Contents - Omron R88D-KN series User Manual

3-1-2 Characteristics ............................................................................................................................ 3-2
3-1-3 EtherCAT Communications Specifications ................................................................................. 3-5
3-1-4 EtherCAT Communications Connector Specifications (RJ45) .................................................... 3-5
3-1-5 Control I/O Specifications (CN1)................................................................................................. 3-6
3-1-6 Control Input Circuits .................................................................................................................. 3-9
3-1-7 Control Input Details ................................................................................................................... 3-9
3-1-8 Control Output Circuits ............................................................................................................. 3-11
3-1-9 Control Output Details .............................................................................................................. 3-12
3-1-10 External Encoder Specifications............................................................................................... 3-16
3-1-11 External Encoder Connector Specifications (CN4)................................................................... 3-17
3-1-12 Analog Monitor Connector Specifications (CN5) ...................................................................... 3-21
3-1-13 USB Connector Specifications (CN7) ....................................................................................... 3-22
3-1-14 Safety Connector Specifications (CN8) .................................................................................... 3-23
3-2 Overload Characteristics (Electronic Thermal Function) .................................................. 3-25
3-3 Cable and Connector Specifications ................................................................................... 3-27
3-3-1 Bend Radius of Robot Cable .................................................................................................... 3-27
3-3-2 Connector Specifications .......................................................................................................... 3-28
3-3-3 EtherCAT Communications Cable Specifications ..................................................................... 3-29
3-3-4 Analog Monitor Cable Specifications ........................................................................................ 3-32
3-3-5 Control Cable Specifications..................................................................................................... 3-33
3-4 External Regeneration Resistor Specifications.................................................................. 3-38
3-5 Reactor Specifications.......................................................................................................... 3-39
Section 4 System Design
4-1 Installation Conditions............................................................................................................ 4-2
4-2 Wiring ....................................................................................................................................... 4-4
4-2-1 Peripheral Equipment Connection Examples ............................................................................. 4-4
4-2-2 Main Circuit and Linear Motor Connections.............................................................................. 4-14
4-2-3 Terminal Block Wire Sizes ........................................................................................................ 4-24
4-2-4 Terminal Block Wiring Procedure ............................................................................................. 4-29
4-3 Wiring Conforming to EMC Directives................................................................................. 4-31
4-3-1 Wiring Method .......................................................................................................................... 4-31
4-3-2 Selecting Connection Component ............................................................................................ 4-39
4-4 Regenerative Energy Absorption......................................................................................... 4-51
4-4-1 Calculating the Regenerative Energy ....................................................................................... 4-51
4-4-2 Servo Drive Regeneration Absorption Capacity ....................................................................... 4-53
4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor .............................. 4-54
4-4-4 Connecting an External Regeneration Resistor ....................................................................... 4-55
Section 5 EtherCAT Communications
5-1 Display Area and Settings ...................................................................................................... 5-2
5-1-1 Node Address Setting................................................................................................................. 5-2
5-1-2 Status Indicators ......................................................................................................................... 5-3
5-2 Structure of the CAN Application Protocol over EtherCAT ................................................. 5-4
5-3 EtherCAT State Machine ......................................................................................................... 5-5
5-4 Process Data Objects (PDOs)................................................................................................. 5-6
5-4-1 PDO Mapping Settings ............................................................................................................... 5-6
5-4-2 Sync Manager PDO Assignment Settings .................................................................................. 5-7
5-4-3 Fixed PDO Mapping ................................................................................................................... 5-7
5-4-4 Variable PDO Mapping ............................................................................................................... 5-9
5-4-5 Multiple PDO Mapping.............................................................................................................. 5-10
5-5 Service Data Objects (SDOs)................................................................................................ 5-12
5-6 Synchronization with Distributed Clocks ............................................................................ 5-13
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

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