching Level in Position Control 3117 hex 2 2 Set the level set in Gain Switching Level in Positi...

Page 238: ...Speed command The gain is switched via a speed command Speed Control Mode 3120 hex set value Description Gain switching conditions Gain Switching Delay Time in Speed Control 3121 hex 1 1 The Gain Swit...

Page 239: ...hex 1 1 The Gain Switching Delay Time in Force Control 3125 hex becomes effective when the gain is switched from 2 to 1 Gain Switching Level in Force Control 3126 hex 2 2 Set the level set in Gain Swi...

Page 240: ...ain switches to Gain 1 When the command is 1 the gain switches to Gain 2 Instant switching occurs when a gain switching command is issued from the network If the absolute value of the force command ex...

Page 241: ...ontrol 3123 hex 10 mm s s and this condition lasts for the time specified in the Gain Switching Delay Time in Speed Control 3121 hex the gain switches back to Gain 1 If in Gain 1 the absolute value of...

Page 242: ...Hysteresis pulses and this condition lasts for the Delay Time the gain switches back to Gain 1 Set the Level and the Hysteresis unit pulses according to the external encoder resolution If the position...

Page 243: ...Gain Switching Level plus the Gain Switching Hysteresis mm s the gain switches to Gain 2 If the absolute value of the actual motor speed is less than the value of the Gain Switching Level minus the G...

Page 244: ...Time 3119 hex By setting the Position Gain Switching Time 3119 hex the gain will be switched gradually when there is a large change in the position loop gain If there is a large difference between Pos...

Page 245: ...3606 hex When the Switching Mode in Position Control 3115 hex is set to 7 Position command the operation is as shown below 7 10 1 Operating Conditions Conditions Operating mode Position Control Mode...

Page 246: ...ing 3606 hex to 100 In the Gain 3 region only the position loop gain and the speed loop gain are treated as Gain 3 and the Gain 1 setting is applied for all other gains If the Gain 2 switching conditi...

Page 247: ...signal 7 11 1 Objects Requiring Settings Index Name Description Reference 60B8 hex Touch probe function Controls the latch function page A 91 60B9 hex Touch probe status Gives the state of latches 1 a...

Page 248: ...Select either EXT1 EXT2 or EXT3 IN6 3405 hex Select either EXT1 EXT2 or EXT3 IN7 3406 hex Select either EXT1 EXT2 or EXT3 Latch 1 Latch 2 TP1_SEL EXT 1 TP2_SEL EXT 2 Bit 0 Bit 1 Bit 8 Bit 9 0 0 EXT1 0...

Page 249: ...therCAT Communications Linear Motor Type 7 11 Touch Probe Function Latch Function 7 7 11 3 Operation Sequences Continuous 60B8 Hex Bit 1 9 1 Continuous 60B8 hex Bit 0 8 60B9 hex Bit 0 8 60B9 hex Bit 1...

Page 250: ...7 Applied Functions 7 42 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 251: ...or safety sensor An outline of the function is given together with operation and connection examples 8 1 Safe Torque OFF Function 8 2 8 1 1 Safety Input Signals 8 3 8 1 2 External Device Monitor EDM O...

Page 252: ...ures such as providing external brakes Even if there is no external force when the Fault reaction option code 605E hex is set to free run with the dynamic brake disabled the motor uses free run stoppi...

Page 253: ...oller or a safety sensor the safety output signal of the device may include L pulses for self diagnosis To avoid malfunction due to the L pulses for self diagnosis a filter that removes the L pulses i...

Page 254: ...by monitoring all of the following 4 signal states using an external 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 Eith...

Page 255: ...below the Brake Threshold Speed During Operation 3439 hex whichever occurs first Operation Timings to a Safety Status READY t1 3 Response time max 5ms ON OFF Response time max 6ms 0 5 to 5ms Servo ON...

Page 256: ...state The dynamic brake operates according to the Fault reaction option code 605E hex 3 This is a nomal servo OFF state The dynamic brake operates according to the Disable operation option code 605C...

Page 257: ...ns Linear Motor Type 8 3 Connection Examples 8 8 3 Connection Examples Connection with a Safety Controller EDM EDM SF1 SF1 SF2 SF2 M 0V G9SP series Safety output source Safety output 1 Safety output 2...

Page 258: ...8 Safety Function 8 8 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 259: ...on explains the settings of each object 9 1 Basic Settings 9 2 9 2 Gain Settings 9 7 9 3 Vibration Suppression Settings 9 17 9 4 Analog Control Objects 9 23 9 5 Interface Monitor Settings 9 27 9 6 Ext...

Page 260: ...ng these objects turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again Do not change the objects marked reserved Also do not change the...

Page 261: ...if the count direction is negative or 1 if the count direction is positive When finished write the setting to the EEPROM and turn OFF and then ON the power supply The external encoder count direction...

Page 262: ...gradually increase the setting while monitoring machine operation 3002 hex Realtime Autotuning Mode Selection Setting range 0 to 6 Unit Default setting 1 Data attribute B Size 2 bytes INT16 Access RW...

Page 263: ...g for speed loop gain will decrease Set the limit value 1 for the motor output force Refer to the Force Limit Selection on page 9 41 for details of force limit selection During force control it limits...

Page 264: ...elected in the Regeneration Resistor Selection Explanation of Settings 3016 hex Regeneration Resistor Selection Setting range 0 to 3 Unit Default setting 3 1 Data attribute C Size 2 bytes INT16 Access...

Page 265: ...et value for machines with low machine rigidity Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance resu...

Page 266: ...Drive with 200 V and 1 kW or greater or with 400 V Set the speed loop integral time constant The smaller the set value the faster the error approaches 0 when stopping Response when the speed loop int...

Page 267: ...ponsiveness of the second speed loop Set the second speed loop integral time constant Set the second speed feedback filter 3103 hex Speed Feedback Filter Time Constant 1 Setting range 0 to 5 Unit Defa...

Page 268: ...ess Overshooting however will occur more easily Refer to 11 10 Feed forward Function on page 11 30 Set the time constant for the first order lag filter inserted into the feed forward Setting the filte...

Page 269: ...6 Access RW PDO map Not possible 3114 hex Gain Switching Input Operating Mode Selection Setting range 0 to 1 Unit Default setting 1 Data attribute B Size 2 bytes INT16 Access RW PDO map Not possible S...

Page 270: ...nds on the setting of the Switching Mode in Position Control 3115 hex The Gain Switching Delay Time in Position Control 3116 hex Gain Switching Level in Position Control 3117 hex and Gain Switching Hy...

Page 271: ...n 2 3105 hex set the Position Gain Switching Time 3119 hex When the position loop Gain 1 increases the gain changes in the set time Position Loop Gain 1 Position Loop Gain 2 Precautions for Correct Us...

Page 272: ...ess of the gain input if the Switching Mode in Speed Control 3120 hex is 2 and the Force Limit Selection 3521 hex is 3 or 6 Set the delay time when returning from Gain 2 to Gain 1 if the Switching Mod...

Page 273: ...3114 hex is set to 1 Explanation of Settings 1 The Gain Switching Delay Time in Force Control 3125 hex becomes effective when the gain is switched from 2 to 1 2 Set the Level 3126 hex to greater than...

Page 274: ...The unit depends on the setting of Switching Mode in Force Control 3124 hex Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Force Control 3126 hex The un...

Page 275: ...0 Data attribute B Size 2 bytes INT16 Access RW PDO map Not possible Set value Description 0 Adaptive filter disabled The parameters related to notch filters 3 and 4 retain the current values 1 One a...

Page 276: ...Refer to 11 6 Adaptive Filter on page 11 20 and 11 7 Notch Filters on page 11 23 Set the width of resonance suppression notch filter 3 to one of 20 levels Increasing the setting value widens the notch...

Page 277: ...ing value widens the notch width Normally use the default set value This object is automatically set when two adaptive filters are enabled Refer to 11 6 Adaptive Filter on page 11 20 and 11 7 Notch Fi...

Page 278: ...set value is restricted to the corresponding damping frequency or the value of 2000 damping frequency whichever is the smaller Refer to 11 5 Damping Control on page 11 16 3213 hex Damping Filter Sele...

Page 279: ...ng if force saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 The upper limit of the set value is restricted to the smaller value of the corresponding d...

Page 280: ...itched when the position command value per 0 250 ms changes from 0 to a value other than 0 while the positioning completed output is ON 3 There is a delay from when the Position Command Filter Time Co...

Page 281: ...celeration Time 3313 hex to 0 Refer to 7 8 Soft Start on page 7 25 Precautions for Correct Use Precautions for Correct Use Do not set the Soft Start Acceleration Time and the Soft Start Deceleration T...

Page 282: ...yclic Synchronous Torque Mode on page 6 8 3314 hex S curve Acceleration Deceleration Time Setting Setting range 0 to 1000 Unit ms Default setting 0 Data attribute B Size 2 bytes INT16 Access RW PDO ma...

Page 283: ...0 phase difference output Precautions for Correct Use Precautions for Correct Use If you set this object to 1 or 2 when an external encoder with a 90 phase difference output is connected an External E...

Page 284: ...autions for Correct Use Precautions for Correct Use Before checking the count direction be sure to set the Movement Direction Setting 3000 hex to 1 write the setting to the EEPROM and turn OFF and the...

Page 285: ...quence I O Signals on page 7 2 Set the function and logic for general purpose input 5 IN5 Refer to the Details of Control Inputs in Control Input Details on page 3 9 as well as 7 1 Sequence I O Signal...

Page 286: ...t the function assignment for general purpose output 2 OUTM2 Refer to the Details of Control Inputs in Control Output Details on page 3 12 as well as 7 1 Sequence I O Signals on page 7 2 3405 hex Inpu...

Page 287: ...1 Selection Setting range 0 to 22 Unit Default setting 0 Data attribute A Size 2 bytes INT16 Access RW PDO map Not possible Set value Explanation Monitor type Unit Output gain when object 3417 hex 0 0...

Page 288: ...g range 0 to 22 Unit Default setting 4 Data attribute A Size 2 bytes INT16 Access RW PDO map Not possible Set value Explanation Monitor type Unit Output gain when object 3419 hex 0 0 Motor Velocity Ac...

Page 289: ...nation of settings also applies when the Analog Monitor 2 Selection 3418 hex and the Analog Monitor 2 Scale Setting 3419 hex are set to 0 Explanation of Settings 3421 hex Analog Monitor Output Selecti...

Page 290: ...command the zero speed detection signal is ON and the position error is equal to or lower than the Position window 6067 hex 3 Turn ON when there is no position command and the position error is equal...

Page 291: ...Speed Conformity VCMP flag in EtherCAT communications status This setting is also used as the detection threshold for the Speed Conformity VCMP flag in EtherCAT communications status 1 Because the Spe...

Page 292: ...de energized after waiting for the set time set value ms 1 Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay time in the brake operation tb Brake ti...

Page 293: ...on page 7 15 Set the required speed for the Brake Interlock Output BKIR to turn OFF after the servo OFF command is detected while the motor is operating For the operation time refer to 7 5 Brake Inter...

Page 294: ...ever note that the unit for the Following error window 6065 hex will change as well 3440 hex Warning Output Selection 1 Setting range 0 to 13 Unit Default setting 0 Data attribute A Size 2 bytes INT16...

Page 295: ...ect is set to 0 the motor decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input 3505 hex For details refer to explanation for Stop Selection for Drive P...

Page 296: ...y the Immediate Stop Force 3511 hex set value Precautions for Correct Use Precautions for Correct Use An immediate stop forces the motor to decelerate quickly which momentarily causes a large position...

Page 297: ...age 3 25 Set the allowable operating range for the position command input range If the set value is exceeded and Overrun Limit Error Error No 34 0 will occur Refer to 7 3 Overrun Protection on page 7...

Page 298: ...ct Use Detection of the Positioning Completed status in EtherCAT communications is always performed using command units regardless of the setting on this object Normally use the default setting of 0 c...

Page 299: ...0E0 hex or 3013 hex is used 4 The smaller of 60E1 hex or 3522 hex is used When this object is set to 0 or 1 the Positive and Negative Force Limit Inputs are restricted by the Positive torque limit val...

Page 300: ...Refer to Force Limit 2 on page 9 42 for settings For the force limits and force limit selection also refer to 7 7 Force Limit Switching on page 7 22 Set the fourth force limit value of the motor outp...

Page 301: ...ed to a force command during negative movement in the Position Control Mode Set the value in units of 1 of the rated voltage 100 Refer to 11 9 Friction Force Compensation Function on page 11 28 3602 h...

Page 302: ...p Not possible Bit Function Set value 0 1 bit 0 Instantaneous speed observer function Disabled Enabled bit 1 Disturbance observer function Disabled Enabled bit 2 Disturbance observer operation setting...

Page 303: ...e 12 10 If the motor speed exceeds the set value during an immediate stop resulting from an error an Overspeed 2 Error Error No 26 1 will occur The overspeed detection level setting is 1 2 times the m...

Page 304: ...efer to 11 3 Realtime Autotuning on page 11 7 for details of realtime autotuning settings 3623 hex Disturbance Force Compensation Gain Setting range 100 to 100 Unit Default setting 0 Data attribute B...

Page 305: ...result 0 Use the present set value 1 Update with the estimation result 4 to 6 Force compensation Select whether to update three objects Force Command Value Offset 3607 hex Positive Direction Force Of...

Page 306: ...to Friction compensation small The set value is 3 The exponent is 4 24 3 48 3 Repeat Step 1 and 2 for all bit settings Add all results and set the outcome to 3632 hex E g When all of the Load charact...

Page 307: ...r Warning name Warning condition 0 to 1 Reserved Do not use 2 A7 Life Expectancy Warning The life expectancy of the capacitor or the fan is shorter than the specified value 3 Reserved Do not use 4 Res...

Page 308: ...ositive direction The value returns to 0 when it exceeds FF but the count continues 3 Total number of EtherCAT communications errors 1 Displays a value between 0 and FF hex The cumulative count is sat...

Page 309: ...W PDO map Not possible 3703 hex Force Limit Flag Output Setting Setting range 0 to 1 Unit Default setting 1 Data Attribute A Size 2 bytes INT16 Access RW PDO map Not possible Set value Description 0 O...

Page 310: ...Bit 0 Bit 1 Trigger signal 1 Bit 8 Bit 9 Trigger signal 2 0 0 EXT1 0 0 EXT1 1 0 EXT2 1 0 EXT2 0 1 EXT3 0 1 EXT3 1 1 Phase Z signal 1 1 Phase Z signal 3759 hex Warning Hold Selection Setting range 000...

Page 311: ...Correct Use This function is for debugging For normal operation leave this object at the default setting Error masks The following table shows the error you can mask by setting each error mask bit of...

Page 312: ...rn has not been performed Communications Control 3800 hex Warning Warning number Warning name Warning occurrence conditions Bit 4 B0 hex Data setting warning The set value in the command argument is o...

Page 313: ...han 10 ms the set value 0 1 ms 0 25 ms If 3818 hex set value is more than 10 ms the set value 0 1 ms 1 05 Precautions for Correct Use Precautions for Correct Use If the Position Command FIR Filter Tim...

Page 314: ...Correct Use If you set this object to 0 a Motor Setting Error Error No 60 0 will occur Set the rated force of the Linear Motor Precautions for Correct Use Precautions for Correct Use If you set this o...

Page 315: ...ot of 2 Set the phase inductance of the Linear Motor Precautions for Correct Use Precautions for Correct Use If you set this object to 0 when the Current Response Auto adjustment 3912 hex is not 0 a M...

Page 316: ...us operation such as vibration Adjust the value based on the operating Precautions for Correct Use Precautions for Correct Use If this object is set to 0 the Current Loop Proportional Gain 3913 hex Cu...

Page 317: ...ich is equivalent to a frequency of 100 to 3 000 Hz The set values 1 to 4 correspond to the time constant 5 3 000 Hz the set values 159 to 2500 correspond to the time constant 159 100 Hz Precautions f...

Page 318: ...ion Method refer to Setting the Magnetic Pole Detection Data on page 10 8 Precautions for Correct Use Precautions for Correct Use If you set this object to 0 a Motor Setting Error Error No 60 0 will o...

Page 319: ...n Estimation Force Command 3923 hex setting The actual command time will be approx the set value plus 4 ms Set the command force for a single force command during magnetic pole position estimation Thi...

Page 320: ...n where the number of motor movement pulses per unit time 2 ms set in the Magnetic Pole Position Estimation Movement for Stop Judgment 3926 hex or less persists for the time set in the Magnetic Pole P...

Page 321: ...bled only when the Magnetic Pole Detection Method 3920 hex is set to 2 Magnetic pole position estimation method Precautions for Correct Use Precautions for Correct Use If you set a large value in the...

Page 322: ...se The overload protection function is not designed to provide protection against errors caused by heat generated by the motor Therefore if you set the Motor Overload Curve Selection 3929 hex value to...

Page 323: ...ocedure 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 Preparing...

Page 324: ...ll not operate due to an error Section 4 4 2 Preparing for operation Check the necessary items and then turn ON the power supply Check on the display to see whether there are any internal errors in th...

Page 325: ...H ECT L 3 phase 200 VAC input Main circuit power supply 3 phase 200 to 230 VAC 170 to 253 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 50 60 Hz R88D KN06F ECT L KN10F E...

Page 326: ...the network is determined by the value set on the Node Address switches If the node address is not between 00 and 99 a Node Address Setting Error Error No 88 0 will occur Turn ON the control circuit...

Page 327: ...witches Then the display changes according to the setting of the LED Display Selection 3700 hex An error code is displayed if an error occurs A warning code is displayed if a warning occurs 10 2 3 Che...

Page 328: ...ash on the display Warning occurs Warning cleared Servo ON Servo OFF Dot on right lights Dot on right lights Error occurs Error cleared Warning code for 2 s Normal code for approx 4 s Error Display 1...

Page 329: ...ase difference input serial communications incremental or serial communications absolute of the selected external encoder For the set value refer to the specifications of the selected equipment page 9...

Page 330: ...hex Motor Resistance 0 01 Set the phase resistance of the Linear Motor page 9 57 3912 hex Current Response Auto adjustment Set the condition for the electric current response if you perform the automa...

Page 331: ...Estimation Maximum Movement 3924 hex it may take a long time until the motor stops because the motor speed when a force command stops will become high The motor may take a long time to stop due to a l...

Page 332: ...le position data once estimated by the magnetic pole position estimation function can be stored so that it can be used to control the motor after the power supply is reset In the magnetic pole positio...

Page 333: ...l be cleared when the Magnetic Pole Detection Method 3920 hex is set to 0 Not specified However the result will not be cleared if an EEPROM related Error Error No 36 0 to 36 2 or 37 0 to 37 2 occurs I...

Page 334: ...the following items Wiring Make sure that there are no wiring errors especially for the power supply input and motor output Make sure that there are no short circuits Check the ground for short circui...

Page 335: ...connector CN7 5 Start the CX Drive and go online with the Servo Drive via USB communications 6 Select Test Run from the Tuning Menu of the CX Drive 7 Select Servo ON to servo lock the Linear Motor 8 S...

Page 336: ...10 Operation 10 14 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 337: ...ing Settings 11 17 11 5 3 Operating Procedure 11 18 11 6 Adaptive Filter 11 20 11 6 1 Operating Conditions 11 21 11 6 2 Objects Requiring Settings 11 21 11 6 3 Objects to be Set Automatically 11 22 11...

Page 338: ...alog monitor 1 page 9 29 3417 hex Analog Monitor 1 Scale Setting Set the output gain for the analog monitor 1 page 9 29 3418 hex Analog Monitor 2 Selection Select the monitoring item for the analog mo...

Page 339: ...reversely converted to command units for application The pulse position error is the error for the position control input 16 to 19 Reserved 20 Servo Drive Temperature C 10 21 to 22 Reserved 3416 hex...

Page 340: ...d the Analog Monitor 1 Scale Setting 3417 hex is set to 0 are as shown below The following explanation of settings also applies when the Analog Monitor 2 Selection 3418 hex and the Analog Monitor 2 Sc...

Page 341: ...automatically sets the optimal gain It also adds simultaneously the friction force to the force command in advance to reduce the positioning stabilization time page 11 7 Current loop gain Setting the...

Page 342: ...at it does not have any play The specific vibration resonance frequencies of the mechanical system has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be set...

Page 343: ...on page 11 20 for details about adaptive filters Realtime autotuning works under the following conditions 1 For details refer to Realtime Autotuning Mode Selection on page 9 4 11 3 1 Operationg Condit...

Page 344: ...as a backlash Operation pattern If the speed continues at below 100 mm s If the acceleration deceleration is below 2 000 mm s in 1 s If either a speed of 100 mm s or higher or an acceleration deceler...

Page 345: ...responsiveness increase the machine rigidity number and check the response If vibration occurs enable the adaptive filter and operate If already enabled lower the machine rigidity number 3 If there ar...

Page 346: ...3002 hex to 0 to disable the realtime autotuning function Set the Mass Ratio 3004 hex to the value calculated for the equipment and the Force Command Value Offset 3607 hex Positive Direction Force Of...

Page 347: ...5 10000 300 8 115 90 600 300 140 90 10000 300 9 140 110 500 200 175 110 10000 200 10 175 140 400 200 220 140 10000 200 11 320 180 310 126 380 180 10000 126 12 390 220 250 103 460 220 10000 103 13 480...

Page 348: ...Name Description 3004 hex Mass Ratio Updated when realtime autotuning is operating However in the customized mode this object may not be updated depending on its settings 1 3607 hex Force Command Val...

Page 349: ...in Position Control If the current setting is not retained set this object to 33 3119 hex Position Gain Switching Time If the current setting is not retained set this object to 33 3120 hex Switching M...

Page 350: ...onitoring with the data tracing function of the CX Drive or by measuring the analog voltage waveform with the monitor function The feedback motor speed internal command motor speed command force and p...

Page 351: ...ing does not occur upon servo lock Decrease Speed Loop Integral Time Constant 1 3102 hex to the extent that hunting does not occur upon servo lock Does hunting or vibration occur when the motor moves...

Page 352: ...ns Precautions for Correct Use Precautions for Correct Use Stop operation before changing the objects or switching with DFSEL The damping control may not function properly or the effect may not be app...

Page 353: ...ettings Index Name Description Reference 3213 hex Damping Filter Selection Select the Damping Filter Switching Mode according to the condition of the unit 0 Up to two filters can be used simultaneousl...

Page 354: ...inimum vibration 3 Make the damping filter 1 to 4 settings First set the filter to 0 and check the force waveform during operation The stabilization time can be reduced by setting a large value howeve...

Page 355: ...m use Users are not allowed to set 1 and 2 for this object 2 The table below shows the damping filter you can switch to based on the command direction Set value Description 0 Up to two filters Damping...

Page 356: ...hich removes the resonance component from the force command The automatically set notch filter frequency is set in Notch 3 3207 to 3209 hex or Notch 4 3210 to 3212 hex Refer to 11 7 Notch Filters on p...

Page 357: ...ter Resonance points If the resonance frequency is less than 3 times the response time frequency Hz If the resonance peak or control gain is too low to affect the motor speed If there are three or mor...

Page 358: ...tch 3 3207 to 3209 hex or Notch 4 3210 to 3212 hex may have changed to an extreme value In this case first of all set the Adaptive Filter Selection 3200 hex to 0 to disable the object Then set the Not...

Page 359: ...ation reduction The G5 series Servo Drives provide four notch filters that can be used for adjusting frequency width and depth If controlled device causes resonance at a specific location you can set...

Page 360: ...ble The notch filter is disabled if 100 is set page 9 17 3204 hex Notch 2 Frequency Setting Set the center frequency of the notch filter 2 The details are the same with the notch filter 1 frequency pa...

Page 361: ...ing Width Depth Set value Bandwidth center frequency Set value I O ratio Damping factor dB 0 0 50 0 0 Cut off 1 0 59 1 1 40 0 2 0 71 2 2 34 0 3 0 84 3 3 30 5 4 1 00 4 4 28 0 5 1 19 5 5 26 0 6 1 41 10...

Page 362: ...arameters such as the force limit are set correctly and there is no trouble with the motor s normal operation When realtime autotuning function is disabled The setting of 3002 hex is 0 When instantane...

Page 363: ...ance but results in a large operation noise Consider the balance between the advantage and disadvantage when setting this value 3 Set the Disturbance Torque Compensation Gain 3623 hex After you set th...

Page 364: ...tions Operating conditions Operating mode The operating mode depends on the control mode 1 Others When Servo is ON When elements other than control parameters such as the force limit are set correctly...

Page 365: ...iction compensation together or separately Take note that the following use limit is applied upon control mode switching or servo ON During Force Control The unbalanced load compensation and the dynam...

Page 366: ...Torque offset 60B2 hex is set both the set value and the force feed forward valued are added to the force command 11 10 1 Objects Requiring Settings Index Name Description Reference 3110 hex Speed Fe...

Page 367: ...ect Use Precautions for Correct Use If the speed feed forward gain is set to 100 the position error is calculated to 0 However large overshooting will occur during acceleration deceleration If the upd...

Page 368: ...urbance force is working In reality disturbance force is always applied and therefore the position error cannot be completely 0 Force feed forward can reduce the position error in a range of constant...

Page 369: ...er than control parameters such as the force limit are set correctly and there is no trouble with the motor s normal operation When realtime autotuning function is disabled The setting of 3002 hex is...

Page 370: ...tuations in the force waveform or the operation noise increase significant enough to cause a problem return the setting to 0 and make sure that the mass ratio or the adjustment objects are correct If...

Page 371: ...2 2 12 1 1 Preliminary Checks When a Problem Occurs 12 2 12 1 2 Precautions When a Problem Occurs 12 3 12 1 3 Replacing the Servo Drive 12 3 12 2 Warnings 12 4 12 2 1 Related Objects 12 4 12 2 2 Warni...

Page 372: ...display on the front of the Servo Drive or using CX Drive tools When an Error Has Occurred Check the error display and make an analysis based on the error that is indicated When an Error Has Not Occu...

Page 373: ...run away or an error may occur Be sure to disconnect the loading equipment before checking the encoder signal When measuring the encoder output perform the measurement based on the GND CN1 pin 16 When...

Page 374: ...ng for Warning Output 2 WARN2 0 Output for all warnings 1 or higher Refer to12 2 2 Warning List on page 12 5 page 9 36 3638 hex Warning Mask Setting Set a mask for warning detection If you set the cor...

Page 375: ...not use any settings for Error Output Selection 1 3440 hex and Error Output Selection 2 3441 hex other than those given in the above table You can clear these warnings by executing the error rest com...

Page 376: ...441 hex other than those given in the above table Warnings Related to EtherCAT Communications Warning number Warning name Warning condition Warning Hold Selection 3759 hex 1 Warning Output Selection 3...

Page 377: ...n Refer to the12 3 1 Error List on page 12 7 An Overload Error Error No 16 0 cannot be reset for 10 seconds after it occurs If hh FF or HH is displayed as the error number the internal MPU has malfunc...

Page 378: ...us Error 1 2 External Encoder Status Error 2 3 External Encoder Status Error 3 4 External Encoder Status Error 4 5 External Encoder Status Error 5 55 0 Phase A Connection Error 1 Phase B Connection Er...

Page 379: ...reset the error via EtherCAT communications or on the CX Drive 3 If hh FF or HH is displayed as the error number the internal MPU has malfunctioned Turn OFF the power immediately if one of these error...

Page 380: ...an Overspeed 2 error Error No 26 1 occur at the same time the immediate stop will not occur either If the actual operation speed is not lower than 30 mm s after the time set on the Error Detection All...

Page 381: ...the power supply voltage Change the power supply Increase the power supply capacity Replace the Servo Drive 12 0 Overvoltage The power supply voltage exceeded the allowable input voltage range causin...

Page 382: ...r single phase 100 V and single phase 200 V Replace the Servo Drive 14 0 Overcurrent The current flowing through the converter exceeded the specified value The Servo Drive is faulty faulty circuit fau...

Page 383: ...capacities of the Servo Drive and the motor Set longer acceleration and deceleration times Reduce the load Readjust the gain Connect the motor cable as shown in the wiring diagram Replace the cable Re...

Page 384: ...ds Check the input frequency dividing ratio and multiplication ratio of the position command If overshooting occurred due to faulty gain adjustment adjust the gain Wire the external encoder as shown i...

Page 385: ...ce Input Duplicate Allocation Error 1 There is a duplicate setting in the input signal IN1 IN2 IN3 and IN4 function allocations Allocate the functions to the connector pins correctly 1 Interface Input...

Page 386: ...Negative Drive Prohibition Input turned ON When object 3504 hex was set to 0 and Magnetic Pole Position Estimation was in progress either the Positive Drive Prohibition Input or the Negative Drive Pro...

Page 387: ...ase B connection 2 Phase Z Connection Error An error such as broken wiring was detected in the external encoder phase Z connection Check the external encoder phase Z connection 60 0 Motor Setting Erro...

Page 388: ...t operate with the force command set to 0 If it takes a long time until the motor stops because the value set in the Magnetic Pole Position Estimation Force Command 3923 hex or Magnetic Pole Position...

Page 389: ...g Error The function that was set does not support the communications cycle The electronic gear object ratio was not 1 1 when the communications cycle was set to 250 500 s Homing mode hm was set in Mo...

Page 390: ...eceived for which the current communications state could not be changed Check the specifications of the communications state change command for the host controller 2 EtherCAT illegal state change erro...

Page 391: ...rs when the power supply is turned ON An out of range value was set from the host controller A command that changes the communications state to an unsupported state was received Make EtherCAT communic...

Page 392: ...able correctly Check to see if the host controller has started Start the host controller An error occurred Read the error number and the error log Check and take appropriate measures against the cause...

Page 393: ...egative Drive Prohibition Input POT or NOT is OFF Check the ON OFF state of the POT and NOT signals from the CX Drive Turn ON the POT and NOT signals Disable them in the settings when the POT and NOT...

Page 394: ...se waveforms for speed and force Adjust the speed loop gain to stabilize the operation The motor is overheating The ambient temperature is too high Check to see if the ambient temperature around the m...

Page 395: ...the vibration Vibration occurs due to machine resonance Check to see if the resonance frequency is high or low If the resonance frequency is high set the adaptive filter to eliminate the resonance Alt...

Page 396: ...e external encoder cable is stuck or the sheath is damaged Check the external encoder cable for damage Correct the external encoder cable s pathway Excessive noise on external encoder cable Check to s...

Page 397: ...together Separate control signal lines from power supply lines Use a low impedance power supply for control signals The position is misaligned Position misalignment occurs without an error being outpu...

Page 398: ...per long term operation of Linear Sliders and Servo Drives Quoted from The Recommendation for Periodic Maintenance of a General purpose Inverter published by JEMA The periodic maintenance cycle depend...

Page 399: ...ced as much as possible to lengthen the service life of the Servo Drive The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of...

Page 400: ...12 Troubleshooting and Maintenance 12 30 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 401: ...3 Communications Cycles and Corresponding Modes of Operation A 5 A 1 4 Modes of Operation and Applied Functions A 6 A 1 5 Changing the Mode of Operation A 7 A 1 6 Homing Mode Specifications A 15 A 1...

Page 402: ...fer to State Descriptions on page A 3 and Command Coding on page A 3 Note 1 Quick stop active state is not supported Even if a Quick stop command is received it will be ignored A 1 1 Controlling the S...

Page 403: ...trol circuit power supply is turned ON and initialization is being executed Switch on disabled Initialization has been completed Servo Drive parameters can be set Ready to switch on The main circuit p...

Page 404: ...et in Modes of operation 6060 hex It is also given in Modes of operation display 6061 hex The operation modes supported by the Servo Drive can be checked in Supported drive modes 6502 hex If an unsupp...

Page 405: ...t receive PDO Mapping 1600 hex refer to 5 4 4 Variable PDO Mapping on page 5 9 1 The communications cycle is set in the controller Refer to the manual of the controller that is connected for the setti...

Page 406: ...de when the communications cycle is set to 1 ms or above 4 When Realtime Autotuning is enabled the instantaneous speed observer and disturbance observer are automatically disabled Realtime Autotuning...

Page 407: ...on of the Servo Drive can be checked from the Modes of operation display 6061 hex Precautions for Correct Use Precautions for Correct Use Change the operation mode while the motor is stopped If you ch...

Page 408: ...ill continue for approx 2 ms but the stop operation for drive prohibition will not be executed Therefore change the control mode with the Linear Motor stopped after homing is attained The actual mode...

Page 409: ...re not followed when the servo is ON the preceding value is retained For details see figure d below 3 When commands in the Controlword 6040 hex are not followed when the servo is ON this bit will be 0...

Page 410: ...it 12 will be 0 during a deceleration due to servo OFF Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as when the servo is turned OFF 6...

Page 411: ...eration due to servo OFF 4 The mode shown in 6061 hex is forced to 0 because the mode shown in 6061 hex is different from the mode of operation Note The operation during the interval from A to B for d...

Page 412: ...own in 6061 hex is forced to 0 because the mode shown in 6061 hex is different from the mode of operation Note The operation during the interval from A to B for drive prohibition and main circuit powe...

Page 413: ...preceding values during deceleration when the servo is turned OFF Note The operation during the interval from A to B for main circuit power OFF is the same as when the servo is turned OFF The stop fu...

Page 414: ...ned is shown by 6061 hex Note The operation during the interval from A to B for drive prohibition and main circuit power OFF is the same as when the servo is turned OFF 6061 hex 30 mm s pp Operation e...

Page 415: ...ations Homing Mode Configuration Supported Homing Methods Homing method Explanation Reference page 0 Not specified 8 Homing by Origin Proximity Input and origin signal positive operation start page A...

Page 416: ...U32 Command units s 100 to 3 276 700 5 000 6099 hex 02 hex Speed during search for zero RW U32 Command units s 100 to 3 276 700 5 000 4103 hex 00 hex Coordinate System Setting Mode RW U16 0000 to FFF...

Page 417: ...halt option code 605D hex Statusword 6041 hex in Homing Mode Bit Name Description 10 Target reached The status of the homing operation is indicated by the combination of these bits The status based on...

Page 418: ...ction of detection of the origin signal when the Origin Proximity Input is OFF and the reverse direction when the Origin Proximity Input is ON The operation direction reverses for the positive drive p...

Page 419: ...prohibition input do not assign the drive prohibition input to a general purpose input For details on assigning the general purpose input signals refer to 7 1 Sequence I O Signals on page 7 2 When the...

Page 420: ...rt direction of the homing operation is the negative direction in Homing method 33 and the positive direction in Homing method 34 A homing error Home error 1 will occur in the following cases When the...

Page 421: ...torque mode cst When backlash compensation is not completed Coordinate System Setting Mode 4103 hex 1 For the set value refer to the table below The operation vary depending on whether POS_SEL is in b...

Page 422: ...hex Data Type Area Definitions of data types 1000 to 1FFF hex CoE Communication Area Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Manufacture...

Page 423: ...e hm Homing mode Range The possible range of settings Uniit Physical units Default Default value set before shipment Attribute The timing when a change in the contents is updated for a writable object...

Page 424: ...nge Range Unit Unit Default Default Attribute Attribute Size Size Access Access PDO map Possible Not possible Sub index 02 hex Sub index name Range Range Unit Unit Default Default Attribute Attribute...

Page 425: ...perature error 7 Manufacturer specific error 1008 hex Manufacturer Device Name Range Unit Default 1 Attribute Size 20 bytes VS Access RO PDO map Not possible Specifications Model Single phase 100 VAC...

Page 426: ...riting a value other than 6576 6173 hex Writing when there is a Control Power Supply Undervoltage Error Error No 11 0 Writing to the EEPROM may take up to 10 seconds This is when all objects are chang...

Page 427: ...6F6C hex Writing when there is a Control Power Supply Undervoltage Error Error No 11 0 Writing in operation enabled state Writing to the EEPROM may take up to 10 seconds This is when all objects are c...

Page 428: ...x 04 hex Serial Number Range Unit Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Specifications Model Product Code Single phase 100 VAC 100 W R88D KN01L ECT L 0000 006...

Page 429: ...error history The error history is saved in Diagnosis Messages 1 to 14 in ascending order When the 15th error is reached it is saved as Diagnosis Message 1 and the sequence starts again 10F0 hex Back...

Page 430: ...RW PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mapped Setting range Unit Default setting 60B8 0010 hex Attribute D Size 4 byte U32 Access RW PDO map Not possible Sub inde...

Page 431: ...Writing when the EtherCAT communications state is Safe Operational Safe Op or Operational Op Writing with non existent objects specified Writing with incorrect object size specified Writing with obje...

Page 432: ...lt 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 01 hex PDO entry 1 1st Output Object to be mapped Range Unit Default 6040 0010 hex Attribute Size 4 bytes U32 Access RO PDO...

Page 433: ...02 hex PDO entry 2 2nd Output Object to be mapped Range Unit Default 607A 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mappe...

Page 434: ...ed Range Unit Default 607A 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mapped Range Unit Default 60FF 0020 hex Attribute Siz...

Page 435: ...ndex 03 hex PDO entry 3 3rd Output Object to be mapped Range Unit Default 60FF 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Output Object to be m...

Page 436: ...Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mapped Range Unit Default 60FF 0020 hex Attribute Size 4 bytes U32 Access RO PDO map Not...

Page 437: ...b index 01 hex PDO entry 1 1st Input Object to be mapped Setting range Unit Default setting 6041 0010 hex Attribute D Size 4 byte U32 Access RW PDO map Not possible Sub index 02 hex PDO entry 2 2nd In...

Page 438: ...of operation display 6062 hex 00 hex 20 hex Position demand value 6063 hex 00 hex 20 hex Position actual internal value 6064 hex 00 hex 20 hex Position actual value 606C hex 00 hex 20 hex Velocity act...

Page 439: ...ex PDO entry 4 4th Input Object to be mapped Range Unit Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 05 hex PDO entry 5 5th Input Object to be mapped Range...

Page 440: ...x Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Input Object to be mapped Range Unit Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not...

Page 441: ...s U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Input Object to be mapped Range Unit Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 05...

Page 442: ...Size 4 bytes U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Input Object to be mapped Range Unit Default 6077 0010 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Su...

Page 443: ...b index 01 hex PDO entry 1 1st Input Object to be mapped Setting range Unit Default 20020108 hex Attribute Size 4 byte U32 Access RO PDO map Not possible A 1 10 Sync Manager Communication Objects 1C00...

Page 444: ...ons state is other than Pre Operational Pre Op Writing to other than 1600 hex and 1701 to 1705 hex Data written to 1C13 hex is other than 1A00 hex 1B01 to 1B04 hex and 1BFF hex 1C10 hex Sync Manager 0...

Page 445: ...he following operations is attempted an ABORT code for SDO mailbox communications will be returned Writing when the EtherCAT communications state is other than Pre Operational Pre Op Writing to other...

Page 446: ...Type Range Unit Default 0002 hex Attribute A Size 2 bytes U16 Access RO PDO map Not possible Sub index 02 hex Cycle Time Range Unit Default 0000 0000 hex Attribute Size 4 bytes U32 Access RO PDO map N...

Page 447: ...ss RO PDO map Not possible Sub index 01 hex Synchronization Type Range Unit Default 0002 hex Attribute A Size 2 bytes U16 Access RO PDO map Not possible Sub index 02 hex Cycle Time Range Unit ns Defau...

Page 448: ...the G5 Servo Drive If you are connecting the G5 series Servo Drive with a Machine Automation Controller NJ series Model NJ501 1 00 map this object to the PDO Sysmac Error Status Clear Sub index 02 hex...

Page 449: ...No 11 0 This object sets the number of times communications errors can occur consecutively before being detected as an error It can be set to between 0 and 15 The detection value will be set to one va...

Page 450: ...Detected ZSP 0 Zero speed not detected 1 Zero speed detected 3 Force Limit Applied TLIMT 0 Force limit not applied 1 Force limit applied 4 Speed Limit VLIMT 0 Speed limit not detected during force co...

Page 451: ...cautions for Correct Use Precautions for Correct Use The position error in external encoder pulses can be set as the threshold value for the external output signal INP2 output from the Position Settin...

Page 452: ...3433 hex do not affect this signal Therefore there may be differences in the judgment conditions for INP1 and Target reached 6041 hex bit 10 i e when an electronic gear is set This bit is forced to 0...

Page 453: ...Writing a value other than 666e 6f63 hex Writing when there is a Control Power Supply Undervoltage Error Error No 11 0 Set the mode during coordinate system setting Set the position information durin...

Page 454: ...he error The main number and sub number are hexadecimal numbers but are combinations of 0 to 9 A 1 12 Servo Drive Profile Object 603F hex Error code Range 0000 to FFFF hex Unit Default 0000 hex Attrib...

Page 455: ...Quick stop 3 Enable operation 4 to 6 Operation mode specific These bits are specific to the operation mode They are not used in Cyclic synchronous position mode 7 Fault reset Errors and warnings are r...

Page 456: ...This bit indicates that the limit function is in effect This bit becomes 1 when the limit function in the Servo Drive is activated The limit function has four limits the torque limit speed limit drive...

Page 457: ...otor may move suddenly Precautions for Correct Use Precautions for Correct Use Position control is forced into operation during deceleration and after the motor has stopped main power supply OFF The i...

Page 458: ...oordinates in the host controller and then execute the operation The motor may move suddenly Precautions for Correct Use Precautions for Correct Use Position control is forced into operation during de...

Page 459: ...file deceleration 6084 hex 2 Not supported 3 Immediate stop 605E hex Fault reaction option code Range 7 to 0 Unit Default 1 Attribute B Size 2 bytes INT16 Access RW PDO map Not possible Set value Dece...

Page 460: ...OFF The internal position command generation process is also forced to stop This object sets the operation mode The default value is 0 Not specified Set the operation mode from the master after the p...

Page 461: ...s also used for the Target reached flag in the EtherCAT communications status The unit however is always command units regardless of the setting of Position Setting Unit Selection 3520 hex This object...

Page 462: ...ernal encoder is in use and the amount of offset for the machine coordinate position 6071 hex Target torque Range 5 000 to 5 000 Unit 0 1 Default 0 Attribute A Size 2 bytes U16 Access RW PDO map Possi...

Page 463: ...turn has not been completed This object sets the maximum velocity in the Cyclic synchronous torque mode This object sets the target velocity for Profile position mode pp 607D hex Software position lim...

Page 464: ...3818 hex is enabled When this object is set to 0 the position command FIR filter is disabled The position command FIR filter can be used in Cyclic synchronous position mode csp Profile position mode p...

Page 465: ...g refer to A 1 6 Homing Mode Specifications on page A 15 6091 hex Gear ratio Sub index 00 hex Number of entries Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub in...

Page 466: ...bject is added to the Speed Feed forward Gain 3110 hex for use as the speed feed forward input value in controlling the speed In Cyclic synchronous position mode csp or Cyclic synchronous velocity mod...

Page 467: ...on Latch Function on page 7 39 Description of Settings 60B8 hex Touch probe function Latch function Range Unit Default 0 Attribute A Size 2 bytes U16 Access RW PDO map Possible Bit Code Description 0...

Page 468: ...RO PDO map Possible Bit Code Description 0 0 Latch 1 is disabled 1 Latch 1 is enabled 1 0 No value latched with Latch 1 1 There is a value latched with Latch 1 2 to 5 0 Reserved always set to 0 6 and...

Page 469: ...01 hex 1st supported homing method Range Unit Default 0008 hex Attribute Size 2 bytes U16 Access RO PDO map Not possible Sub index 02 hex 2nd supported homing method Range Unit Default 0012 hex Attrib...

Page 470: ...ol effort Range 1 073 741 823 to 1 073 741 823 Unit Command units s Default 0 Attribute Size 4 bytes INT32 Access RO PDO map Possible 60FC hex Position demand internal value Range 1 073 741 823 to 1 0...

Page 471: ...ernal Latch Input 3 EXT3 0 OFF 1 ON 20 Monitor Input 0 MON0 0 OFF 1 ON 21 Monitor Input 1 MON1 0 OFF 1 ON 22 Monitor Input 2 MON2 0 OFF 1 ON 23 Positive Force Limit Input PCL 0 OFF 1 ON 24 Negative Fo...

Page 472: ...isabled 60FE hex Digital outputs Sub index 00 hex Number of entries Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 01 hex Physical outputs Range 0000 0000...

Page 473: ...Mask BKIR 0 Set brake disable output 1 Set brake enable output 1 to 15 Reserved 1 0 16 Remote Output 1 Mask R OUT1 0 R OUT1 disable output 1 R OUT1 enable output 17 Remote Output 2 Mask R OUT2 0 R OU...

Page 474: ...O map Not possible Bit Supported mode Definition 0 pp Profile position mode 1 Supported 1 vl Velocity mode 0 Not supported 2 pv Profile velocity mode 0 Not supported 3 tq Profile torque mode 0 Not sup...

Page 475: ...efault setting Setting range Unit Size Data attribute PDO map Corresponding Pn number 1000 hex 00 hex Device Type 0002 0192 hex 4 bytes U32 RO Not possible 1001 hex 00 hex Error Register 0 1 byte U8 R...

Page 476: ...ive PDO Mapping 00 hex Number of objects in this PDO 03 hex 1 byte U8 D Not possible 01 hex 1st Output Object to be mapped 6040 0010 hex 4 bytes U32 D Not possible 02 hex 2nd Output Object to be mappe...

Page 477: ...bytes U32 RO Not possible 03 hex 3rd Output Object to be mapped 60FF 0020 hex 4 bytes U32 RO Not possible 04 hex 4th Output Object to be mapped 6071 0010 hex 4 bytes U32 RO Not possible 05 hex 5th Out...

Page 478: ...to be mapped 60E0 0010 hex 4 bytes U32 RO Not possible 09 hex 9th Output Object to be mapped 60E1 0010 hex 4 bytes U32 RO Not possible 1705 hex 262th receive PDO Mapping 00 hex Number of objects in t...

Page 479: ...ut Object to be mapped 0000 0000 hex 4 bytes U32 RW Not possible 0A hex 10th Input Object to be mapped 0000 0000 hex 4 bytes U32 RW Not possible 1B01 hex 258th transmit PDO Mapping 00 hex Number of ob...

Page 480: ...sible 08 hex 8th Input Object to be mapped 60BC 0020 hex 4 bytes U32 RO Not possible 09 hex 9th Input Object to be mapped 60FD 0020 hex 4 bytes U32 RO Not possible 1B03 hex 260th transmit PDO Mapping...

Page 481: ...ex 512th transmit PDO Mapping 00 hex Number of objects in this PDO 01 hex 1 byte U8 RO Not possible 01 hex 1st Input Object to be mapped 2002 0108 hex 4 bytes U32 RO Not possible 1C00 hex Sync Manager...

Page 482: ...hex Calc and Copy Time 0007 A120 hex ns 4 bytes U32 RO Not possible 09 hex Delay Time 0000 0000 hex ns 4 bytes U32 RO Not possible 20 hex Sync Error 0 1 bit BOOL RO TxPDO 1C33 hex Sync Manager 3 synch...

Page 483: ...Pn777 3000 hex 00 hex Movement Direction Setting 1 0 to 1 2 bytes INT16 C Not possible Pn000 3002 hex 00 hex Realtime Autotuning Mode Selection 1 0 to 6 2 bytes INT16 B Not possible Pn002 3003 hex 00...

Page 484: ...me in Speed Control 0 0 to 10000 0 1 ms 2 bytes INT16 B Not possible Pn121 3122 hex 00 hex Gain Switching Level in Speed Control 0 0 to 20000 2 bytes INT16 B Not possible Pn122 3123 hex 00 hex Gain Sw...

Page 485: ...ration Time 0 0 to 10000 ms max motor speed 2 bytes INT16 B Not possible Pn312 3313 hex 00 hex Soft Start Deceleration Time 0 0 to 10000 ms max motor speed 2 bytes INT16 B Not possible Pn313 3314 hex...

Page 486: ...0 to 30000 ms 2 bytes INT16 A Not possible 3434 hex 00 hex Zero Speed Detection 50 10 to 20000 mm s 2 bytes INT16 A Not possible Pn434 3435 hex 00 hex Speed Conformity Detection Range 50 10 to 20000...

Page 487: ...et 0 100 to 100 2 bytes INT16 B Not possible Pn608 3609 hex 00 hex Negative Direction Force Offset 0 100 to 100 2 bytes INT16 B Not possible Pn609 3610 hex 00 hex Function Expansion Setting 64 0 to 51...

Page 488: ...rce 0 0 to 32767 0 1 N 2 bytes INT16 R Not possible Pn905 3906 hex 00 hex Motor Rated Rms Current 0 0 to 32767 0 1 Arms 2 bytes INT16 R Not possible Pn906 3907 hex 00 hex Motor Peak Absolute Current 0...

Page 489: ...U16 B RxPDO 4104 hex 00 hex Coordinate System Setting Position 0 2147483648 to 2147483647 Command units 4 bytes INT32 B RxPDO 603F hex 00 hex Error code 0000 hex 0000 to FFFF hex 2 bytes U16 RO TxPDO...

Page 490: ...ible Pn744 607F hex 00 hex Max profile velocity 0 0 to 2147483647 Command units s 4 bytes U32 A RxPDO 6081 hex 00 hex Profile velocity 0 0 to 2147483647 Command units s 4 bytes U32 A RxPDO 6083 hex 00...

Page 491: ...pported homing method 00 hex Number of entries 07 hex 1 byte U8 RO Not possible 01 hex 1st supported homing method 8 2 bytes U16 RO Not possible 02 hex 2nd supported homing method 12 2 bytes U16 RO No...

Page 492: ...hex Digital inputs 0000 0000 hex 0000 0000 to FFFF FFFF hex 4 bytes U32 RO TxPDO 60FF hex 00 hex Target velocity 0 2147483647 to 2147483647 Command units s 4 bytes INT32 A RxPDO 6402 hex 00 hex Motor...

Page 493: ...Assumed cause Level Reference Maj Prt Min Obs Info 04A80000 hex Control Power Supply Undervoltage The voltage between the positive and negative terminals in the control power supply converter dropped...

Page 494: ...upply Undervoltage AC Cutoff Detected If the Undervoltage Error Selection 3508 hex is set to 1 a momentary power interruption occurred between L1 and L3 for longer than the value specified for the Mom...

Page 495: ...excess noise The self diagnosis function of the Servo Drive detected an error in the Servo Drive page A 113 080B0000 hex Safety Input Error One of the input photocouplers for safety inputs 1 and 2 tur...

Page 496: ...oder phase B connection page A 118 08160000 hex Phase Z Connection Error An error such as broken wiring was detected in the external encoder phase Z connection An error such as broken wiring was detec...

Page 497: ...g time while overloaded There is incorrect wiring of the motor line or a broken cable page A 126 34E30000 hex Regeneration Overload The regenerative energy exceeds the processing capacity of the Regen...

Page 498: ...ncoder wiring is incorrect page A 132 38450000 hex Interface Input Duplicate Allocation Error 1 There is a duplicate setting in the input signal IN1 IN2 IN3 and IN4 function allocations There is a dup...

Page 499: ...set value of the Overrun Limit Setting 3514 hex is too small page A 137 384F0000 hex Object Setting Error 1 The electronic gear ratio exceeded the allowable range The electronic gear ratio exceeded t...

Page 500: ...sition Estimation Error 3 Magnetic pole position restoration was not completed successfully The Magnetic Pole Detection Method 3920 hex object was set to 3 Magnetic pole position restoration method al...

Page 501: ...A mistake was made in using a command When bit 09 Remote of the Statusword 6041 hex was set to 1 remote and the Servo Drive was in operation enabled state Servo ON a command was received that changes...

Page 502: ...nication sync time exceeded the value specified for the Communications Control Setting Power to the host controller was interrupted during PDO communications An EtherCAT communications cable is discon...

Page 503: ...ower supply voltage for the external encoder Noise is entering on the external encoder connector cable The external encoder failed page A 154 08070000 hex External Encoder Communicati ons Warning The...

Page 504: ...sent to request turning ON the Servo when the motor was operating at 30 mm s or higher A latch operation was started when the Config operation was being performed A latch operation was started when t...

Page 505: ...starts A 3 2 Error Description Controller Error Descriptions Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Gives t...

Page 506: ...covery Error reset after resetting slave errors Log category System Effects User program Continues Operation Power drive circuit is OFF for relevant slave Indicators EtherNet IP NET RUN EtherNet IP NE...

Page 507: ...n the control power supply converter exceeded the specified value Input the correct voltage Input the correct voltage The voltage was suddenly increased by the phase advance capacitor or the uninterru...

Page 508: ...ed variables Variable Data type Name None Cause and correction Assumed cause Remedy Prevention Insufficient power supply capacity Increase the power supply capacity None The electromagnetic contactor...

Page 509: ...System defined variables Variable Data type Name None Cause and correction Assumed cause Remedy Prevention Insufficient power supply capacity Increase the power supply capacity None The electromagneti...

Page 510: ...line has failed replace the motor Confirm that the U V and W motor lines are connected correctly The Servo Drive failed Disconnect the motor lines and turn ON the Servo If this error occurs immediate...

Page 511: ...W motor line and the ground line has failed replace the motor Confirm that the U V and W motor lines are connected correctly The Servo Drive failed Disconnect the motor lines and turn ON the Servo If...

Page 512: ...ormation None Precautions Remarks 18 is displayed on the Servo Drive front panel and F118 is given as the AlarmCode 4001 hex Event name Node Address Setting Error Event code 04B10000 hex Meaning The n...

Page 513: ...ive If the error persists even after taking the countermeasures above replace the Servo Drive None Attached information None Precautions Remarks 99 is displayed on the Servo Drive front panel and F 99...

Page 514: ...layed on the Servo Drive front panel and F050 is given as the AlarmCode 4001 hex Event name External Encoder Communications Data Error Event code 080D0000 hex Meaning There was a communications error...

Page 515: ...g to the external encoder specifications Attached information None Precautions Remarks 51 is displayed on the Servo Drive front panel and F051 is given as the AlarmCode 4001 hex Event name External En...

Page 516: ...ecifications Attached information None Precautions Remarks 51 is displayed on the Servo Drive front panel and F251 is given as the AlarmCode 4001 hex Event name External Encoder Status Error 3 Event c...

Page 517: ...ng to the external encoder specifications Attached information None Precautions Remarks 51 is displayed on the Servo Drive front panel and F451 is given as the AlarmCode 4001 hex Event name External E...

Page 518: ...ring diagram Attached information None Precautions Remarks 55 is displayed on the Servo Drive front panel and F055 is given as the AlarmCode 4001 hex Event name Phase B Connection Error Event code 081...

Page 519: ...phase Z of the external encoder correctly as shown in the wiring diagram Attached information None Precautions Remarks 55 is displayed on the Servo Drive front panel and F255 is given as the AlarmCod...

Page 520: ...o Drive None Attached information None Precautions Remarks 36 is displayed on the Servo Drive front panel and F136 is given as the AlarmCode 4001 hex Event name Object Error Event code 14AA0000 hex Me...

Page 521: ...mory failure Replace the Servo Drive None Attached information None Precautions Remarks 37 is displayed on the Servo Drive front panel and F037 is given as the AlarmCode 4001 hex Event name Object Cor...

Page 522: ...he Servo Drive front panel and F237 is given as the AlarmCode 4001 hex Event name Motor Setting Error Event code 28010000 hex Meaning Settings associated with the motor and external encoder are missin...

Page 523: ...LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Remedy Prevention The rated maximum current of the motor exceeds the maximum motor capacity allowed f...

Page 524: ...correct Use a Servo Drive that matches the Motor Rated Rms Current The percentage of the Motor Coil Unit Mass to the Motor Rated Force is too high Check the Motor Coil Unit Mass 3904 hex Motor Rated F...

Page 525: ...rs EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Remedy Prevention The ambient temperature of th...

Page 526: ...e overloaded Take the following actions according to the situation Increase the capacities of the Servo Drive and the motor Increase the setting of the acceleration deceleration time and lighten the l...

Page 527: ...ntion The load mass is too large Or the motor speed is too high to absorb the regenerative energy within the specified deceleration time Check the operation pattern velocity monitor Check the Regenera...

Page 528: ...he position command input and that the output force is not saturated on the force monitor If there is a problem perform the following Adjust the gain Maximize the force limit object settings being use...

Page 529: ...ncrease the setting of the Excessive Velocity Error Setting 3602 hex to an acceptable range If there is no need to monitor the velocity error disable detection of Excessive Velocity Error 3602 hex 0 A...

Page 530: ...is incorrect Wire the encoder correctly as shown in the wiring diagram Wire the encoder correctly as shown in the wiring diagram Attached information None Precautions Remarks 26 is displayed on the S...

Page 531: ...7 is given as the AlarmCode 4001 hex Event name Error Counter Overflow 1 Event code 38430000 hex Meaning When an absolute external encoder was in use the value of Position actual internal value extern...

Page 532: ...wiring diagram Wire the external encoder correctly as shown in the wiring diagram Attached information None Precautions Remarks 29 is displayed on the Servo Drive front panel and F229 is given as the...

Page 533: ...l Minor fault Recovery Error reset after cycling slave power Log category System Effects User program Continues Operation Power drive circuit is OFF for relevant slave Indicators EtherNet IP NET RUN E...

Page 534: ...Power drive circuit is OFF for relevant slave Indicators EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed...

Page 535: ...program Continues Operation Power drive circuit is OFF for relevant slave Indicators EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None...

Page 536: ...are defined Attached information None Precautions Remarks 33 is displayed on the Servo Drive front panel and F433 is given as the AlarmCode 4001 hex Event name Interface Output Function Number Error...

Page 537: ...es Assign the same latch input to the same pin in all Control Modes Attached information None Precautions Remarks 33 is displayed on the Servo Drive front panel and F833 is given as the AlarmCode 4001...

Page 538: ...n 1 1 000 and 1 000 Attached information None Precautions Remarks 93 is displayed on the Servo Drive front panel and F093 is given as the AlarmCode 4001 hex Event name Object Setting Error 2 Event cod...

Page 539: ...System Effects User program Continues Operation Power drive circuit is OFF for relevant slave Indicators EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable...

Page 540: ...set to 250 or 500 s Check the following settings for any of the causes and correct any problems Communications period setting Electronic gear object Objects that set the Control Mode Control Mode Num...

Page 541: ...cations of the external encoder and correct the values set for the External Encoder Resolution 3901 hex and External Feedback Pulse Direction Switching 3326 hex Set the External Encoder Resolution 390...

Page 542: ...EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Remedy Prevention The value set for the Magnetic Pole Position Estimation Time Limit for...

Page 543: ...c pole position restoration method although the Magnetic Pole Position Estimation had never been executed Set the Magnetic Pole Detection Method 3920 hex to 2 Magnetic pole position estimation method...

Page 544: ...control signal power supply 12 to 24 VDC turned ON too slowly The goal is to detect the error A preventative measure is not required Attached information None Precautions Remarks 38 is displayed on th...

Page 545: ...wer drive circuit is OFF for relevant slave Indicators EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed c...

Page 546: ...mmunications state from Operational to another state Init Pre operational or Safe operational state Check the command specifications of the host controller and correct the command Check the command sp...

Page 547: ...erformed Do not establish EtherCAT communications while an FFT or a trial run is being performed Do not turn ON the Servo enable operation while an FFT or a trial run is being performed Attached infor...

Page 548: ...iving data during the communication sync time exceeded the value specified for the Communications Control Setting Source EtherCAT Master Function Module Source details Slave Detection timing Continuou...

Page 549: ...nformation None Precautions Remarks 83 is displayed on the Servo Drive front panel and F483 is given as the AlarmCode 4001 hex Event name Sync Manager WDT Error Event code 84B50000 hex Meaning PDO com...

Page 550: ...ched information None Precautions Remarks 88 is displayed on the Servo Drive front panel and F188 is given as the AlarmCode 4001 hex Event name Slave Unit Verification Error Event code 84B70000 hex Me...

Page 551: ...es A command that changes the communications state to an unsupported state was received Check the command specifications for communications state transitions in the host controller and correct host co...

Page 552: ...d because this is a safety measure Attached information None Precautions Remarks 27 is displayed on the Servo Drive front panel and F727 is given as the AlarmCode 4001 hex Event name Fan Warning Event...

Page 553: ...t the surrounding environment so that the external encoder does not overheat Linear Motor failed Replace the Linear Motor None Attached information None Precautions Remarks A5 is displayed on the fron...

Page 554: ...ailed If none of the above causes applies replace the external encoder None Attached information None Precautions Remarks A8 is displayed on the front panel of the Servo Drive Event name External Enco...

Page 555: ...otor Error attributes Level Observation Recovery Log category System Effects User program Continues Operation Not affected Indicators EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT Syste...

Page 556: ...in advance and implement countermeasures as required Or set the Regeneration Resistor Selection 3016 hex to 2 This Regeneration Resistor cannot be used for continuous regenerative braking This Regene...

Page 557: ...ervo was ON Make sure that the settings meet the object s operation conditions Check the drive prohibition input and operation command and take actions accordingly Make sure that the settings meet the...

Page 558: ...therNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Remedy Prevention The EtherCAT communications cable...

Page 559: ...used objects Distributed Clock DC Method to synchronize slaves and maintain a global time base Device Profile Collection of device dependent information and functionality providing consistency between...

Page 560: ...Appendicies A 160 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type...

Page 561: ...Index 1 G5 Series AC Servo Drives With Built in EtherCAT Communications Linear Motor Type I Index...

Page 562: ...ex A 26 Restore Default Parameters 1011 hex A 27 Store Parameters 1010 hex A 26 Completion 9 32 Conformance to EC Directives 1 22 connectors model list 2 6 Connector terminal Block 2 6 Connector termi...

Page 563: ...A 98 A 134 38480000 hex A 98 A 135 38490000 hex A 99 A 136 384A0000 hex A 99 A 136 384B0000 hex A 99 A 137 384C0000 hex A 99 A 137 384F0000 hex A 99 A 138 38500000 hex A 99 A 138 38510000 hex A 99 A...

Page 564: ...10 Speed Loop Gain 1 3101 hex 9 8 Speed Loop Gain 2 3106 hex 9 9 Speed Loop Integral Time Constant 1 3102 hex 9 8 Speed Loop Integral Time Constant 2 3107 hex 9 9 Switching Mode in Position Control 31...

Page 565: ...n 3929 hex 9 64 Motor Peak Absolute Current 3907 hex 9 57 Motor Rated Force 3905Hex 9 56 Motor Rated Rms Current 3906 hex 9 57 Motor Resistance 3909 hex 9 57 Motor Speed Detection Output TGON 3 13 Mou...

Page 566: ...ex A 64 Profile deceleration 6084 hex A 64 Profile velocity 6081 hex A 63 Shutdown option code 605B hex A 57 Software position limit 607D hex A 63 Statusword 6041 hex A 55 Supported drive modes 6502 h...

Page 567: ...Filter Attenuation Term 3916 hex 9 60 Two stage Force Filter Time Constant 3915 hex 9 59 V vibration suppression settings Adaptive Filter Selection 3200 hex 9 17 Damping Filter 1 Setting 3215 hex 9 20...

Page 568: ......

Page 569: ......

Page 570: ...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 com Tokyo J...

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