Omron R88D-KN01H-ECT-L User Manual Download

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6 Basic Control Functions

6 - 4

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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

-ECT-L-series Servo Drive.

Note 1

Numbers within parentheses are sub-index numbers.

Numbers within boxes are hexadecimal index numbers.

Profile position mode (pp) and Homing mode (hm) are also included in this block diagram.

Read the word “torque” as “force.”

6-1-2

Block Diagram for Position Control Mode

3110

3111

6091(01)

6091(02)

FIR

3818

3222

3100

3105

3214

3216

3218

3215

3217

3219

3220 3221

3213

3607

3608

3609

3623

3624

3114

3115

3116

3117

3118

3119

3605

3606

3104

3109

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

3103

3108

3610

3323

3326

3327

3901

3910

3912

3913

3914

3920

3902

3904

3905

3906

3907

3908

3909

3910

3915

3916

6074 or 6077 hex

Proportional

Integral

Motor Specifications

Rated Current

Peak Current

Phase Inductance

Phase Resistance

Overspeed level

Pole Pitch

Mass

Rated Force

Two-stage Time

Two-stage Attenuation

Type

Reverse

Phase-Z Disabled

Encoder

Specifications

Resolution

Overspeed level

Magnetic Pole Detection

Objects Related

to Magnetic

Pole Position

Estimation

3922 to 3928

Filter
selection

Frequency Filter

Current Control

Current Response

External
Encoder

Motor

Main Power

Supply

Speed

Feed-forward

Gain

Filter

Gear Ratio

Forward Conversion

Numerator

Denominator

Smoothing

Filter

First-order Lag

Position

Control

Damping Control

Speed Detection

Friction

Compensation

Offset Value

Positive

Negative

Disturbance

Observer

Gain

Filter

Gain Switching

Setting 2

Mode

Delay Time

Level

Hysteresis

Switching Time

Setting 3

Ratio

Force Filter

Force limit

Selection

Positive

Negative

Force

Feed-forward

Gain

Filter

Motor Velocity

Actual Value

[mm/s]

Following Error

Actual Internal Value

[External encoder pulse]

Motor Control Effort

[mm/s]

6063 hex

Position Actual Internal Value

[External encoder pulse]

Notch Filter

Depth

Width

Frequency

Adaptive Filter Selection

Speed Control

Proportional Integral

Inertia Ratio

Generate
Position
Command

607A hex

Target Position

[command unit]

60B0 hex

Position Offset
[command unit]

606C hex

Velocity Actual Value

[command unit/s]

60BA or 60BC hex

Touch Probe Pos 1/2 Pos Value

[command unit]

6064 hex

Position Actual Value

[command unit]

60FC hex Position

Demand Internal Value

[encoder pulses]

60F4 hex

Following Error Actual Value

[command unit]

Position Demand Value

After Filtering

[command unit]

Velocity Demand Value

After Filtering

[command unit/s]

6062 hex

Position Demand Value

[command unit]

Velocity

Demand Value

[command unit/s]

Motor Velocity

Demand Value

[mm/s]

Motor Velocity Demand

Value After Filtering

[mm/s]

Electronic Gear

Reverse Conversion

60B2 hex

Torque Offset

[0.1%]

Electronic Gear

Reverse Conversion

Speed feed-forward

unit conversion

60FA hex

Control Effort

[command unit/s]

60B1 hex

Velocity Offset

[command unit/s]

Speed Detection Filter

Function Expansion Setting

Speed Feedback
Filter Time Constant 1

Speed Feedback
Filter Time Constant 2

Input Settings

Torque Demand or

Torque Actual Value

[0.1%]

Summary of Contents for R88D-KN01H-ECT-L

Page 1: ...AC SERVOMOTORS SERVO DRIVES G5 series WITH BUILT IN EtherCAT COMMUNICATIONS Linear Motor Type User s Manual I577 E1 04 R88L EC Linear Motors R88D KN ECT L AC Servo Drives...

Page 2: ...ssumed with 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 subjec...

Page 3: ...o have electrical knowledge certified electricians or individuals who have equivalent knowledge and also are qualified for one of the following Introducing FA equipment Designing FA systems Managing F...

Page 4: ...e is connected to the Machine Automation Controller NJ series Model NJ301 NJ501 or Position Control Unit Model CJ1W NC281 NC481 NC881 NCF81 NC482 NC882 NCF82 Section 6 Basic Control Functions This sec...

Page 5: ...le 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...

Page 6: ...gnet Track the magnets 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 Sli...

Page 7: ...0 2 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 Appendices I In...

Page 8: ...rvo Drive Part Names 1 6 1 3 2 Servo Drive Functions 1 7 1 4 System Block Diagram 1 8 1 5 Unit Versions 1 12 1 5 1 Confirmation Method 1 12 1 5 2 Unit Versions 1 12 Section 2 Models and External Dimen...

Page 9: ...cifications of Ironless Linear Motors 3 36 3 3 6 Performance Specifications of Ironless Linear Motors 3 36 3 3 7 Ironless Linear Motor Speed Force Characteristics 3 39 3 3 8 Temperature Sensor Specifi...

Page 10: ...zation with Distributed Clocks 5 13 5 7 Emergency Messages 5 14 5 8 Sysmac Device Features 5 15 Section 6 Basic Control Functions 6 1 Cyclic Synchronous Position Mode 6 2 6 1 1 Related Objects 6 3 6 1...

Page 11: ...7 9 2 Gain Switching Based on the Control Mode 7 28 7 9 3 Diagrams of Gain Switching Setting 7 31 7 9 4 Position Gain Switching Time 3119 hex 7 36 7 10 Gain Switching 3 Function 7 37 7 10 1 Operating...

Page 12: ...ment Methods 11 5 11 2 3 Gain Adjustment Procedure 11 6 11 3 Realtime Autotuning 11 7 11 3 1 Operating Conditions 11 8 11 3 2 Objects Requiring Settings 11 8 11 3 3 Setting Realtime Autotuning 11 9 11...

Page 13: ...hooting with the AL Status Code 12 27 12 4 3 Troubleshooting Using the Operation State 12 28 12 5 Periodic Maintenance 12 35 12 5 1 Linear Slider Life Expectancy 12 35 12 5 2 Servo Drive Life Expectan...

Page 14: ...to the purchase price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omro...

Page 15: ...ll not be responsible for the user s programming of a programmable Product or any consequence thereof Data presented in Omron Company websites catalogs and other materials is provided as a guide for t...

Page 16: ...specific instruction is indicated using an illustration inside and text The symbol shown to the left indicates disassembly prohibited This symbol indicates a compulsory item The specific instruction i...

Page 17: ...power is being supplied Doing so may result in electric shock Installation operation and maintenance or inspection by unauthorized personnel is prohibited Electric shock or injury may result Before ca...

Page 18: ...ation Resistor on non flammable materials such as metals Fire may result When constructing a system that includes safety functions be sure you understand the relevant safety standards and all related...

Page 19: ...traction force Malfunction or failure may result Do not hit the Motor Coil Unit against the stopper Design the configuration so that the table mounted on the Motor Coil Unit hits against the stopper E...

Page 20: ...ing or storing the magnet track pack the product in the same condition as delivered or cover the magnetic side by 30 mm or more thick material such as high density plastics Be sure to provide more tha...

Page 21: ...ure may result Use non magnetic mounting screws Note also that the depth of any mounted screw is less than the effective thread depth Equipment damage may result Be sure to wire the motor coil unit ca...

Page 22: ...opriate measures to ensure that the specified power with the rated voltage is supplied Be particularly careful in locations where the power supply is unstable An incorrect power supply may result in f...

Page 23: ...If the magnetic body is near the Linear Motor the cogging will occur and affect the performance Malfunction or equipment damage may result If an error occurs remove the cause of the error and ensure s...

Page 24: ...acing the Servo Drive transfer to the new Servo Drive all data needed to resume operation before restarting operation Equipment damage may result Turn OFF the power supply when not using the Servomoto...

Page 25: ...ed on this label Dispose of the Servo Drive as industrial waste When disposing of the battery insulate it using tape and dispose of it by following the applicable ordinance of your local government Lo...

Page 26: ...Drive which is an EC compliant product it is the user s responsibility to check and ensure the compliance of the equipment and the entire system with the applicable EC Directives Note To conform to EM...

Page 27: ...e Korean Radio Regulations KC The G5 series Servomotors and Linear Motors are exempt from the Korean Radio Regulations KC Servo Drives conform to the SEMI F47 standard for momentary power interruption...

Page 28: ...ered 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 GmbH Ge...

Page 29: ...llowing items Is this the model you ordered Was there any damage sustained during shipment Servo Drive Location of Servo Drive Rating Label Servo Drive Rating Label VOLTAGE 100 120V 1 3 0 120V INPUT O...

Page 30: ...h as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product 1 Provide a safety connector separately to use the safety function Servo Drive Accessories Specificati...

Page 31: ...are not included Provide them separately If any item is missing or a problem is found such as product damage contact the OMRON dealer or sales office where you purchased your product For the model and...

Page 32: ...e catalog number found in the bottom right hand corner of the front and back covers Example Revision code Revision date Revised content 01 October 2011 Original production 02 November 2012 Description...

Page 33: ...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 1 6 1 3 1 Servo Drive Part Names 1 6 1 3 2...

Page 34: ...MRON 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 Contr...

Page 35: ...inside a device that consists of data parameters and methods An object dictionary is a data structure that describes the data type objects communications objects and application objects All objects a...

Page 36: ...0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 DC24V 7mA COM MACH No AD042 RUN ERC ERH B1 A1 x101 x100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 EtherCAT communications NJ series CPU Unit with built in EtherCAT p...

Page 37: ...oduct Serial Communications Cable R88A CRKE010SR 90 phase difference output cable supplied by the user External Encoder Cable Power cable supplied by the user Power Cable Iron core family External enc...

Page 38: ...7 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 Resistor c...

Page 39: ...Indicators on page 5 3 Used 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 suc...

Page 40: ...L1 FUSE FUSE FUSE CN A 15 V G1 5 V 2 5 V 1 5 V E5V G2 3 3 V FG CN2 CN4 CN5 CN7 B1 B2 B3 CN B U V W MPU ASIC Position speed and force calculation control area PWM control CN8 USB CN1 ECAT IN ECAT OUT G...

Page 41: ...FUSE FUSE CN A GR 12 V Axial flow fan Internal Regeneration Resistor Overcurrent detection Current detection Regeneration control Relay drive Gate drive SW power supply main circuit control Internal c...

Page 42: ...W CN8 DC DC CN2 CN1 ECAT IN ECAT OUT 12 V Axial flow fan Internal Regeneration Resistor USB EtherCAT communications connector EtherCAT communications connector Not used External encoder Analog monitor...

Page 43: ...DC DC CN2 CN1 ECAT IN ECAT OUT 12 V Axial flow fan Internal Regeneration Resistor SW power supply main circuit control Internal control power supply MPU ASIC Position speed and force calculation cont...

Page 44: ...is given on the product s nameplate as shown below 1 5 1 Confirmation Method 1 5 2 Unit Versions Unit version Upgraded content Supported CX Drive versions Ver 1 0 New release Ver 2 70 or higher Ver 1...

Page 45: ...Servo Drive 2 4 2 2 2 Linear Motor 2 5 2 3 Model Tables 2 7 2 3 1 Servo Drive Model Table 2 7 2 3 2 Linear Motor Model Table 2 7 2 3 3 Servo Drive and Linear Motor Combination Tables 2 8 2 3 4 Cable a...

Page 46: ...0 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 CX Drive WS02 DRVC1 Support Software Support Software NJ series CPU Unit with EtherCAT Port Controller Automation Software Sysmac Studio Support Software CJ ser...

Page 47: ...oduct Serial Communications Cable R88A CRKE010SR 90 phase difference output cable supplied by the user External Encoder Cable Motor power cable Supplied by the user Motor power cable External Encoder...

Page 48: ...Drives and Linear Motors The Servo Drive model number tells the Servo Drive type power supply voltage etc 2 2 1 Servo Drive 100 W 200 W 400 W 600 W 750 W 1 kW 1 5 kW 2 kW 3 kW 01 02 04 06 08 10 15 20...

Page 49: ...Uni z Magnet Track 2 2 2 Linear Motor Iron core family R88L EC FW 0303 ANPC 03 30 mm 06 60 mm 11 110 mm FW Iron core family Motor Coil Unit 03 06 09 12 15 A Ver A C Compact type NP Not provided Coil M...

Page 50: ...09 A Ver A NP Not provided S Standard type Coil Model Version Connector Type G5 series Linear Motor Component Type Effective Magnet Width 3 coil 6 coil 9 coil R88L EC GM 03090 A 03 30 mm 05 50 mm 07...

Page 51: ...88D 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 ECT L 1 kW R88D KN10H ECT L 1 5 kW R88D KN15H...

Page 52: ...L EC GW 0503 ANPS 58 240 R88L EC GM 05126 A R88L EC GM 05168 A R88L EC GM 05210 A R88L EC GM 05546 A R88L EC GW 0506 ANPS 117 480 R88L EC GW 0509 ANPS 175 720 R88L EC GW 0703 ANPS 117 552 R88L EC GM 0...

Page 53: ...ve model Maximum speed m s R88L EC GW 0303 ANPC 100 R88D KN01L ECT L 8 200 R88D KN02H ECT L 16 R88L EC GW 0306 ANPC 100 R88D KN04L ECT L 8 200 R88D KN08H ECT L 16 R88L EC GW 0309 ANPC 200 R88D KN10H E...

Page 54: ...Model 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 x 4P Kuramo Electric Co...

Page 55: ...T L Single phase input 3G3AX DL2004 R88D KN02H ECT L 3G3AX DL2007 R88D KN04L ECT L 3G3AX DL2015 R88D KN01H ECT L Single phase input 3G3AX DL2002 3 phase input 3G3AX AL2025 R88D KN02H ECT L Single phas...

Page 56: ...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 z Wall Mounting Exter...

Page 57: ...ommunications 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions z Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 40 7 180 170 150 5 2 R26 7 5 2...

Page 58: ...ensions z 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 13...

Page 59: ...rnal dimensions Mounting dimensions z 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 R88D...

Page 60: ...sions z Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Single phase 3 phase 200 VAC R88D KN10H ECT L KN15H ECT L 1 to 1 5 kW 86 150 172 4 2 M4 140 150 70 8 5 86 7...

Page 61: ...xternal dimensions Mounting dimensions z 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 9...

Page 62: ...nt 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 5 2 5 2 5 2 50 17 5 168 188 198 70...

Page 63: ...dimensions z Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 3 phase 400 VAC R88D KN30F ECT L 3 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 24...

Page 64: ...2 The weight of a 450 mm cable is included 2 4 2 Linear Motor Dimensions Iron core Motors Model L1 mm Number of holes N Mass 2 kg R88L EC FW 0303 79 0 15 0 35 4 0 72 R88L EC FW 0306 127 0 15 0 35 6 1...

Page 65: ...s N Mass kg R88L EC FM 03096 A 96 48 4 Approx 0 22 R88L EC FM 03144 A 144 96 6 Approx 0 32 R88L EC FM 03384 A 384 336 16 Approx 0 85 Model L1 mm Number of holes N Mass 2 kg R88L EC FW 0606 127 0 15 0...

Page 66: ...holes N Mass kg R88L EC FM 06192 A 192 144 8 Approx 0 77 R88L EC FM 06288 A 288 240 12 Approx 1 15 Model L1 mm Number of holes N Mass 2 kg R88L EC FW 1112 223 0 15 0 35 15 4 89 R88L EC FW 1115 271 0...

Page 67: ...ting Dimensions 2 2 4 2 Linear Motor Dimensions Magnet Track 3 Use M5 low head allen head bolts Model L2 mm L3 mm Number of holes N Mass kg R88L EC FM 11192 A 192 144 8 Approx 2 12 R88L EC FM 11288 A...

Page 68: ...ber of holes N Mass 1 kg R88L EC GW 0303 78 60 4 0 2 R88L EC GW 0306 138 120 7 0 28 R88L EC GW 0309 198 180 10 0 36 Model L3 mm L4 mm Number of holes N Mass kg R88L EC GM 03090 A 90 60 3 Approx 0 46 R...

Page 69: ...m Number of holes N Mass 1 kg R88L EC GW 0503 106 84 4 0 48 R88L EC GW 0506 190 168 7 0 71 R88L EC GW 0509 274 252 10 0 94 Model L3 mm L4 mm Number of holes N Mass kg R88L EC GM 05126 A 126 84 3 Appro...

Page 70: ...N Mass 1 kg R88L EC GW 0703 134 114 4 0 9 R88L EC GW 0706 248 228 7 1 32 R88L EC GW 0709 362 342 10 1 74 Model L3 mm L4 mm Number of holes N Mass kg R88L EC GM 07114 A 114 57 2 Approx 2 88 R88L EC GM...

Page 71: ...2 4 3 External Regeneration Resistor Dimensions 2 4 3 External Regeneration Resistor Dimensions R88A RR08050S RR080100S R88A RR22047S1 R88A RR50020S 4 2 6 500 3 0 75 mm 2 1 5 0 3 mm 2 104 122 130 43...

Page 72: ...2 28 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications 2 4 4 Reactor Dimensions 3G3AX DL2002 3G3AX DL2004 66 56 72 90 4 5 2 8 2 M4 98 85 Ground terminal M4 66 56 72 90 4 5 2...

Page 73: ...ar Motors Servo Drives With Built in EtherCAT Communications 2 4 External and Mounting Dimensions 2 2 4 4 Reactor Dimensions 3G3AX DL2007 3G3AX DL2015 66 56 72 90 4 5 2 8 2 M4 98 105 Ground terminal M...

Page 74: ...5 AL4025 AL4055 AL2055 Model Dimensions mm A C Y K 3G3AX AL2025 120 82 67 4 3G3AX AL2055 120 98 75 4 3G3AX AL4025 120 82 67 4 3G3AX AL4055 120 98 75 5 86 71 80 100 4 6 9 2 M4 116 105 Ground terminal M...

Page 75: ...C D H H1 X Y K W 3G3AX AL2110 150 103 70 170 108 60 80 5 3 12 3G3AX AL2220 180 113 75 190 140 90 90 8 4 16 5 3G3AX AL4110 150 116 75 170 106 60 98 5 0 12 5 3G3AX AL4220 180 103 75 190 140 100 80 5 3...

Page 76: ...bracket for top side Mounting bracket for bottom side 2 M4 countersunk 2 C 5 17 9 5 30 0 2 15 10 R 2 20 40 5 2 R2 2 5 R1 max 2 5 2 M4 countersunk 2 C 5 17 9 5 30 0 2 15 10 R2 2 R1 20 40 5 2 R2 2 5 R1...

Page 77: ...ifications CN8 3 22 3 2 Overload Characteristics Electronic Thermal Function 3 25 3 3 Linear Motor Specifications 3 28 3 3 1 General Specifications of Iron core Linear Motors 3 28 3 3 2 Performance Sp...

Page 78: ...standard 1 This Servo Drive is third party certified in combination with rotary motor models It is the user s responsibility to perform final checks on the compliance of the entire system 3 1 1 Gener...

Page 79: ...5 1 Arms 7 5 Arms 13 8 Arms 200 VAC Input Models Item R88D KN01H ECT L R88D KN02H ECT L R88D KN04H ECT L Input power supply Main circuit Power supply capacity 0 5 kVA 0 5 kVA 0 9 kVA Power supply vol...

Page 80: ...er supply voltage 24 VDC 20 4 to 27 6 VAC Heat value 1 7 W 7 W 7 W Mass Approx 1 9 kg Approx 1 9 kg Approx 1 9 kg Maximum motor capacity Rated current of motor 1 5 Arms 2 9 Arms 4 7 Arms Maximum curre...

Page 81: ...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 SDO r...

Page 82: ...input pins 3 1 5 Control I O Specifications CN1 Control I O Signal Connections and External Signal Processing ALM ALMCOM 3 4 OUTM1 OUTM1COM OUTM2COM 1 2 OUTM2 25 26 12 IN7 11 IN6 10 IN5 9 IN4 8 IN3 7...

Page 83: ...ternal 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 Driv...

Page 84: ...utput 14 16 18 20 22 24 26 GND OUTM2COM General purpose Output 2 Common Signal Ground 1 3 5 7 9 11 13 IN2 POT IN1 STOP OUTM1 BKIR ALM IN8 MON0 IN4 DEC IN6 EXT2 General purpose Input 2 Positive Drive P...

Page 85: ...reaction option code 605E hex is set to 1 Dynamic brake operation This input is allocated to the pin 5 with the default setting Precautions for Safe Use Enable the Immediate Stop Input STOP at the sa...

Page 86: ...r No 38 0 will occur when there is a drive prohibition input With the default settings the Positive Drive Prohibition Input POT is allocated to pin 7 and the Negative Drive Prohibition Input NOT is al...

Page 87: ...ernal latch inputs can be allocated to pins 10 to 12 only z Monitor Inputs MON0 MON1 and MON2 These are the general purpose monitor inputs The general purpose monitor inputs do not affect operation an...

Page 88: ...accepted as soon as doing so is enabled 5 The Brake Interlock Output BKIR turns ON either when a release request is received via servo controls or when a release request is received via EtherCAT commu...

Page 89: ...READY This output signal indicates the Servo Drive is ready to supply power to the Linear Motor It turns ON when no error is detected after the main circuit power supply turns ON With the default sett...

Page 90: ...s ON when the output force reaches the limit set in the Positive torque limit value 60E0 hex or the Negative torque limit value 60E1 hex With the default settings the output is not allocated z Zero Sp...

Page 91: ...e Warning Output 1 WARN1 turns ON when the warning set by the Warning Output Selection 1 3440 hex is detected The Warning Output 2 WARN2 turns ON when the warning set by the Warning Output Selection 2...

Page 92: ...e to at least 2 048 pulses 2 OMRON checked the connection of these products in serial communications by using each representative model Although the connection is confirmed it does not mean that the f...

Page 93: ...ternal 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...

Page 94: ...coder Input Signals and Processing of External Signals 5 0 V 5 250 mA max EXZ EXZ 9 10 EXA EXA GND E5V 5 V E0V 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 k 20...

Page 95: ...Example 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 5V 0V PA PA PB PB PC PC FG EXB 7 8 FG FG EXB 5 0 V 5 250 mA max EXA EXA GND E5V 5 V E0V 6...

Page 96: ...2 5V FG FG EXS EXS GND E5V 5 V E0V 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 5V FG FG E...

Page 97: ...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 se...

Page 98: ...s USB2 0 The Mini B type USB cable can be used 3 1 13 USB Connector Specifications CN7 Pin No Symbol Name Function and interface 1 VBUS USB signal terminal Use this function for computer communication...

Page 99: ...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 Safety input 2 6 SF2 7...

Page 100: ...an output signal always insert a diode as shown in the above figure EDM Output Circuit X 7 EDM 8 EDM Di 10 External power supply 12 to 24 VDC Maximum service voltage 30 VDC or less Maximum output curr...

Page 101: ...to drop sufficiently for both the Motor Coil Unit and the Magnet Track before turning ON the power again If the error reset is repeated at short intervals the motor may burn out The following graphs s...

Page 102: ...n Level Setting is 115 115 100 150 200 250 300 350 400 450 500 0 1 1 10 100 1 000 3929 hex 0 3929 hex 1 3929 hex 2 3929 hex 3 3929 hex 4 3929 hex 5 3929 hex 6 3929 hex 7 3929 hex 5 6 Time s Force 0 1...

Page 103: ...1 Overload level Force command 2 Precautions for Correct Use Precautions for Correct Use The overload protection function is not designed to provide protection against errors caused by heat generated...

Page 104: ...ever perform dielectric strength tests on the Linear Motor Failure to follow this guideline may result in damaging the internal elements 3 3 1 General Specifications of Iron core Linear Motors Item De...

Page 105: ...6 Motor Coil Unit R88L EC FW ANPC 0303 0306 Servo Drives R88D ECT L KN01L KN02H KN06F KN02L KN04H KN10F Applicable Servo Drives input voltage 100 VAC 200 VAC 400 VAC 100 VAC 200 VAC 400 VAC Maximum sp...

Page 106: ...200 VAC 400 VAC 200 VAC 400 VAC Maximum speed 100 VAC m s 2 Maximum speed 200 VAC m s 4 4 4 Maximum speed 400 VAC m s 8 8 8 Continuous force 1 N 160 240 320 Momentary maximum force 2 N 400 600 800 Co...

Page 107: ...D ECT L KN15H KN30F KN15H KN30F Applicable Servo Drives input voltage 200 VAC 400 VAC 200 VAC 400 VAC Maximum speed 100 VAC m s Maximum speed 200 VAC m s 2 2 Maximum speed 400 VAC m s 4 4 Continuous f...

Page 108: ...re Linear Motor Speed Force Characteristics 100 80 60 40 20 0 0 2 4 100 VAC Momentary operation range Continuous operation range N m s 0 2 4 6 8 200 VAC N m s 100 80 60 40 20 0 Momentary operation ran...

Page 109: ...m s 0 200 400 200 VAC N Momentary operation range Continuous operation range 0 2 4 m s 0 200 600 400 100 VAC N Momentary operation range Continuous operation range 0 4 8 m s 0 200 600 400 200 VAC N M...

Page 110: ...800 200 VAC N Momentary operation range Continuous operation range 0 2 4 6 m s 0 400 1 200 1 600 800 400 VAC N Momentary operation range Continuous operation range 0 1 2 m s 0 500 1 500 2 000 1 000 10...

Page 111: ...lue and the temperature z PTC Note 1 The resistance value in a low temperature range is approximately 200 2 The resistance value increases suddenly when the temperature is at over 100 C and reaches ap...

Page 112: ...Y and Z directions Impact resistance Acceleration of 98 m s2 max 3 times each in X Y and Z directions Insulation resistance 2 Between power terminal and FG terminal 10 M min at 500 VDC Dielectric str...

Page 113: ...09 Servo Drives R88D ECT L KN01L KN01H KN02L KN04H KN04L KN08H Applicable Servo Drives input voltage 100 VAC 200 VAC 100 VAC 200 VAC 100 VAC 200 VAC Maximum speed 100 VAC m s 2 2 2 2 2 2 Maximum speed...

Page 114: ...ed 100 VAC m s 1 2 1 2 Maximum speed 200 VAC m s 2 4 2 4 2 4 Continuous force 1 N 117 232 348 Momentary maximum force 2 N 552 1 110 1 730 Continuous current 1 Arms 0 94 1 87 2 81 Momentary maximum cur...

Page 115: ...5 m s or higher please consult with your OMRON representative z R88L EC GW 0303 z R88L EC GW 0306 3 3 7 Ironless Linear Motor Speed Force Characteristics 100 0 50 N 0 4 8 12 100 VAC m s Momentary oper...

Page 116: ...0 100 N 0 4 8 100 VAC m s Momentary operation range Continuous operation range 300 200 0 100 N 0 4 8 10 15 200 VAC m s Momentary operation range Continuous operation range 200 0 100 N 0 1 2 3 100 VAC...

Page 117: ...z R88L EC GW 0506 z R88L EC GW 0509 400 600 0 200 N 0 2 4 100 VAC m s Momentary operation range Continuous operation range 0 2 4 6 200 VAC m s 400 600 0 200 N Momentary operation range Continuous oper...

Page 118: ...200 N 0 1 0 5 2 1 5 100 VAC m s Momentary operation range Continuous operation range 400 600 0 200 N 0 2 4 200 VAC m s Momentary operation range Continuous operation range 1 000 0 500 N 0 1 2 100 VAC...

Page 119: ...Linear Motor Specifications 3 3 3 7 Ironless Linear Motor Speed Force Characteristics z R88L EC GW 0709 1 000 1 500 2 000 0 500 N 0 1 2 100 VAC m s Momentary operation range Continuous operation rang...

Page 120: ...thermistor for measuring the average Motor Coil Unit temperature z PTC Note 1 The resistance value in a low temperature range is approximately 50 2 The resistance value increases gradually when the te...

Page 121: ...ily Motor Coil Unit R88L EC FW ANPC Wire color Signal name Black 1ONE U Black 2TWO V Black 3THREE W Green Yellow GND Wire color Signal name Green KTY Yellow KTY White PTC Brown PTC Ironless Family Mot...

Page 122: ...ns for Correct Use Because the life expectancy data on resistance to bending is intended for reference only use the cable with a sufficient margin The durability of more than 20 million times of use r...

Page 123: ...External Dimensions z Wiring 3 4 2 External Encoder Cable Specifications Model Length L Outer diameter of sheath Mass R88A CRKE010SR 10 m 6 5 dia Approx 0 6 kg L Servo Drive side R88D KN External Enc...

Page 124: ...ctor when preparing a control cable by yourself z Dimensions Use this connector to connect to an external encoder Connector plug model MUF PK10K X J S T Mfg Co Ltd z Pin Arrangement 3 4 3 Connector Sp...

Page 125: ...is recommended that you use this cable in combination with the OMRON XS6G T421 1 connector Precautions for Correct Use Precautions for Correct Use The maximum length between nodes is 100 m However som...

Page 126: ...size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc Use straight wiring for the communications cable as shown below Note 1 Connect the cable shield to the...

Page 127: ...therCAT 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 connect the ECAT OUT co...

Page 128: ...tions z Connection Configuration and External Dimensions 3 4 5 Analog Monitor Cable Specifications Analog Monitor Cable R88A CMK001S AM1 AM2 GND 3 4 5 6 No 1 2 Cable AWG24 3C UL1007 Connector housing...

Page 129: ...2 30 39 R88D KN Servo Drive side Connector Terminal Block Conversion Unit side XW2B 20G4 XW2B 20G5 XW2D 20G6 BAT BKIRCOM BKIR ALM ALMCOM FG STOP STOP 5 EXT1 BATGND 24V 0V 24V 0V 24V 0V DEC POT NOT EX...

Page 130: ...Use Precautions for Correct Use Use 0 30 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...

Page 131: ...sions 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 16 0...

Page 132: ...nals 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 termin...

Page 133: ...6 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 electromagneti...

Page 134: ...0 W Aluminum 350 350 Thickness 3 0 Operating temperature 150 C 5 NC contact 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 35...

Page 135: ...25 10 0A 2 8 mH Approx 2 8 kg R88D KN02H ECT L Single phase input 3G3AX DL2004 3 2A 10 7 mH Approx 1 0 kg 3 phase input 3G3AX AL2025 10 0A 2 8 mH Approx 2 8 kg R88D KN04H ECT L Single phase input 3G3A...

Page 136: ...3 Specifications 3 60 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 137: ...Wiring 4 14 4 2 1 Peripheral Equipment Connection Examples 4 14 4 2 2 Main Circuit and Linear Motor Connections 4 18 4 2 3 Terminal Block Wire Sizes 4 22 4 2 4 Terminal Block Wiring Procedure 4 24 4...

Page 138: ...surface on which you are installing G5 series Servo Drives Also it is recommended that you apply conductive plating if you are making the mounting bracket yourself Mount the drive perpendicular on th...

Page 139: ...ent temperature around the internal electrolytic capacitors When an electrolytic capacitor reaches its limit electrostatic capacity drops and internal resistance increases This leads to overvoltage er...

Page 140: ...rnal encoder into the Linear Slider in addition to the Motor Coil Unit and the Magnet Track An example of the Linear Slider is shown below When designing a Linear Slider prepare proper parts for the s...

Page 141: ...good heat dissipation apply thermal conductive silicon Installation and Design Conditions Item Tolerance Flatness of Motor Coil Unit mounting surface 0 1 mm across the entire length of Motor Coil Uni...

Page 142: ...num The moving table must have a sufficient thickness to prevent deformation and vibration Install the Magnet Track and external encoder in a straight and parallel line Install the external encoder as...

Page 143: ...the second Magnet Track unit with bolts while pressing it against the first Magnet Track unit For third Magnet Track unit and later follow the same procedure as for the second Magnet Track unit Before...

Page 144: ...t Track 5 Install the remaining Magnet Track units 6 Check that the Motor Coil Unit and the Magnet Track are installed correctly Remove all the protective covers and move the moving table slowly from...

Page 145: ...tion parameter on the CX Drive s Linear Encoder Settings screen With the Sysmac Studio this parameter can be checked using the monitor function 4 Adjust the parameter so that the current value of the...

Page 146: ...inear Motor Dimensions on page 2 20 For example the tolerance of the R88L EC GW0303 is as follows The flatness of the Motor Coil Unit mounting surface must be 0 1 mm The flatness of the Magnet Track m...

Page 147: ...maller configure a separate cooling system to cool the Motor Coil Unit z Rigidity of Linear System The response performance of a linear system is affected by the rigidity of the Linear Slider Ensure t...

Page 148: ...first Magnet Track unit if you bring the second unit closer to the first unit linearly collision may occur due to a magnetic attraction force Approach the second unit non linearly to fix the position...

Page 149: ...ive direction parameter on the CX Drive s Linear Encoder Settings screen With the Sysmac Studio this parameter can be checked using the monitor function 4 Adjust the parameter so that the current valu...

Page 150: ...L Ground to 100 or less Ground to 100 or less External encoder cables Power cables 2 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Do not use shielded cables for power...

Page 151: ...ontrol device Noise filter 1 Ground to 100 or less 3 phase 200 to 240 VAC 50 60 Hz Servo error display External encoder cables Power cables 2 1 A recommended product is listed in 4 3 Wiring Confirming...

Page 152: ...y by OMRON 24 VDC 2A Select one that matches the ratings of the brake etc to be used 4 Models with a built in Regeneration Resistor KN06F ECT L to KN20F ECT L have B2 and B3 shorted When the amount of...

Page 153: ...d relay MY relay by OMRON 24 VDC 2A Select one that matches the ratings of the brake etc to be used 4 Model with a built in Regeneration Resistor KN30F ECT L has B2 and B3 shorted When the amount of r...

Page 154: ...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 KN H ECT L 10...

Page 155: ...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 VAC 50 60 Hz L2 L3...

Page 156: ...ot connect an external regeneration resistor between the B1 and NC terminals R88D KN06F ECT L KN10F ECT L KN15F ECT L KN20F ECT L Symbol Name Function L1 Main circuit power supply input 3 phase 380 to...

Page 157: ...a torque of 0 19 to 0 21 N m M3 If you connect an External Regeneration Resistor set the Regeneration Resistor Selection servo parameter object 3016 hex Do not connect an external regeneration resisto...

Page 158: ...rcuit power supply input L1C and L2C Wire size AWG 18 Motor connection terminals U V W and FG 1 Rated current A 1 7 2 5 4 6 Wire size AWG 14 to 18 Maximum wiring length m 20 Frame ground FG Wire size...

Page 159: ...ire size AWG 14 AWG12 Screw size M5 Tightening torque N m 2 0 Control circuit power supply input L1C and L2C Wire size AWG20 to 24 AWG 18 Screw size M5 Tightening torque N m 2 0 Motor connection termi...

Page 160: ...terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Drive Figure A Insert a flat blade screwdriver end...

Page 161: ...minal Block Wiring Procedure Additional Information The wire may not be inserted easily depending on the shape of the ferrule connected to it If this occurs perform one of the following methods before...

Page 162: ...metal case control panel Noise filters and lightening surge absorptive elements surge absorbers must be installed on power supply lines Braided shielded cables must be used for all I O signal cables...

Page 163: ...ust be used Symbol Name Manufacturer Model Comment SG Surge absorber Okaya Electric Industries Co Ltd R A V 781BWZ 4 Single phase 100 VAC R A V 781BXZ 4 3 phase 200 VAC NF Noise filter Okaya Electric...

Page 164: ...FC1 Clamp core TDK ZCAT3035 1330 FC2 Clamp core Konno Industry RJ8035 FC3 Clamp core NEC TOKIN Corporation ESD SR 250 TB Switch box Controller Symbol Supplies from Connects to Cable name Length Comme...

Page 165: ...terminals are L1 and L3 Use a ground plate for the frame ground for each unit as shown in the above diagrams and ground to a single point Use ground lines with a minimum thickness of 3 5 mm2 and arra...

Page 166: ...dustries Co Ltd SUP EK5 ER 6 Single phase 100 200 VAC 5 A 3SUP HU10 ER 6 3 phase 200 VAC 10 A 3SUP HU30 ER 6 3 phase 200 VAC 30 A 3SUP HU50 ER 6B 13 phase 200 VAC 50 A SD Servo Drive OMRON 1 LM Linear...

Page 167: ...tor 1 SCL External encoder FC1 Clamp core TDK ZCAT3035 1330 FC2 Clamp core Konno Industry RJ8035 FC3 Clamp core NEC TOKIN Corporation ESD SR 250 TB Switch box Controller Symbol Supplies from Connects...

Page 168: ...s are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected Ground all units within the case to the case itself z Door Structure Use a metal door Us...

Page 169: ...rent of all the motors when multiple Servo Drives are used The rated current of the power supply input for each Motor model is provided in 4 2 2 Main Circuit and Linear Motor Connections on page 4 18...

Page 170: ...r use 3 times the total of the leakage current given in the following table as a reference value The following table shows the leakage current of each Servo Drive model Note 1 These values vary greatl...

Page 171: ...recommended Note 1 Refer to the manufacturers catalog for 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 t...

Page 172: ...e input SUP EK5 ER 6 5 A 1 0 mA at 250 VAC Okaya Electric Industries Co Ltd R88D KN02L ECT L R88D KN04L ECT L Single phase input 3SUP HU10 ER 6 10 A 3 5 mA at 500 VAC R88D KN01H ECT L Single phase inp...

Page 173: ...l Dimensions SUP EK5 ER 6 3SUP HU10 ER 6 3SUP HU30 ER 6 L1C L1 L2 L3 L2C Twisted pair cables Bound cables Servo Drive Servo Drive Binding 88 0 100 2 0 53 1 2 0 5 0 2 4 5 6 75 2 4 5 6 M4 50 0 60 0 12 0...

Page 174: ...sign 4 38 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications z Circuit Diagram SUP EK5 ER 6 3SUP HU10 ER 6 3SUP HU30 ER 6 L L Cy Cy Cx Cx R Cx1 Cx1 R L1 Cy1 OUT IN Cx1 Cx1 R L1...

Page 175: ...f windings is 3 turns 3 Generally 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...

Page 176: ...nit mm A B C D1 D2 Core thickness E F RJ8035 35 A 170 150 23 80 53 24 R3 5 7 RJ8095 95 A 200 180 34 130 107 35 R3 5 7 2 M5 3 M4 95 26 78 80 12 5 72 50 7 39 5 51 5 25 5 17 5 5 1 3 0 6 5 34 0 ESD R 47B...

Page 177: ...1330 10 100 1 000 1 000 100 10 10 000 10 000 1 000 100 10 1 0 1 0 01 1 000 100 10 1 10 000 100 10 1 0 1 0 01 0 001 0 0001 1 10 100 1 000 10 000 100 000 1 000 100 10 1 0 1 0 01 10 100 1 1 000 10 100 1...

Page 178: ...es Diodes are used for relatively small 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...

Page 179: ...lling 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 place the external...

Page 180: ...e a Reactor to suppress harmonic currents The Reactor functions to suppress sudden and quick changes in electric currents Select the proper Reactor model according to the Servo Drive to be used Improv...

Page 181: ...rent The following table 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...

Page 182: ...3AX NFO03 NFO04 NFO05 NFO06 Model Dimensions mm A B C E F H J N O P 3G3AX NFO03 160 145 130 80 112 120 M4 154 3G3AX NFO04 200 180 160 100 162 150 120 M5 M5 210 3G3AX NFO05 220 200 180 100 182 170 140...

Page 183: ...The regeneration absorption capacity of a Servo Drive varies depending on the drive model For information on whether or not your Servo Drive has an Internal Regeneration Resistor and its regeneration...

Page 184: ...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 that can be absorbed by...

Page 185: ...put voltage is as follows 4 5 2 Servo Drive Regeneration Absorption Capacity Servo Drive model Regenerative energy to be absorbed by built in capacitor Ec J Internal regeneration resistor Allowable mi...

Page 186: ...Regeneration Resistor Model Resistance value Nominal capacity The amount of regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR0805...

Page 187: ...ect the External Regeneration Resistor between B1 and B2 as shown in the diagram below Precautions for Correct Use Precautions for Correct Use Connect the thermal switch output so that the main circui...

Page 188: ...ct the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resi...

Page 189: ...h 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a cover that enables heat dissipation Combining External Regeneration Resistors Regeneration ab...

Page 190: ...4 System Design 4 54 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 191: ...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 Object...

Page 192: ...r 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 Additional Information Ethe...

Page 193: ...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 timeout...

Page 194: ...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 PDO c...

Page 195: ...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 netw...

Page 196: ...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 1A0...

Page 197: ...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 Ma...

Page 198: ...h 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 Force...

Page 199: ...ged 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 Position Cont...

Page 200: ...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 mana...

Page 201: ...or details refer to A 1 3 Communications Cycles and Corresponding Modes of Operation on page A 5 If the size of the mapped objects exceeds the maximum total size a Function Setting Error Error No 93 4...

Page 202: ...d 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 incompa...

Page 203: ...The communications cycle is determined by setting the Sync0 signal output cycle Precautions for Correct Use Precautions for Correct Use Set 6091 hex Gear ratio to 1 1 for 250 s or 500 s If it is not...

Page 204: ...F3 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 turne...

Page 205: ...ion software Because in Sysmac Devices errors that may occur in slaves are systematized you can check the causes and remedies for errors with a common procedure The status of an error can be monitored...

Page 206: ...ress Switch EtherCAT Slave Servo Drives EtherCAT Slave Controller EtherCAT master Nonvolatile memory SII 1 The Node Address Switch is set to 00 at power OFF 2 Write a node address set value to Slave S...

Page 207: ...s that support Sysmac Device Features can use the Option function defined in the ESI Specification to identify the backup parameters stored on slaves The backup parameters on an identified slave can b...

Page 208: ...5 EtherCAT Communications 5 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 209: ...Settings 6 6 6 2 3 Related Functions 6 6 6 2 4 Block Diagram for Speed Control Mode 6 7 6 3 Cyclic Synchronous Torque Mode 6 8 6 3 1 Related Objects 6 9 6 3 2 Objects Requiring Settings 6 9 6 3 3 Rela...

Page 210: ...rce Read it as force when using this function The following diagram shows the configuration of the Cyclic synchronous position mode The following diagram shows the configuration of the control functio...

Page 211: ...o 10 0 607A hex 00 hex Target position RW INT32 Command unit 2 147 483 648 to 2 147 483 647 0000 hex 6065 hex 1 00 hex Following error window RW U32 Command unit 0 to 134 217 728 or 4 294 967 295 100...

Page 212: ...Smoothing Filter First order Lag Position Control 1 2 Damping Control Speed Detection Friction Compensation Offset Value Positive Negative Disturbance Observer Gain Filter Gain Switching Setting 2 Mo...

Page 213: ...he object names between 6000 hex and 6999 hex may be represented using the word torque instead of force Read it as force when using this function The following diagram shows the configuration of the C...

Page 214: ...16 0 1 5 000 to 5 000 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 th...

Page 215: ...inator Force Filter Speed unit conversion 1 2 Force limit Selection Positive Negative Force Feed Forward Filter Motor Velocity Actual Value mm s Motor Control Effort mm s 6063 hex PositionActual Inter...

Page 216: ...and 6999 hex may be represented using the word torque instead of force Read it as force when using this function The following diagram shows the configuration of the Cyclic synchronous torque mode Th...

Page 217: ...ex Torque offset RW INT16 0 1 5 000 to 5 000 0 6041 hex 00 hex Statusword RO U16 0 to FFFF hex 0000 hex 6064 hex 00 hex Position actual value RO INT32 Command unit 2 147 483 648 to 2 147 483 647 0000...

Page 218: ...er Motor Speed Detection Sign Absolute Absolute Speed Limit Unit Conversion Force Filter 1 Two stage Time Two stage Attenuation 2 Force Limit Selection Positive Negative Motor Velocity Actual Value mm...

Page 219: ...file position mode is as follows Profile Position Mode Configuration Target position 607A hex Position demand internal value 60FC hex or Position demand Value 6062 hex Control effort 60FA hex Path Gen...

Page 220: ...0 1 000 000 6084 hex 00 hex Profile deceleration RW U32 Command unit s2 1 to 655 350 000 1 000 000 6086 hex 00 hex Motion profile type RW INT16 1 to 0 0 6041 hex 00 hex Statusword RO U16 0 to FFFF hex...

Page 221: ...In this case 134 217 728 will be returned when the set value is read 2 For the Servo Drive to accept commands without fail the object value must always be retained for two communications cycles or mor...

Page 222: ...ing does not occur due to a Command warning 6 abs rel Always set to 0 abs 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...

Page 223: ...mode csp When performing the homing operation using this procedure refer to the operating manual for the controller z Procedure 2 Use the Homing mode of the Servo Drive The controller specifies a hom...

Page 224: ...0081 8181 hex Positive Drive Prohibition Input NC 3402 hex 00 hex Input Signal Selection 3 0082 8282 hex Negative Drive Prohibition Input NC 3403 hex 00 hex Input Signal Selection 4 0022 2222 hex Orig...

Page 225: ...7 0020 2020 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 226: ...6 Basic Control Functions 6 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 227: ...g 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 22 7 8 Soft Start 7 24 7 8 1 Objects Requiring Settings 7...

Page 228: ...ations 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 NC...

Page 229: ...ex Name Description Reference 3400 hex Input Signal Selection 1 Set the IN1 input function allocation P 9 30 3401 hex Input Signal Selection 2 Set the IN2 input function allocation P 9 30 3402 hex Inp...

Page 230: ...ill occur The control input pins that are disabled do not affect the operation It also does not affect the response in EtherCAT Communications The functions that are used by more than one control mode...

Page 231: ...F Use the following objects when changing the output signal allocations For the setting method refer to Output Signal Allocation Method on page 7 6 Note For the setting method refer to Function Number...

Page 232: ...speed detection output 05 hex Force control Zero speed detection signal 07 hex Signal name Symbol Set value NO NC Disabled 00 hex 00 hex Servo Ready Output READY 02 hex 82 hex Brake Interlock Output B...

Page 233: ...ions If you use the Brake Interlock Output BKIR you must set the function in all control modes Otherwise an Interface Output Function Number Error 1 Error No 33 4 or an Interface Output Function Numbe...

Page 234: ...nd the Negative Drive Prohibition Input NOT Install limit switches at both ends of the axis to prohibit the Linear Motor from driving in the direction specified by the switch This can be used to preve...

Page 235: ...prohibition input and negative drive prohibition input enabled The operation when a signal is input is as follows Positive drive prohibition input shorted Positive limit switch not operating and statu...

Page 236: ...514 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 approximatel...

Page 237: ...n 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 position estimation is in progress Precaut...

Page 238: ...rs the error range due to vibration When a positive position command is entered the Motor s allowable operating range increases by the commanded amount The resulting range will be the position command...

Page 239: ...ngs Index Name Description Reference 3704 hex Backlash Compensation Selection Select whether to enable or disable backlash compensation during position control Set the compensation direction P 9 55 37...

Page 240: ...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 comp...

Page 241: ...servo is ON a Command Warning B1 hex will occur 7 5 1 Objects Requiring Settings Index Sub index Bit Name Description Reference 3437 hex Brake Timing when Stopped Set the time after a servo OFF comman...

Page 242: ...he above example shows when there is no brake release request from EtherCAT communications The BKIR signal is assigned to the general purpose output CN1 7 5 2 Operation Timing Basic Timing Servo ON OF...

Page 243: ...mple shows when there is no brake release request 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 s...

Page 244: ...er 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 circuit power supply turns OF...

Page 245: ...l 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 the error accordin...

Page 246: ...e range an Object Setting Error 1 Error No 93 0 will occur Whether the electronic gear is enabled disabled is determined from the setting of the objects If the gear ratio setting is 1 1 the electronic...

Page 247: ...lution 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 6091...

Page 248: ...are set correctly and there is no trouble with the motor s normal operation 7 7 2 Objects Requiring Settings Index Name Description Reference 3013 hex Force Limit 1 Set the first force limit value of...

Page 249: ...torque control command N 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 Positi...

Page 250: ...rom 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 where Vc mm s is the target...

Page 251: ...Start Acceleration Time 3312 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 Acceleratio...

Page 252: ...t vibration When increasing the gain during stabilization stop to reduce the stabilization time When increasing the gain during movement to improve the command following performance When switching the...

Page 253: ...the time until the gain is actually switched after switching from the Gain 2 to Gain 1 Unit 0 1 ms P 9 12 3117 hex Gain Switching Level in Position Control 1 Set the judgement level for switching betw...

Page 254: ...1 and Gain 2 P 9 16 3125 hex Gain Switching Delay Time in Force Control Set the time until the gain is actually switched after switching from the Gain 2 to Gain 1 Unit 0 1 ms P 9 17 3126 hex Gain Swit...

Page 255: ...Force command The gain is switched via a force command z Speed command The gain is switched via a speed command z Following error actual value The gain is switched via the pulse position error in exte...

Page 256: ...usted to equal to the level set in Gain Switching Level in Speed Control 3122 hex z Gain switching command input via EtherCAT communications The gain is switched instantly when a gain switching comman...

Page 257: ...communications The gain is switched instantly when a gain switching command is issued via EtherCAT communications z Force command The gain is switched via a force command This section describes the t...

Page 258: ...tching Level plus the Gain Switching Hysteresis the gain switches to Gain 2 If the absolute value of the force command is less than the value of the Gain Switching Level minus the Gain Switching Hyste...

Page 259: ...rol 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 th...

Page 260: ...teresis Pulse and this condition lasts for the Delay Time the gain switches back to Gain 1 Set the Level and the Hysteresis unit Pulse according to the external encoder resolution If the position comm...

Page 261: ...n 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 Gain...

Page 262: ...hing 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 betwee...

Page 263: ...Ratio Setting 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 Operation mode Position...

Page 264: ...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 condition i...

Page 265: ...hase Z signal 7 11 1 Objects Requiring Settings Index Name Description Reference 60B8 hex Touch Probe Function Controls the latch function P A 94 60B9 hex Touch Probe Status Gives the state of latches...

Page 266: ...404 hex 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...

Page 267: ...h Built in EtherCAT Communications 7 11 Touch Probe Function Latch Function 7 7 11 3 Operation Sequences Continuous 60B8 hex Bit 1 9 1 Continuous 60B8 hex 60B9 hex 60B9 hex 60BA hex 60BC hex 60B9 hex...

Page 268: ...7 Applied Functions 7 42 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 269: ...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 Outp...

Page 270: ...sabled the motor uses free run stopping and the stop distance is long In case of internal failure of components the motor may operate in the range of up to 180 degrees of electrical angle The power su...

Page 271: ...ensor 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 is built into the sa...

Page 272: ...f 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 Either or both safety i...

Page 273: ...he Brake Threshold Speed During Operation 3439 hex whichever occurs first Operation Timings to a Safety Status READY t1 3 response time max 5 ms ON OFF response time max 6 ms 0 5 to 5 ms Servo ON OFF...

Page 274: ...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 hex Tim...

Page 275: ...AT Communications 8 3 Connection Example 8 8 3 Connection Example Connection with a Safety Controller EDM EDM SF1 SF1 SF2 SF2 M 0V G9SP series Safety output source Safety output 1 Safety output 2 Safe...

Page 276: ...8 Safety Function 8 8 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 277: ...explains the settings of each object 9 1 Basic Settings 9 2 9 2 Gain Settings 9 7 9 3 Vibration Suppression Settings 9 18 9 4 Analog Control Objects 9 25 9 5 Interface Monitor Settings 9 30 9 6 Extend...

Page 278: ...e relevant table After changing these objects turn OFF and then back ON the power supply again At this time confirm that the power supply indicator has gone OFF before turning it ON again Do not chang...

Page 279: ...t 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 to the Servo Drive The external encoder count di...

Page 280: ...ally 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 PDO m...

Page 281: ...loop gain will decrease Set the first force limit value of the motor output force Refer to the Force Limit Selection on page 9 45 for details of force limit selection During force control it limits t...

Page 282: ...cted 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 RW...

Page 283: ...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 resulting in...

Page 284: ...a 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 in...

Page 285: ...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 286: ...will occur more easily For details refer to 11 10 Feed forward Function on page 11 32 Set the time constant for the first order lag filter inserted into the feed forward Setting the filter may improv...

Page 287: ...3 Enabled Disabled 3113 hex Force Feed forward Command Filter Setting range 0 to 6 400 Unit 0 01 ms Default setting 0 Data attribute B Size 2 bytes INT16 Access RW PDO map Not possible 3114 hex Gain...

Page 288: ...to 10 This object is enabled when the Switching Mode in Position Control 3115 hex is 3 5 6 9 or 10 It sets the judgement level for switching between Gain 1 and Gain 2 The unit depends on the setting o...

Page 289: ...will be switched gradually when there is a large change in the position loop gain If there is a large difference between Position Loop Gain 1 3100 hex and Position Loop Gain 2 3105 hex set the Positi...

Page 290: ...es to Gain 1 When the command is 1 the gain switches to Gain 2 Refer to 7 9 3 Diagrams of Gain Switching Setting on page 7 31 for details on setting Precautions for Correct Use Precautions for Correct...

Page 291: ...me in Speed Control 3121 hex Gain Switching Level in Speed Control 3122 hex and Gain Switching Hysteresis in Speed Control 3123 hex are defined as shown in the diagram to the right The settings for th...

Page 292: ...rCAT communications G SEL is 0 the gain switches to Gain 1 When the command is 1 the gain switches to Gain 2 For details refer to 7 9 3 Diagrams of Gain Switching Setting on page 7 31 Precautions for...

Page 293: ...Control 3125 hex Gain Switching Level in Force Control 3126 hex and Gain Switching Hysteresis in Force Control 3127 hex are defined as shown in the diagram to the right The settings for the Gain Swit...

Page 294: ...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 adaptive filter enabled T...

Page 295: ...ult set value For details refer to 11 7 Notch Filters on page 11 24 Set the notch depth of resonance suppression notch filter 2 Increasing the setting value shortens the notch depth and the phase lag...

Page 296: ...daptive filter is enabled this object is set automatically Refer to 11 6 Adaptive Filter on page 11 21 and 11 7 Notch Filters on page 11 24 Set the frequency of resonance suppression notch filter 4 Th...

Page 297: ...e 1 and 2 are for manufacturer s use only 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 3 Enabled Dis...

Page 298: ...s of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz For details refer to 11 5 Damping Control on page 11 17 First set Damping Frequency...

Page 299: ...the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz For details refer to 11 5 Damping Control on page 11 17 First se...

Page 300: ...e the positioning completed output is ON 3 There is a delay from when the Position Command Filter Time Constant 3222 hex is changed until the new value is applied in internal calculations If the filte...

Page 301: ...Time 3313 hex to 0 For details refer to 7 8 Soft Start on page 7 24 Precautions for Correct Use Precautions for Correct Use Do not set the Soft Start Acceleration Time and the Soft Start Deceleration...

Page 302: ...lue For details refer to 6 3 Cyclic Synchronous Torque Mode on page 6 8 3314 hex S curve Acceleration Deceleration Time Setting Setting range 0 to 1 000 Unit ms Default setting 0 Data attribute B Size...

Page 303: ...s 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 Encoder Connection Error Error No 50...

Page 304: ...orm of the induced voltage monitored at the V terminal with the U terminal connected to GND 3 The waveform of the induced voltage monitored at the W terminal with the V terminal connected to GND Preca...

Page 305: ...n detection when an external encoder with a 90 phase difference output is used Explanation of Settings 3327 hex External Feedback Pulse Phase Z Setting Setting range 0 to 1 Unit Default setting 0 Data...

Page 306: ...l purpose input 5 IN5 Refer to 3 1 7 Control Input Details on page 3 9 as well as 7 1 1 Input Signals on page 7 2 3400 hex Input Signal Selection 1 Setting range 0 to 00FF FFFF hex Unit Default settin...

Page 307: ...al purpose output 2 OUTM2 Refer to 3 1 9 Control Output Details on page 3 12 as well as 7 1 2 Output Signals on page 7 5 3405 hex Input Signal Selection 6 Setting range 0 to 00FF FFFF hex Unit Default...

Page 308: ...log Monitor 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 Monitor type Unit Output gain when object 3417 hex 0 0...

Page 309: ...2 3418 hex Analog Monitor 2 Selection Setting range 0 to 22 Unit Default setting 4 Data attribute A Size 2 bytes INT16 Access RW PDO map Not possible Set value Monitor type Unit Output gain when objec...

Page 310: ...tings 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 Setting Setting rang...

Page 311: ...he position error is equal to or lower than the Position window 6067 hex 2 Turn ON when there is no position command the zero speed detection signal is ON and the position error is equal to or lower t...

Page 312: ...f the actual motor movement direction The setting has a hysteresis of 10 mm s Refer to 3 1 9 Control Output Details on page 3 12 for the Zero Speed Detection Output ZSP 3433 hex Positioning Completion...

Page 313: ...detection threshold for the Speed Agreement VCMP flag in EtherCAT communications status 1 Because the Speed Conformity Detection Range has a hysteresis of 10 mm s the actual detection range will be a...

Page 314: ...ter 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 timing when stoppe...

Page 315: ...e 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 Interlock o...

Page 316: ...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 Acc...

Page 317: ...ause it is taken that Servo Drive is in error condition If this object is set to 2 a Drive Prohibition Input Error Error No 38 will occur when the connection between either the positive or negative pr...

Page 318: ...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 error...

Page 319: ...e 0 to 1 Unit Default setting 1 Data attribute B Size 2 bytes INT16 Access RW PDO map Not possible Set value Description 0 The servo is turned OFF based on the setting of the Shutdown option code 605B...

Page 320: ...ror window 6065 hex Explanation of Settings Precautions for Correct Use Precautions for Correct Use Detection of the Positioning Completed status in EtherCAT communications is always performed using c...

Page 321: ...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 value 60E0 he...

Page 322: ...to Force Limit 2 on page 9 46 for settings For the force limits and force limit selection also refer to 7 7 Force Limit Switching on page 7 22 Set the third force limit value of the motor output forc...

Page 323: ...uring positive movement in the Position Control Mode Set the value in units of 1 of the rated force 100 For details refer to 11 9 Friction Force Compensation Function on page 11 30 3602 hex Excessive...

Page 324: ...16 Access RW PDO map 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 observe...

Page 325: ...s described above the bit will be 0010011 and the decimal value 19 Therefore the set value will be 19 Refer to 11 8 Disturbance Observer Function on page 11 28 and 11 11 Instantaneous Speed Observer F...

Page 326: ...ON Set the compensation gain for disturbance force For details refer to 11 8 Disturbance Observer Function on page 11 28 Set the filter time constant for disturbance force compensation For details ref...

Page 327: ...second from the load characteristic changes 3 Sharp change Estimates the optimum from the load characteristic changes 3632 hex Realtime Autotuning Customization Mode Setting Setting range 32 768 to 3...

Page 328: ...bit number of the LSB E g To set the force compensation 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 t...

Page 329: ...DO map Not possible 3638 hex Warning Mask Setting Setting range 32 768 to 32 767 Unit Default setting 4 Data attribute C Size 2 bytes INT16 Access RW PDO map Not possible Bit Warning number hex Warnin...

Page 330: ...itive 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 satur...

Page 331: ...ting 0 Data attribute R Size 2 bytes INT16 Access RW 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 Acces...

Page 332: ...ting range 0000 to FFFF hex Unit Default setting 0100 hex Data attribute B Size 2 bytes U16 Access RW PDO map Not possible Latch 1 Latch 2 Bit 0 Bit 1 Trigger signal 1 Bit 8 Bit 9 Trigger signal 2 0 0...

Page 333: ...rror No 91 1 will occur To enable this setting set the Communications Control 3800 hex bit 14 to 0 Once you enable this setting you will receive a Command Error if the data setting warning is detected...

Page 334: ...on mask setting refer to Warnings Related to EtherCAT Communications on page 12 7 Communications Control 3800 hex Error Error No hex Error name bit 1 83 1 EtherCAT status change error bit 2 83 2 Ether...

Page 335: ...re disabled The status will also be 0 if an origin return has not been performed Set the threshold for detecting the origin as an absolute value 3801 hex Software Position Limit Function Setting range...

Page 336: ...3818 hex set value is less than 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 Po...

Page 337: ...ns for Correct Use If you set this object to 0 a Motor Setting Error Error No 60 0 will occur Set the mass except cables of the Linear Motor Coil Unit you connect to the Servo Drive For details refer...

Page 338: ...e Linear Motor you connect to the Servo Drive Set the unit 0 1 A instead of 0 1 Arms For details refer to 3 3 Linear Motor Specifications on page 3 28 Precautions for Correct Use Precautions for Corre...

Page 339: ...stment 3912 hex is not 0 a Motor Setting Error Error No 60 0 will occur Set the detection level for an Overspeed Error Error No 26 0 Set the maximum speed appropriate for the specifications of the sel...

Page 340: ...l Gain 3914 hex Set the current loop proportional gain Normally use the value automatically set via the Current Response Auto adjustment 3912 hex Set the current loop integral gain Normally use the va...

Page 341: ...erm This setting is used to switch the filter order primary or secondary of the two stage force filter Explanation of Settings Precautions for Correct Use Precautions for Correct Use Setting an excess...

Page 342: ...rmance resulting in a poor detection accuracy or a Magnetic Pole Position Estimation Error If the motor is subjected to a large load or resistance set a sufficiently long force command time The magnet...

Page 343: ...o be judged as zero movement during magnetic pole position estimation It will be judged as zero movement if the number of motor movement pulses is less than the set value when a force current is appli...

Page 344: ...ition Estimation Movement for Stop judgement 3925 hex or less persists for the time set in the Magnetic Pole Position Estimation Time for Stop judgement 3926 hex or longer This setting is enabled only...

Page 345: ...gnetic Pole Position 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 ti...

Page 346: ...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 too h...

Page 347: ...wer Supply 10 6 10 2 3 Checking the Displays 10 6 10 2 4 Preparing the Linear Motor for Operation 10 8 10 3 Linear Motor Setup 10 13 10 3 1 Outline of Linear Motor Setup 10 14 10 3 2 Operation from th...

Page 348: ...ng 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 the drive Configure the drive for Linear Motor externa...

Page 349: ...d check to see whether protective functions such as the STOP and Drive prohibition inputs work as you expected Check operation at both low speed and high speed using the system without a workpiece or...

Page 350: ...block The control circuit power supply inputs L1C L2C must be properly connected to the terminal block The motor s red U white V and blue W power lines and the green yellow must be properly connected...

Page 351: ...for Correct Use Precautions for Correct Use Do not change the setting on the Node Address switches after the power supply is turned ON The node address switches can be set to between 00 and 99 The nod...

Page 352: ...is set by the rotary switches 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 war...

Page 353: ...r No 30 0 occurs does not flash on the display Warning occurs Warning cleared Main power supply turned ON and EtherCAT communications established Main power supply interrupted and EtherCAT communicati...

Page 354: ...ack Pulse Type Selection Set the encoder type 90 phase difference serial communications incremental or serial communications absolute of the selected external encoder For the set value refer to the sp...

Page 355: ...uctance 0 01 mH Set the phase inductance of the Linear Motor P 9 63 3909 hex Motor Resistance 0 01 Set the phase resistance of the Linear Motor P 9 63 3912 hex Current Response Auto adjustment Set the...

Page 356: ...4 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 low kinetic friction In these ca...

Page 357: ...r Stop 3927 hex are the values set when the magnetic pole position estimation function is started Changes made during magnetic pole position estimation are not reflected on these values 3924 hex 3922...

Page 358: ...after you turn ON the power supply Because the Linear Motor operates during magnetic pole position estimation connect a sensor to one of the general purpose inputs and use the over travel external er...

Page 359: ...e CX Drive Ver 2 7 or higher Precautions for Safe Use Adjusting the current loop gain causes an extreme variation of the motor speed Adjust the current loop gain under conditions where the servo OFF c...

Page 360: ...o online with the Servo Drive via USB communications 10 3 1 Outline of Linear Motor Setup Wizard screen Operation 1 Motor Settings Select the Motor model 2 External Encoder Settings Enter the external...

Page 361: ...a network cable 3 Turn ON the power supply 12 to 24 VDC to the CN1 control inputs 24VIN COM 4 Turn ON the Servo Drive power This establishes EtherCAT communications if the required communications sett...

Page 362: ...roduct in a default state if you have interrupted the procedure before completion by clicking the Cancel or Stop button or if you have failed to step through to the end of the procedure due to a compu...

Page 363: ...type Phases A B and Z Serial communications type Incremental type Serial communications type Absolute type Check the instruction manual of the external encoder for the types of the external encoder 5...

Page 364: ...e Magnetic Pole Detection Method setting refer to Setting the Magnetic Pole Detection Data on page 10 9 After selecting click Next button 7 The following screen appears This screen shows the parameter...

Page 365: ...onnecting the cable 5 Change to the online mode 9 Click I finished all steps in the above check box 10 Select Linear System Auto Setup recommended from Next Action and click Next button 11 Check the S...

Page 366: ...ion setting When the Linear System Auto Setup is completed the established settings have been saved automatically to the EEPROM of the Servo Drive These parameter settings will be updated when the pow...

Page 367: ...surement in units of pulses mm Check the relationship between the value displayed in P1 by the external encoder and the mechanical position of the Motor Coil Unit If the direction or pitch of the exte...

Page 368: ...ves With Built in EtherCAT Communications 18 When the test run is completed click Next button The following screen appears You can check the set parameters 19 Click the Finish button to close the wiza...

Page 369: ...twork 1 In the CX Drive click Change from the Drive menu to check that the Connection Type is selected correctly 2 Click the Online icon or click Work Online from the Drive menu The Servo Drive is set...

Page 370: ...online click the following icon or click Test Run from the Drive menu 2 Read the precautions and click Yes Y Check the icon and status bar below to check that the Servo Drive is in the commissioning...

Page 371: ...right click the setup target Servo Drive from the EtherCAT menu to display the Edit screen 2 Click the following button to switch to the Online screen 3 When the Online screen is open change Online t...

Page 372: ...target Servo Drive from the EtherCAT menu and select Linear Motor Setup 2 Read the precautions and click OK button The Linear Motor Setup screen opens For the following steps you will work with scree...

Page 373: ...retry trial operation Check the following items z 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 Che...

Page 374: ...3 Linear Motor Setup on page 10 13 7 Select Test Run from the Tuning Menu of the CX Drive 8 Select Servo ON to servo lock the Linear Motor 9 Select Positive or Negative and start the Linear Motor The...

Page 375: ...5 2 Objects Requiring Settings 11 18 11 5 3 Operating Procedure 11 19 11 6 Adaptive Filter 11 21 11 6 1 Operating Conditions 11 22 11 6 2 Objects Requiring Settings 11 22 11 6 3 Objects to Be Set Aut...

Page 376: ...Monitor 1 Scale Setting Set the output gain for the analog monitor 1 P 9 32 3418 hex Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2 P 9 33 3419 hex Analog Monitor 2 Sca...

Page 377: ...cessing for the position command filter The Following Error Actual Internal Value is reversely converted to command units for application The Following Error Actual Internal Value is the error for the...

Page 378: ...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 Scale S...

Page 379: ...o the motor speed and the force command and according to the result of the estimation automatically sets the optimal gain It also adds simultaneously the friction force to the force command in advance...

Page 380: ...l system has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity 11 2 3 Gain Adjustme...

Page 381: ...gain according to the result of the estimation At the same time it can lower the resonance and vibration if the adaptive filter is enabled Realtime autotuning is enabled for any control to adjust the...

Page 382: ...does not operate properly Load condition If the load mass is too small or too large compared with the Motor Coil Unit Mass less than 3 times or more than 20 times or more If the load mass changes If t...

Page 383: ...es to the Speed Control Force Control Mode 2 The description for the set value 1 applies to the Force Control Mode 3 The description for the set value 3 applies to the Speed Control Mode the descripti...

Page 384: ...Rigidity Setting 3003 hex is increased This is not a problem if the noise or vibration disappears right away If vibration occurs or if an unusual noise lasts for three or more reciprocating operation...

Page 385: ...0 45 30 10 000 800 4 45 35 1 600 600 55 35 10 000 600 5 55 45 1 200 500 70 45 10 000 500 6 75 60 900 400 95 60 10 000 400 7 95 75 700 300 120 75 10 000 300 8 115 90 600 300 140 90 10 000 300 9 140 110...

Page 386: ...the following objects to be updated For details refer to Realtime Autotuning Object Table on page 11 11 11 3 5 Objects to Be Updated Objects to Be Updated Index Name Description 3004 hex Mass Ratio Up...

Page 387: ...etting is not retained set this to 50 3117 hex Gain Switching Level in Position Control If the current setting is not retained set this to 50 3118 hex Gain Switching Hysteresis in Position Control If...

Page 388: ...d the function itself is disabled In addition these objects are functionally disabled although their set values can be changed Objects to Be Disabled Index Name Description 3610 hex Function Expansion...

Page 389: ...ing waveform monitoring with the data tracing function of the CX Drive or by measuring the analog voltage waveform with the monitor function The Motor Velocity Actual Value Motor Velocity Demand Value...

Page 390: ...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 No Decrease Speed Loop Gain 1...

Page 391: ...following condition Precautions for Correct Use Precautions for Correct Use Stop operation before changing the objects or switching with DFSEL The damping control function may not function properly o...

Page 392: ...ex 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 simultaneously 3 Switchi...

Page 393: ...find a proper one with minimum 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 sett...

Page 394: ...rs 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 3 Enabled Disabled Set value Description 0 Up to two filte...

Page 395: ...ilter which 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 Filte...

Page 396: ...nts 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 more resonance point...

Page 397: ...e or vibration occurs the setting of Notch 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...

Page 398: ...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 the resonance f...

Page 399: ...r is disabled if 100 is set P 9 19 3204 hex Notch 2 Frequency Setting Set the center frequency of notch filter 2 The details are the same with the notch filter 1 frequency P 9 19 3205 hex Notch 2 Widt...

Page 400: ...lue of 100 If the indication unit is dB this value should conform to the right column in the table below 11 7 2 Notch Filter Width and Depth Width Setting Depth Setting Width Depth Set value Bandwidth...

Page 401: ...o Drives With Built in EtherCAT Communications 11 7 Notch Filters 11 11 7 2 Notch Filter Width and Depth 30 25 20 15 10 5 0 5 10 1 000 0 0 1 0 1 3 dB Depth 0 width 4 Depth 50 width 4 Depth 0 width 8 N...

Page 402: ...such as the force limit settings 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 instantaneo...

Page 403: ...dvantage and disadvantage when setting this value 3 Set the Disturbance Force Compensation Gain 3623 hex After you set the Disturbance Observer Filter Setting 3624 hex increase the value of the Distur...

Page 404: ...ons Operating conditions Operation mode The operating mode depends on the control mode 1 Others When Servo is ON When elements other than control objects such as the force limit settings are set corre...

Page 405: ...ensation 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 dynamic friction...

Page 406: ...dback If the 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...

Page 407: ...nge of constant speed becomes smaller as the speed feed forward gain increases Precautions for Correct Use Precautions for Correct Use If the speed feed forward gain is set to 100 the Following Error...

Page 408: ...sturbance torque is working In reality disturbance force is always applied and therefore the Following Error Actual Value cannot be completely 0 Force feed forward can reduce the Following Error Actua...

Page 409: ...control objects such as the force limit settings 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...

Page 410: ...ns 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 fluctu...

Page 411: ...a Problem Occurs 12 3 12 1 3 Replacing the Linear Motor or Servo Drive 12 3 12 2 Warnings 12 5 12 2 1 Related Objects 12 5 12 2 2 Warning List 12 6 12 3 Errors 12 9 12 3 1 Error List 12 9 12 3 2 Imme...

Page 412: ...Make an analysis using the 7 segment display on the front of the Servo Drive or using CX Drive tools z When an Error Has Occurred Check the error display and make an analysis based on the error that...

Page 413: ...the tests verify that you can immediately stop the machine using an immediate stop in case the machine runs out of control Use the following procedure to replace the Linear Motor or Servo Drive Remov...

Page 414: ...lt in EtherCAT Communications 1 Take a record of all object settings Use the CX Drive or other software and take a record of the settings of all objects 2 Replace the Servo Drive 3 Set the objects Use...

Page 415: ...Select the warning for Warning Output 2 WARN2 0 Output for all warnings 1 or higher Refer to 12 2 2 Warning List on page 12 6 P 9 40 3638 hex Warning Mask Setting Set a mask for warning detection If y...

Page 416: ...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 comm...

Page 417: ...y for the master is turned OFF a diagnosis message may be left in the Diagnosis History Warnings Related to EtherCAT Communications Warning number Warning name Warning condition Warning Hold Selection...

Page 418: ...Motors Servo Drives With Built in EtherCAT Communications Precautions for Correct Use Precautions for Correct Use Do not use any settings for Error Output Selection 1 3440 hex and Error Output Select...

Page 419: ...or HH is displayed as the error number the internal MPU has malfunctioned Turn OFF the power immediately if one of these error numbers is displayed 12 3 1 Error List Error No Error detection function...

Page 420: ...Error 2 3 B 3 hex External Encoder Status Error 3 3 B 4 hex External Encoder Status Error 4 3 B 5 hex External Encoder Status Error 5 3 B 55 hex 0 hex Phase A Connection Error 3 B 1 hex Phase B Conne...

Page 421: ...lfunctioned Turn OFF the power immediately if one of these error numbers is displayed The immediate stop function controls the motor and stop it if an error that causes an immediate stop Deceleration...

Page 422: ...error Error No 26 1 occur at the same time the immediate stop will not occur either If the actual speed is not lower than 30 mm s after the time set in the Error Detection Allowable Time Setting 3614...

Page 423: ...ON Increase the power supply capacity The Servo Drive is faulty circuit fault Replace the Servo Drive 12 hex 0 hex Overvoltage The power supply voltage exceeded the allowable input voltage range caus...

Page 424: ...r supply voltage Change the power supply Eliminate the cause of the failure of the electromagnetic contactor on the main circuit power supply and then turn ON the power again 1 hex Main Power Supply U...

Page 425: ...k for missing connector pins in motor connections U V and W If any loose or missing connector pins are found secure them firmly The relay for the dynamic brake has been welded due to frequent servo ON...

Page 426: ...s incorrect and the motor cable to was connected to a motor for another axis Wire the motor and the external encoder correctly so that the wires match the axes 18 hex 0 hex Regeneration Overload 4 The...

Page 427: ...Level Setting 3910 hex Do not give excessive speed commands Check the input frequency dividing ratio and multiplication ratio of the position command If overshooting occurred due to faulty gain adjust...

Page 428: ...tion 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 hex Interface Input Duplicate Allocation...

Page 429: ...turned ON and data was read from the EEPROM The Servo Drive is faulty Replace the Servo Drive Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair 38 he...

Page 430: ...pply to reset 1 hex External Encoder Status Error 1 Bit 1 of the external encoder error code ALMC was set to 1 Refer to the external encoder specifications 2 hex External Encoder Status Error 2 Bit 2...

Page 431: ...tic Pole Position Estimation Error 1 The magnetic pole position estimation was not completed successfully The external encoder direction setting is wrong Check the specifications of the external encod...

Page 432: ...tions Synchronization Error 8 4 hex Synchronization Error 5 hex Sync Manager WDT Error 87 hex 0 hex Immediate Stop Input Error An Immediate Stop STOP signal was input Check the Immediate Stop STOP sig...

Page 433: ...cycle was set to 250 or 500 s Check the communications cycle settings or the electronic gear object Check the communications cycle settings or control mode settings Check the communications cycle sett...

Page 434: ...ur due to the timing between safety input 1 2 and error clear input This error will occur if both of the following conditions are met An error was cleared when at least one of the input photocouplers...

Page 435: ...cle SYNC0 cycle 4 hex Synchronization Error Occurs during operation Control PCB error Replace the Servo Drive 5 hex Sync Manager WDT Error Occurs during operation PDO communications were stopped for m...

Page 436: ...her status Init Pre Operational Safe Operational was received An unsupported number was set for the Modes of operation 6060 hex The setting of the Modes of operation 6060 hex was changed at an interva...

Page 437: ...Error Synchronization Error The number of consecutive errors in receiving data during the communication sync time exceeded the value specified for the Communications Error Setting 2200 hex The Sync0 s...

Page 438: ...setting Review the setting of DC Mode in the host controller 0035 hex Synchronization Cycle Setting Error An unsupported synchronous cycle SYNC0 cycle was set Review the synchronous cycle SYNC0 cycle...

Page 439: ...for two communications cycles or more in Profile position mode pp Set the Servo Drive so that it retains the object value for two communications cycles or more It is hard to determine if the motor run...

Page 440: ...controller is incorrect The size of the absolute command is set incorrect The polarity of an incremental command is set incorrect Check the actual and target values Check the operation direction The h...

Page 441: ...mic brake resistance is disconnected Review the load mass Replace the motor and Servo Drive with proper ones The dynamic brake is disabled Check if the dynamic brake is disabled or broken Enable the d...

Page 442: ...ble because the cable does not meet specifications Check to see if it is a shielded twisted pair cable with core wires that are at least 0 12 mm2 Use a control I O signal cable that meets specificatio...

Page 443: ...e set value of the Mass Ratio 3004 hex Adjust the set value of object 3004 hex with the load Vibration is occurring at the same frequency as the power supply Inductive noise is occurring Check to see...

Page 444: ...rror that occurred Check the error number in 12 4 1 Troubleshooting with Error Displays on page 12 13 An excessive load or external force is applied to the Servo Drive Check to be sure that the linear...

Page 445: ...aintenance cycle depends on the installation environment and application conditions of the Linear Sliders and Servo Drives Recommended maintenance times are given below for Linear Sliders and Servo Dr...

Page 446: ...ate even when the Servo Drive is stored with no power supplied If the Servo Drive is not used for a long time we recommend periodic inspection and a part replacement period of 5 years If the motor or...

Page 447: ...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 7 Object Dictionary A 22 A 1 8 Communication Objects A 25 A 1 9 PDO...

Page 448: ...ion on page A 3 For details on command coding refer to 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 Cont...

Page 449: ...bled Initialization has been completed Servo Drive parameters can be set Ready to switch on The main circuit power supply can be turned ON Servo Drive parameters can be set Switched on The main circui...

Page 450: ...x If an unsupported operation mode is specified a Function Setting Error Error 93 4 will occur State Coding Conditions Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Switch on disabled Quick stop Voltage e...

Page 451: ...eceive 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 setting...

Page 452: ...cations cycle is set to 1 ms or above 4 When realtime autotuning is enabled the instantaneous speed observer and disturbance observer are automatically disabled 5 Realtime autotuning must be disabled...

Page 453: ...he command value Therefore when the Mode of operation is changed from the position control mode to the speed control mode the enabled command value must be set to the Target velocity 60FF hex at the s...

Page 454: ...immediate stop When the Halt bit is ON the motor performs the stop operation according to the setting of the Halt option code 605D hex Precautions for Correct Use Precautions for Correct Use Precauti...

Page 455: ...ained 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 ignored For details see figures b and c below Modes of Operati...

Page 456: ...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 6061...

Page 457: ...ue 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 drive proh...

Page 458: ...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 power O...

Page 459: ...ceding 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 functi...

Page 460: ...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 pp Operation enabled Switched on N...

Page 461: ...Specifications Homing Mode Configuration Supported Homing Methods Homing method Description Reference 0 Not specified 8 Homing by Origin Proximity Input and origin signal positive operation start P A...

Page 462: ...ero RW U32 Command unit s 100 to 3 276 700 5 000 4103 hex 00 hex Coordinate System Setting Mode RW U16 0000 to FFFF hex 0000 hex 4104 hex 00 hex Coordinate System Setting Position RW INT32 Command uni...

Page 463: ...mbination of these bits The status based on the combination of the bits are shown in the following table 12 Homing attained 13 Homing error Bit 13 Bit 12 Bit 10 Description 0 0 0 Homing procedure is i...

Page 464: ...on 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 proh...

Page 465: ...ition 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 Drive...

Page 466: ...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 dr...

Page 467: ...e 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 bit 3...

Page 468: ...hex Data Type Area Definitions of data types 1000 to 1FFF hex CoE Communications Area Definitions of variables that can be used by all servers for designated communications 2000 to 2FFF hex Manufactur...

Page 469: ...ng mode Setting range The possible range of settings Unit Physical units Default setting Default value set before shipment Data attribute The timing when a change in the contents is updated for a writ...

Page 470: ...Size Size Access Access PDO map Possible Not possible Sub index 01 hex Sub index name Setting range Range Unit Unit Default setting Default Data attribute Attribute Size Size Access Access PDO map Po...

Page 471: ...ault setting 0002 0192 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible Bit Name Description 0 to 15 Device profile number 402 192 hex Drive Profile 16 to 23 Type 02 Servo Drive 25 t...

Page 472: ...ations Model Single 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...

Page 473: ...No 11 0 Writing to the EEPROM may take up to 10 seconds This is when all objects are changed There is a limit to the number of times you can write to the EEPROM The following objects are saved 1010 he...

Page 474: ...owing cases an ABORT code is returned Writing with CompleteAccess Writing a value other than 6461 6F6C hex Writing when there is a Control Power Supply Undervoltage Error Error No 11 0 Writing in oper...

Page 475: ...ibute Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex Revision Number Setting range Unit Default setting Refer to the table Data attribute Size 4 bytes U32 Access RO PDO map Not possi...

Page 476: ...ached it is saved as Diagnosis message 1 and the sequence starts again 10F0 hex Backup Parameters Mode Sub index 00 hex Number of entries Setting range Unit Default setting 02 hex Data attribute Size...

Page 477: ...Data attribute D Size 4 bytes U32 Access 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 Data attribute D Size 4 b...

Page 478: ...e Op or Operational Op Writing with non existent objects specified Writing with incorrect object size specified Writing with objects that cannot be mapped in the PDO mapping specified The following ob...

Page 479: ...ttribute Size 1 byte U8 Access RO PDO map Not possible Sub index 01 hex PDO entry 1 1st Output Object to be mapped Setting range Unit Default setting 6040 0010 hex Data attribute Size 4 bytes U32 Acce...

Page 480: ...ault setting 607A 0020 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mapped Setting range Unit Default setting 60FF 0020 hex D...

Page 481: ...t Default setting 607A 0020 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mapped Setting range Unit Default setting 60FF 0020...

Page 482: ...Default setting 60FF 0020 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Output Object to be mapped Setting range Unit Default setting 6071 0010 h...

Page 483: ...Size 4 bytes U32 Access RO PDO map Not possible Sub index 03 hex PDO entry 3 3rd Output Object to be mapped Setting range Unit Default setting 60FF 0020 hex Data attribute Size 4 bytes U32 Access RO...

Page 484: ...D Size 4 bytes U32 Access RW PDO map Not possible Sub index 04 hex PDO entry 4 4th Input Object to be mapped Setting range Unit Default setting 60BA 0020 hex Data attribute D Size 4 bytes U32 Access R...

Page 485: ...ting with incorrect object size specified Writing with objects that cannot be mapped in the PDO mapping specified The following objects can be mapped to the Receive PDO mapping Index Sub index Bit len...

Page 486: ...ange Unit Default setting 6077 0010 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 05 hex PDO entry 5 5th Input Object to be mapped Setting range Unit Default setting 60F...

Page 487: ...ata attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Input Object to be mapped Setting range Unit Default setting 6077 0010 hex Data attribute Size 4 bytes U3...

Page 488: ...4 4th Input Object to be mapped Setting range Unit Default setting 6077 0010 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 05 hex PDO entry 5 5th Input Object to be map...

Page 489: ...tes U32 Access RO PDO map Not possible Sub index 04 hex PDO entry 4 4th Input Object to be mapped Setting range Unit Default setting 6077 0010 hex Data attribute Size 4 bytes U32 Access RO PDO map Not...

Page 490: ...0108 hex Data attribute Size 4 bytes U32 Access RO PDO map Not possible A 1 10 Sync Manager Communication Objects 1C00 hex Sync Manager Communication Type Sub index 00 hex Number of used Sync Manager...

Page 491: ...e 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 PDO Assignment Sub index...

Page 492: ...ications will be returned Writing when the EtherCAT communications state is other than Pre Operational Pre Op Writing to other than 1A00 hex 1B01 hex to 1B04 hex and 1BFF hex 1C13 hex Sync Manager 3 P...

Page 493: ...setting 0002 hex Data attribute A Size 2 bytes U16 Access RW PDO map Not possible Sub index 02 hex Cycle Time Setting range Unit Default setting 0000 0000 hex Data attribute Size 4 bytes U32 Access RO...

Page 494: ...02 hex Data attribute A Size 2 bytes U16 Access RW PDO map Not possible Sub index 02 hex Cycle Time Setting range Unit ns Default setting 0000 0000 hex Data attribute Size 4 bytes U32 Access RO PDO ma...

Page 495: ...ler of an error on the G5 series Servo Drive If you connect the G5 series Servo Drive with a Machine Automation Controller NJ series Model NJ301 NJ501 map this object to the PDO Sysmac Error Status Cl...

Page 496: ...ynchronization Error Error No 83 3 is detected It can be set to between 0 and 15 The error will occur when the number of detected Data Setting Warning exceeds this set value 1 Additional Information W...

Page 497: ...igin Position ZPOINT 0 Outside origin range 3 3 3 1 Within origin range 1 Distribution completed DEN 0 Distributing 3 1 Distribution completed 2 Zero Speed Detected ZSP 0 Zero speed not detected 3 3 3...

Page 498: ...sition Setting Unit Selection 3520 hex However this signal is always in command units Therefore there may be differences in the judgement conditions for INP2 and NEAR i e when an electronic gear is se...

Page 499: ...ioning Completed Hold Time 3433 hex do not affect this signal Therefore there may be differences in the judgement conditions for INP1 and Target reached 6041 hex bit 10 i e when an electronic gear is...

Page 500: ...ailbox communications When executing the Error Reset object remove the cause of the trip or fault before writing In the following two cases an ABORT code is returned Writing with CompleteAccess Writin...

Page 501: ...number of the error The main number and sub number are hexadecimal numbers but are combinations of 0 to 9 A 1 12 Servo Drive Profile Objects 603F hex Error code Setting range 0000 to FFFF hex Unit De...

Page 502: ...ize 2 bytes U16 Access RW PDO map Possible Bit Name Description 0 Switch on The state is controlled by these bits Quick stop is not supported The Quick stop bit is ignored even if set to 0 1 1 Enable...

Page 503: ...mpleted during the Homing mode 3 This bit is not used in other modes of operation 11 Internal limit active This bit indicates that the limit function is in effect This bit becomes 1 when the limit fun...

Page 504: ...value is ignored and operation will follow the Servo Drive s internal command However when the Target Value Ignored bit later changes to 1 and the target value is enabled the target position of the co...

Page 505: ...he motor 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 T...

Page 506: ...and coordinates 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 duri...

Page 507: ...INT16 Access RW PDO map Not possible Set value Decelerating 1 After stopping Deceleration method Error Operation after stopping Error 7 Operation A 2 Immediate Stop 3 Immediate Stop Force 3511 hex Cl...

Page 508: ...n 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 power supply is turned ON A Command Warning E...

Page 509: ...9 and 4 294 967 294 the set value becomes 134 217 728 6062 hex Position demand value Setting range 2 147 483 648 to 2 147 483 647 Unit Command unit Default setting 0 Data attribute Size 4 bytes INT32...

Page 510: ...Set the value in units of 0 1 of the rated force 100 This object gives the Servo Drive s internal force command value Set the value in units of 0 1 of the rated force 100 6067 hex Position window Set...

Page 511: ...hat the Positive position limit is larger than the Negative position limit The software position limit is disabled when an origin return has not been completed 6077 hex Torque actual value Setting ran...

Page 512: ...n be used in Cyclic synchronous position mode csp Profile position mode pp and Homing mode hm When the communications cycle is set to 250 s or 500 s the position command FIR filter is disabled regardl...

Page 513: ...page A 15 6091 hex Gear ratio Sub index 00 hex Number of entries Setting range Unit Default setting 02 hex Data attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 01 hex Motor revolutio...

Page 514: ...he operation may be performed in the direction opposite to the command increment direction Absolute value of Current position command additional value Previous position command additional value Maximu...

Page 515: ...ex bit 9 remote is 0 local For details on the latch function refer to 7 11 Touch Probe Function Latch Function on page 7 39 Explanation of Settings 60B2 hex Torque offset Setting range 5 000 to 5 000...

Page 516: ...ssible Bit Value 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 to 7 0 to 3 The...

Page 517: ...e Unit Default setting 0008 hex Data attribute Size 2 bytes U16 Access RO PDO map Not possible Sub index 02 hex 2nd supported homing method Setting range Unit Default setting 0012 hex Data attribute S...

Page 518: ...of the EDM output 60F4 hex Following error actual value Setting range 536 870 912 to 536 870 912 Unit Command unit Default setting 0 Data attribute Size 4 bytes INT32 Access RO PDO map Possible 60FA h...

Page 519: ...put DEC 0 OFF 1 ON 3 to 15 Reserved 16 Encoder Phase Z Detection PC 0 Phase Z signal not detected during communication cycle 1 Phase Z signal detected during communication cycle 17 External Latch Inpu...

Page 520: ...b index 00 hex Number of entries Setting range Unit Default setting 02 hex Data attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 01 hex Physical outputs Setting range 0000 0000 to FFF...

Page 521: ...isable 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 OUT2 disable output 1 R OU...

Page 522: ...ccess RO PDO 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 mod...

Page 523: ...erational Pre Op R Updated after the control power is reset It is not updated for a Config command via EtherCAT communications RO Write prohibited Index Sub Index Name Default setting Setting range Un...

Page 524: ...t possible 01 hex Backup Parameter Checksum 4 bytes U32 RO Not possible 02 hex Backup Parameter Changed 0 1 bit BOOL A Not possible 10F3 hex Diagnosis History 00 hex Number of entries 13 hex 1 byte U8...

Page 525: ...e 1701 hex 258th receive PDO Mapping 00 hex Number of objects in this PDO 04 hex 1 byte U8 RO Not possible 01 hex 1st Output Object to be mapped 6040 0010 hex 4 bytes U32 RO Not possible 02 hex 2nd Ou...

Page 526: ...possible 1704 hex 261th RxPDO mapping parameter 00 hex Number of objects in this PDO 09 hex 1 byte U8 RO Not possible 01 hex 1st Output Object to be mapped 6040 0010 hex 4 bytes U32 RO Not possible 0...

Page 527: ...bytes U32 RO Not possible 1A00 hex 1st transmit PDO Mapping 00 hex Number of objects in this PDO 07 hex 1 byte U8 RW Not possible 01 hex 1st Input Object to be mapped 6041 0010 hex 4 bytes U32 RW Not...

Page 528: ...Not possible 09 hex 9th Input Object to be mapped 60FD 0020 hex 4 bytes U32 RO Not possible 1B02 hex 259th transmit PDO Mapping 00 hex Number of objects in this PDO 09 hex 1 byte U8 RO Not possible 01...

Page 529: ...ossible 1B04 hex 261th transmit PDO Mapping 00 hex Number of objects in this PDO 0A hex 1 byte U8 RO Not possible 01 hex 1st Input Object to be mapped 603F 0010 hex 4 bytes U32 RO Not possible 02 hex...

Page 530: ...nc Manager 1 PDO Assignment 00 hex Number of assigned PDOs 00 hex 1 byte U8 RO Not possible 1C12 hex Sync Manager 2 PDO Assignment 00 hex Number of assigned PDOs 01 hex 1 byte U8 D Not possible 01 hex...

Page 531: ...O Not possible 04 hex SynchronizationTypes supported 0004 hex 2 bytes U16 RO Not possible 05 hex Minimum Cycle Time 0000 3A98 hex ns 4 bytes U32 RO Not possible 06 hex Calc and Copy Time 0006 06F8 hex...

Page 532: ...6 hex 00 hex Regeneration Resistor Selection 0 3 2 0 to 3 2 bytes INT16 C Not possible Pn016 3017 hex 00 hex External Regeneration Resistor Setting 0 0 to 4 2 bytes INT16 C Not possible Pn017 3100 hex...

Page 533: ...3124 hex 00 hex Switching Mode in Force Control 0 0 to 3 2 bytes INT16 B Not possible Pn124 3125 hex 00 hex Gain Switching Delay Time in Force Control 0 0 to 10 000 0 1 ms 2 bytes INT16 B Not possible...

Page 534: ...curve Acceleration Deceleration Time Setting 0 0 to 1 000 ms 2 bytes INT16 B Not possible Pn314 3317 hex 00 hex Speed Limit Selection 1 0 to 1 2 bytes INT16 B Not possible Pn317 3321 hex 00 hex Speed...

Page 535: ...ex Speed for Motor Detection 1 000 10 to 20 000 mm s 2 bytes INT16 A Not possible Pn436 3437 hex 00 hex Brake Timing when Stopped 0 0 to 10 000 ms 2 bytes INT16 B Not possible Pn437 3438 hex 00 hex Br...

Page 536: ...ytes INT16 B Not possible Pn609 3610 hex 00 hex Function Expansion Setting 64 0 to 511 2 bytes INT16 B Not possible Pn610 3614 hex 00 hex Error Detection Allowable Time Setting 200 0 to 1 000 ms 2 byt...

Page 537: ...2 3904 hex 00 hex Motor Coil Unit Mass 0 0 to 32 767 0 01 kg 2 bytes INT16 R Not possible Pn904 3905 hex 00 hex Motor Rated Force 0 0 to 32 767 0 1 N 2 bytes INT16 R Not possible Pn905 3906 hex 00 hex...

Page 538: ...00 to FFFF hex 2 bytes U16 RO TxPDO 4100 hex 00 hex Config 0000 0000 hex 0000 0000 to FFFF FFFF hex 4 bytes U32 B Not possible 4103 hex 00 hex Coordinate System Setting Mode 0083 hex 0000 to FFFF hex...

Page 539: ...32 A Not possible Pn743 02 hex Max position limit 500 000 1 073 741 823 to 1 073 741 823 Command unit 4 bytes INT32 A Not possible Pn744 607F hex 00 hex Max profile velocity 0 0 to 2 147 483 647 Comma...

Page 540: ...4 hex 4th supported homing method 20 2 bytes U16 RO Not possible 05 hex 5th supported homing method 33 2 bytes U16 RO Not possible 06 hex 6th supported homing method 34 2 bytes U16 RO Not possible 07...

Page 541: ...ssumed cause Level Reference Maj Prt Min Obs Info 04A8 0000 hex Control Power Supply Undervoltage The voltage between the positive and negative terminals in the control power supply converter dropped...

Page 542: ...set to 1 a momentary power interruption occurred between L1 and L3 for longer than the value specified for the Momentary Hold Time The voltage between the positive and negative terminals in the main p...

Page 543: ...he Servo Drive The control circuit malfunctioned temporarily due to excess noise or some other problem The Servo Drive s self diagnosis function detected an error in the Servo Drive 3 P A 117 080B 000...

Page 544: ...phase B connection An error such as broken wiring was detected in the external encoder phase B connection 3 P A 122 0816 0000 hex Phase Z Connection Error An error such as broken wiring was detected...

Page 545: ...000 hex Overload When the feedback value for force command exceeds the overload level specified in the Overload Detection Level Setting 3512 hex overload protection is performed according to the overl...

Page 546: ...ion command processing an error such as a calculation range error occurred During position command processing an error such as an over the calculation range error occurred 3 P A 136 3843 0000 hex Foll...

Page 547: ...on There is an undefined number specification in the output signal OUTM1 function allocation 3 P A 141 384A 0000 hex Interface Output Function Number Error 2 There is an undefined number specification...

Page 548: ...e communications period was set to 250 s No bytes i e no objects were mapped for RxPDO More than 10 objects were mapped for RxPDO More than 11objects were mapped for TxPDO 3 P A 146 3853 0000 hex Magn...

Page 549: ...electric current was applied to the motor to execute the lock operation or FFT measurement preparation The Current Loop Proportional Gain or Current Loop Integral Gain value before automatic setting i...

Page 550: ...erCAT communications were interrupted Or POT or NOT turned ON while operation was being performed for a CX Drive operation command A problem occurred with the switches wires and power supplies that ar...

Page 551: ...s changed at an interval of less than 2 ms Homing was started when the Homing Method 6098 hex was set to a value other than 8 12 19 20 33 34 or 35 Data setting warnings B0 hex occurred continuously fo...

Page 552: ...roken Control PCB error 3 P A 155 84B6 0000 hex ESC Initialization Error An error occurred in ESC initialization Control PCB error 3 P A 156 84B7 0000 hex Slave Unit Verification Error An error occurr...

Page 553: ...tor line or a broken cable 3 P A 162 383D 0000 hex Excessive Regeneration Warning The regeneration load ratio is 85 or more of the level There is excessive regeneration This Regeneration Resistor cann...

Page 554: ...ommunications 84B0 0000 hex EtherCAT Communications Warning EtherCAT communications errors occurred one or more times The EtherCAT communications cable is disconnected or broken Noise 3 P A 166 Event...

Page 555: ...ent name Gives the name of the error Event code Gives the code of the error Description Gives a short description of the error Source Gives the source of the error Source details Gives details on the...

Page 556: ...uit 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 cause Correctio...

Page 557: ...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 558: ...variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention Insufficient power supply capacity Increase the power supply capacity None The electromagnetic contacto...

Page 559: ...tem defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention Insufficient power supply capacity Increase the power supply capacity None The electromagnet...

Page 560: ...d 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 immediat...

Page 561: ...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 562: ...tion 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 04B1 0000 hex Description The...

Page 563: ...Servo Drive 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...

Page 564: ...d on the Servo Drive front panel and F050 is given as the AlarmCode 4001 hex Event name External Encoder Communications Data Error Event code 080D 0000 hex Description There was a communications error...

Page 565: ...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 Encode...

Page 566: ...ications 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 code...

Page 567: ...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 Encode...

Page 568: ...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 0815 00...

Page 569: ...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 570: ...ive 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 14AA 0000 hex Descr...

Page 571: ...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 Corrupte...

Page 572: ...ervo Drive front panel and F237 is given as the AlarmCode 4001 hex Event name Motor Setting Error Event code 2801 0000 hex Description Settings associated with the motor and external encoder are missi...

Page 573: ...tem defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The Motor Rated Rms Current Motor Peak Absolute Current exceeds the maximum motor capacity a...

Page 574: ...hex is 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...

Page 575: ...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 Correction Prevention The ambient temperature of th...

Page 576: ...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 577: ...vention 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 Regene...

Page 578: ...to the 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 bein...

Page 579: ...None Cause and correction Assumed cause Correction Prevention Motor operation does not follow the command Adjust the gain to improve the following ability Increase the acceleration deceleration time f...

Page 580: ...ed variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The velocity command value is too large Reduce the velocity command value Adjust the input frequency...

Page 581: ...arge The wiring is incorrect Wire the external encoder correctly as shown in the wiring diagram Wire the external encoder correctly as shown in the wiring diagram Attached information None Precautions...

Page 582: ...1 hex Event name Following Error Counter Overflow 1 Event code 3843 0000 hex Description When an absolute external encoder was in use the value of Position actual internal value external encoder pulse...

Page 583: ...er 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 ca...

Page 584: ...nly once Attached information None Precautions Remarks 33 is displayed on the Servo Drive front panel and F033 is given as the AlarmCode 4001 hex Event name Interface Input Duplicate Allocation Error...

Page 585: ...ram 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 Caus...

Page 586: ...r 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 cau...

Page 587: ...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 Eth...

Page 588: ...eset 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 EtherNet IP NET ERR EtherNet IP...

Page 589: ...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 cause Corre...

Page 590: ...ue of the Overrun Limit Setting 3514 hex Disable the protective function if it is unnecessary Increase the set value of the Overrun Limit Setting 3514 hex Disable the protective function if it is unne...

Page 591: ...e AlarmCode 4001 hex Event name External Encoder Connection Error Event code 3851 0000 hex Description The set value of the External Feedback Pulse Type Selection 3323 hex differs from the external en...

Page 592: ...riod was 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...

Page 593: ...ifications 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...

Page 594: ...EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The value set for the Magnetic Pole Position Estimation Time Limit...

Page 595: ...Magnetic pole position restoration method although magnetic pole position estimation had never been executed Set the Magnetic Pole Detection Method 3920 hex to 2 Magnetic pole position estimation meth...

Page 596: ...e Drive Prohibition Input NOT turned ON When the Drive Prohibition Input Selection 3504 hex was set to 2 either the Positive Drive Prohibition Input POT or the Negative Drive Prohibition Input NOT tur...

Page 597: ...he Positive Drive Prohibition input or the Negative Drive Prohibition input In particular check to see if the control signal power supply 12 to 24 VDC turned ON too slowly The goal is to detect the er...

Page 598: ...unications 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 spec...

Page 599: ...ed 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 information...

Page 600: ...ring the communication sync time exceeded the value specified for the Communications Error Setting 2200 hex Source EtherCAT Master Function Module Source details Slave Detection timing Continuously Er...

Page 601: ...tion 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 84B5 0000 hex Description PDO comm...

Page 602: ...hed information None Precautions Remarks 88 is displayed on the Servo Drive front panel and F188 is given as the AlarmCode 4001 hex Event name SII Verification Error Event code 84B7 0000 hex Descripti...

Page 603: ...nges 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...

Page 604: ...cause 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 cod...

Page 605: ...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 front pan...

Page 606: ...and correction Assumed cause Correction Prevention There is insufficient external encoder power supply voltage Provide the required external encoder power supply voltage 5 VDC 5 4 75 to 5 25 V Provide...

Page 607: ...ering on the external encoder connector cable If the motor cable and the external encoder cable are bundled together separate them Connect the shield to FG If the motor cable and the external encoder...

Page 608: ...nd the motor Increase the setting of the acceleration deceleration time and lighten the load Adjust the gain or mass ratio Remove machine distortion Measure the voltage at the brake terminal If the br...

Page 609: ...ion There is excessive regeneration Check the operation pattern velocity monitor Check the Regeneration Resistor load rate and the excessive regeneration warning and perform the following accordingly...

Page 610: ...User program Continues Operation Not affected Indicators EtherNet IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assume...

Page 611: ...rvo 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 612: ...Net IP NET RUN EtherNet IP NET ERR EtherNet IP LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The EtherCAT communications cable...

Page 613: ...nse time for this product For information on calculating the I O response time of the system refer to the manual for the EtherCAT Master The input response time for this product is shown below A 4 1 I...

Page 614: ...esponse time R88D KN01L ECT L 290 to 380 s R88D KN02L ECT L 330 to 420 s R88D KN04L ECT L R88D KN01H ECT L 290 to 380 s R88D KN02H ECT L R88D KN04H ECT L 330 to 420 s R88D KN08H ECT L R88D KN10H ECT L...

Page 615: ...bjects 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 simil...

Page 616: ...Appendices A 170 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...

Page 617: ...Index 1 I G5 series Linear Motors Servo Drives With Built in EtherCAT Communications Index...

Page 618: ...ock Cables 2 10 Connector Terminal Block Conversion Unit 3 54 Connector terminal Blocks 2 10 Contactors 4 42 Control Cables Control I O Connector 3 48 model list 2 10 Control Circuit Connector Specifi...

Page 619: ...98 A 123 14A8 0000 hex A 98 A 123 14A9 0000 hex A 98 A 124 14AA 0000 hex A 98 A 124 14AB 0000 hex A 98 A 125 14AC 0000 hex A 98 A 125 14AD 0000 hex A 98 A 126 2801 0000 hex A 98 A 126 2802 0000 hex A...

Page 620: ...on the Control Mode 7 28 Gain Switching Delay Time in Force Control 3125 hex 9 17 Gain Switching Delay Time in Position Control 3116 hex 9 12 Gain Switching Delay Time in Speed Control 3121 hex 9 15 G...

Page 621: ...2 Motor Resistance 3909 hex 9 63 Motor Speed Detection Output TGON 3 14 Motor type 6402 hex A 75 Mounting Brackets L brackets for Rack Mounting 2 11 Movement Direction Setting 3000 hex 9 3 Multiple PD...

Page 622: ...ts SDOs 5 12 Servo Drive amount of internal regeneration absorption 4 49 Characteristics 100 VAC Input Models 3 3 200 VAC Input Models 3 3 400 VAC Input Models 3 4 Life Expectancy 12 36 Replacing 12 4...

Page 623: ...er Selection 3758 hex 9 56 Troubleshooting 12 13 Troubleshooting Using the Operation State 12 28 Troubleshooting with Error Displays 12 13 Two stage Force Filter Attenuation Term 3916 hex 9 65 Two sta...

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Page 626: ...IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron...

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