Omron 1 S Series User Manual
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Omron 1 S Series User Manual

With built-in ethercat communications and safety functionality
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Table of Contents

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AC Servomotors/Servo Drives
1S-series with Built-in
EtherCAT
Communications and
®
Safety Functionality
User's Manual
R88M-1AL/-1AM (AC Servomotors)
R88D-1SAN-ECT (AC Servo Drives)
I621-E1-01

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Summary of Contents for Omron 1 S Series

  • Page 1 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications and ® Safety Functionality User’s Manual R88M-1AL/-1AM (AC Servomotors) R88D-1SAN-ECT (AC Servo Drives) I621-E1-01...
  • Page 2 No patent liability is assumed 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 subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.

  • Page 3: Introduction

    Introduction Introduction Thank you for purchasing a 1S-series Servo Drive Advance Type. This User’s Manual describes the installation and wiring methods of the 1S-series Servo Drives and parameter setting method which is required for the operation, as well as troubleshooting and inspection methods. Intended Audience This User’s Manual is intended for the following personnel, who must also have electrical knowledge (certified electricians or individuals who have equivalent knowledge).

  • Page 4: Manual Structure

    Manual Structure Manual Structure This section explains the page structure and symbol icons. Page Structure The following page structure is used in this manual. Level 1 7 Applied Functions heading Soft Start Function Level 2 heading This function sets the acceleration and deceleration against the velocity command input inside the Servo Drive and uses these values for speed control.
  • Page 5 Manual Structure 7 Applied Functions Special information Precautions for Correct Use Do not set the Acceleration Time and the Deceleration Time when the position loop structure Icons indicate precautions, with a host controller is used. additional information, or reference information. 7-9-3 Velocity Command Filter (First-order Lag) The velocity command filter (first-order lag) is an IIR filter used for speed commands.

  • Page 6: Manual Configuration

    Manual Configuration Manual Configuration This User’s Manual consists of the following sections. Read the necessary section or sections by reference to the following table. Section Outline Features and Sys- This section explains the features of the Servo Drive and name of each part. Section 1 tem Configuration This section explains the models of Servo Drives, Servomotors, Decelera-...

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Features and System Operation Configuration Models and External Adjustment Functions Dimensions Specifications Troubleshooting Configuration and Maintenance and Wiring Inspection EtherCAT Appendices Communications Basic Control Index Functions Applied Functions Safety Function Details on Servo Parameters 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 8: Table Of Contents

    CONTENTS CONTENTS Introduction ......................1 Manual Structure ...................... 2 Manual Configuration ....................4 Sections in this Manual ................... 5 Terms and Conditions Agreement ................ 18 Safety Precautions ....................20 Items to Check After Unpacking ................31 Related Manuals ..................... 39 Terminology ......................
  • Page 9 CONTENTS How to Read Model Numbers..................... 2-4 2-2-1 Servo Drive..........................2-4 2-2-2 Servomotor..........................2-5 2-2-3 Integrated Cable........................2-6 2-2-4 Decelerator..........................2-7 Model Tables ........................2-9 2-3-1 Servo Drive Model Table ......................2-9 2-3-2 Servomotor Model Tables....................... 2-10 2-3-3 Servo Drive and Servomotor Combination Tables..............2-12 2-3-4 Decelerator Model Tables.......................
  • Page 10 CONTENTS 3-5-3 External Regeneration Resistance Unit Specifications............3-60 Reactor Specifications...................... 3-61 3-6-1 General Specifications ......................3-61 3-6-2 Characteristics ........................3-61 3-6-3 Terminal Block Specifications ....................3-62 Noise Filter Specifications....................3-63 Section 4 Configuration and Wiring Installation Conditions......................4-2 4-1-1 Servo Drive Installation Conditions ................... 4-2 4-1-2 Servomotor Installation Conditions ...................
  • Page 11 Cyclic Synchronous Velocity Mode ................. 6-12 Cyclic Synchronous Torque Mode................... 6-14 Profile Position Mode......................6-16 Profile Velocity Mode ......................6-21 Homing Mode........................6-24 Connecting with OMRON Controllers................6-25 Section 7 Applied Functions General-purpose Input Signals ..................7-3 7-1-1 Objects Requiring Settings ....................... 7-4 7-1-2 Default Setting..........................
  • Page 12 CONTENTS 7-11 Touch Probe Function (Latch Function)................7-38 7-11-1 Related Objects ........................7-38 7-11-2 Trigger Signal Settings......................7-40 7-11-3 Operation Sequence....................... 7-41 7-12 Encoder Dividing Pulse Output Function ............... 7-42 7-12-1 Objects Requiring Settings ..................... 7-43 7-12-2 Dividing Ratio.......................... 7-43 7-12-3 Output Reverse Selection.......................
  • Page 13 CONTENTS 8-7-6 Setting of Safety Origin Position..................... 8-89 Safe Direction (SDI) Function..................8-102 8-8-1 Objects Requiring Settings....................8-102 8-8-2 Operation Procedure ......................8-103 8-8-3 Operation Timing ......................... 8-104 8-8-4 Example of Safety Program ....................8-110 Safe Brake Control (SBC) Function ................8-112 8-9-1 Configuration Method for SBC ....................8-113 8-9-2...
  • Page 14 CONTENTS Torque Output Setting Objects ..................9-44 9-5-1 3310 hex: Torque Compensation .................... 9-44 9-5-2 3320 hex: Adaptive Notch Filter....................9-46 9-5-3 3321 hex: 1st Notch Filter....................... 9-47 9-5-4 3322 hex: 2nd Notch Filter...................... 9-49 9-5-5 3323 hex: 3rd Notch Filter ...................... 9-51 9-5-6 3324 hex: 4th Notch Filter.......................
  • Page 15 CONTENTS 9-15-6 4634 hex: Home Proximity Input ...................9-118 9-15-7 4635 hex: Positive Torque Limit Input..................9-118 9-15-8 4636 hex: Negative Torque Limit Input ..................9-119 9-15-9 4637 hex: Error Stop Input ....................9-119 9-15-10 4638 hex: Monitor Input 1......................9-119 9-15-11 4639 hex: Monitor Input 2..................... 9-120 9-15-12 463A hex: Monitor Input 3 ....................
  • Page 16 CONTENTS 10-4 Confirmation of Safety Functions.................. 10-10 10-4-1 Preparation Before Confirmation of Safety Function ............10-10 10-4-2 Confirmation of Safety Function ................... 10-10 Section 11 Adjustment Functions 11-1 Outline of Adjustment Functions ..................11-3 11-1-1 Adjustment Methods ....................... 11-3 11-1-2 Adjustment Procedure ......................11-4 11-2 Easy Tuning ........................
  • Page 17 CONTENTS 12-4-1 Related Objects ........................12-14 12-4-2 Information List........................12-14 12-5 Troubleshooting ......................12-15 12-5-1 Troubleshooting Using Error Displays .................. 12-16 12-5-2 Troubleshooting Using AL Status Codes ................12-41 12-5-3 Troubleshooting Using the Operation State ................. 12-44 Section 13 Maintenance and Inspection 13-1 Periodic Maintenance......................

  • Page 18: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
  • Page 19 Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor- mance is subject to the Omron’s Warranty and Limitations of Liability.

  • Page 20: Safety Precautions

    Safety Precautions Safety Precautions • To ensure that the 1S-series Servomotor/Servo Drive Advance Type as well as peripheral equipment are used safely and correctly, be sure to read this Safety Precautions section and the main text before using the product. Learn all items you should know before use, regarding the equipment as well as the required safety information and precautions.
  • Page 21 When you use this product, be sure to install the covers and shields as specified and use the product according to this manual. • If the product has been stored for an extended period of time, contact your OMRON sales represen- tative.
  • Page 22 Safety Precautions  Installing Safety Products Qualified engineers must develop your safety-related system and install safety products in devices and equipment. Prior to machine commissioning, verify through testing that the safety products work as expected. The following are examples of related international standards. •...
  • Page 23 Safety Precautions Installation, Wiring and Maintenance WARNING Install the Servo Drive, Servomotor, and peripheral equipment before wiring. Not doing so may cause electric shock. Be sure to ground the 200-VAC input model Servo Drive and Servomotor to 100 Ω or less, and the 400-VAC input model to 10 Ω...
  • Page 24 Safety Precautions Lock the integrated cable and extension cable connectors. Not doing so may cause fire. Operation Check WARNING Use the Servomotor, Servo Drive and integrated cable in a specified combination. Not doing so may cause fire or equipment damage. Usage WARNING Do not enter the operating area during operation.
  • Page 25 Safety Precautions Make a design of equipment with consideration of a distance until a Servomotor stops while safety monitoring functions are used. Not doing so may cause injury and equipment damage. Do not place flammable materials near the Servomotor, Servo Drive, or peripheral equip- ment.
  • Page 26 Safety Precautions Wiring Caution Be careful about sharp parts such as the corner of the equipment when handling the Servo Drive and Servomotor. Injury may result. Precautions for Safe Use General Precaution • Do not store or install the Servo Drive in the following locations. Doing so may result in electric shock, fire, equipment damage, or malfunction.
  • Page 27 Safety Precautions Precautions for Correct Use General Precaution • When lifting a 20-kg or more Servo Drive during moving or installation, always have two people lift the product by grasping a metal part other than the shaft or the integrated connector. Do not grasp a plastic part.
  • Page 28 Safety Precautions • Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive. Fire may result. • Be sure to install surge suppressors when you connect a load with an induction coil such as a relay to the control output terminal.
  • Page 29 Safety Precautions • Periodically run the Servomotor approximately one rotation when the oscillation operation continues at a small angle of 45° or smaller. Servomotor failure may result. • When a difference between a position indicated by the Servo Drive before the power supply OFF and a position after the power supply ON is one rotation or more, check that devices are placed in appro- priate areas.
  • Page 30 Safety Precautions Disposal Comply with the local ordinance and regulations when disposing of the product. Dispose of in accordance with WEEE Directive 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 31: Items To Check After Unpacking

    *1. The notifications and their meanings are explained below. Notation: Lot No. DDMYY xxxx DDMYY: Lot number, : For use by OMRON, xxxx: Serial number “M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December) Accessories of Servo Drive This product comes with the following accessories.
  • Page 32 Connectors, mounting screws, mounting brackets, and other accessories other than those in the table below are not supplied. They must be prepared by the customer. If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or sales office where you purchased your product.
  • Page 33 Items to Check After Unpacking Safe brake Safety signal Specifications control connector connector (CN14) (CN15) 200 W Single-pha 400 W se/3-phase 750 W 200 VAC 1.5 kW 1 kW 3-phase 2 kW Included Included 200 VAC 3 kW 1 kW 1.5 kW 3-phase 400 VAC...
  • Page 34 Items to Check After Unpacking Servomotor Nameplate of Servomotor The model, rating and serial number of the 1S-series Servomotor are given on the product nameplate. Motor model From the left, R88M-1AM3K015C-BOS2 Number of phases (Example: 3) Rated voltage 400 VAC 8.5 A 3.0 kW (Example: 400 VAC)
  • Page 35 Χ Χ - Χ Χ Χ Χ Χ Χ Χ - Χ Χ Χ Upper row: Model on nameplate Lower row: Serial No. (the OMRON logo at the end) The model on nameplate HPG-14A-05-J2AXT corresponds to the decelerator model HPG14A05200B.
  • Page 36 Items to Check After Unpacking  Decelerator (backlash: 3 arcminutes max.) for 3,000-r/min Servomotors Specifications Without key With key and tap Servo- Reduc- motor tion Decelerator model Model on nameplate Decelerator model Model on nameplate rated ratio output 200 W R88G- HPG-14A-05-J2AXT R88G-...
  • Page 37 Items to Check After Unpacking Specifications Without key With key and tap Servo- Reduc- motor tion Decelerator model Model on nameplate Decelerator model Model on nameplate rated ratio output 2 kW R88G- HPG-32A-05-J2NFG R88G- HPG-32A-05-J6NFG HPG32A052K0B HPG32A052K0BJ R88G- HPG-32A-11-J2NFH R88G- HPG-32A-11-J6NFH 1/11 HPG32A112K0B...
  • Page 38 Serial number XXXXXXXXX LOT NO. Date of manufacture XXXX.XX DATE OMRON Corporation MADE IN CHINA (Rubber cap) Nameplate display location (Rubber cap side) Integrated Cable The following product models come with a shield clamp. The shield clamp is used for mounting to a Servo Drive.

  • Page 39: Related Manuals

    Related Manuals Related Manuals The following are the manuals related to this manual. Use these manuals for reference. Manual name Cat. No. Model numbers Application Description NX-series CPU W535 NX701- Learning the basic speci- An introduction to the entire Unit Hardware fications of the NX-series NX-series system is pro- User’s Manual...
  • Page 40 Related Manuals Manual name Cat. No. Model numbers Application Description NY-series W556 NY512- Learning the basic An introduction to the entire IPC Machine Controller IPC Machine information about IPC Controller Machine Controller system is provided along Industrial Box PC Industrial Box PCs. The with the following Hardware User’s basic information related...
  • Page 41 Related Manuals Manual name Cat. No. Model numbers Application Description NY-series W558 NY532- Learning how to program The following information is IPC Machine NY512- IPC Machine Controller provided on a Machine Controller functions and set up a Controller. Industrial Panel system in the NY-series •...
  • Page 42 Related Manuals Manual name Cat. No. Model numbers Application Description NJ/NX-series CPU W507 NX701- Learning about motion The settings and operation of Unit Motion Con- control settings and pro- the CPU Unit and program- NX102- trol User’s Manual gramming concepts. ming concepts for motion NX1P2-...

  • Page 43: Terminology

    Terminology Terminology Abbrevi- Term Description ation CAN application protocol over EtherCAT A CAN application protocol service implemented on EtherCAT. CAN in Automation CiA is the international users’ and manufacturers’ group that develops and supports higher-layer proto- cols. Device Profile Collection of device dependent information and func- tionality providing consistency between similar devices of the same device type.
  • Page 44 Terminology Abbrevi- Term Description ation Safety Controller Generic terms of a controller to perform safety con- trol Safety Current Position It is a position data that are assured in functional safety. The position data of 32 bit is set as Safety Original Position “Zero”.

  • Page 45: Revision History

    Revision History Revision History The manual revision code is a number appended to the end of the catalog number found in the front and back cover. Example I621-E1-01 Cat. No. Revision code Revision Date Revised content code June 2020 Original production 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 46 Revision History 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 47: Features And System Configuration

    Features and System Configura- tion This section explains the features of the Servo Drive and name of each part. 1-1 Outline ............1-2 1-1-1 Features of 1S-series Servo Drive Advance Type .

  • Page 48: Outline

    NJ/NX-series Machine Automation Controller, NY-series IPC Machine Controller, and the Sysmac Stu- dio Automation Software. Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with unified communications specifications and user interface specifications. Data Transmission Using EtherCAT Communications Combining the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit, NY-series IPC Machine Controller, or Position Control Unit with EtherCAT (Model: CJ1W-NC8)

  • Page 49: Ethercat

    1 Features and System Configuration You can use the Servo Drive’s various control parameters and monitor data on a host controller, and unify the system data for management. EtherCAT Communications Cycle of 125 µs Combination with an NX7 Machine Automation Controller enables high-speed and high-precision motion control at the communications cycle of 125 µs.

  • Page 50: Object Dictionary

    Definitions of objects that can be used by all serv- ers for designated communications. 2000 to 2FFF Manufacturer Specific Area 1 Objects with common definitions for all OMRON products. 3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S-series Servo Drives (servo parameters).

  • Page 51: System Configuration

    1 Features and System Configuration System Configuration The system configuration for a 1S-series Servo Drive Advance Type with Built-in EtherCAT Communi- cations is shown below. Controller (EtherCAT type) EtherCAT DC24V Machine Automation Controller 1S-series NJ/NX-series Servo Drive Advance Type R88D-1SAN -ECT IPC Machine Controller NY-series 1S-series...

  • Page 52: Names And Functions

    1 Features and System Configuration Names and Functions This section describes the names and functions of Servo Drive parts. 1-3-1 Servo Drive Part Names The Servo Drive part names are given below. R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT Main circuit connector (CNA) Status 7-segment indicators LED display ID switches USB connector (CN7)
  • Page 53 1 Features and System Configuration terminal Top view Encoder connector (CN2) Brake interlock Safe brake control connector (CN12) connector (CN15) Motor connector (CNC) terminal 1 - 7 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 54 1 Features and System Configuration R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/ -1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT Main circuit Main circuit connector A connector B (CNA) (CNB) Control power supply connector (CND) 7-segment Status LED display indicators ID switches USB connector Status (CN7) indicators EtherCAT communications Charge lamp connector (ECAT IN CN10) EtherCAT communications connector...
  • Page 55 1 Features and System Configuration Encoder connector (CN2) Safe brake control Brake interlock connector (CN15) connector (CN12) Motor connector (CNC) terminal 1 - 9 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 56: Servo Drive Functions

    1 Features and System Configuration 1-3-2 Servo Drive Functions The functions of each part of the Servo Drive are described below. Status Indicators The following seven indicators are mounted. Name Color Description Green Displays the status of control power supply. Gives the Servo Drive error status.
  • Page 57 1 Features and System Configuration EtherCAT Communications Connectors (ECAT IN CN10, ECAT OUT CN11) These connectors are for EtherCAT communications. USB Connector (CN7) USB-Micro B Communications connector for the computer. This connector enables USB 2.0 Full Speed (12 Mbps) communications. Brake Interlock Connector (CN12) Used for brake interlock signals.
  • Page 58 1 Features and System Configuration Safe Brake Control Connector (CN15) Used for connecting to the brake to be controlled by safe brake control. Terminal The number of terminals of the Servo Drives and their connection targets are as follows. Number of Servo Drive model Connection to terminals...

  • Page 59: Servomotor Part Names

    1 Features and System Configuration 1-3-3 Servomotor Part Names The Servomotor part names are given below. Flange Size of 60×60, 80×80 Integrated connector (Type M17) Flange Shaft Mating part 200 VAC 200 W Servomotors (without Brake) *1. For servomotors without Brake, brake wire signals are not used (terminal open). Integrated connector (Type M17) Flange...
  • Page 60 1 Features and System Configuration Flange Size of 100×100, 130×130, 180×180 Integrated connector (Type M23) Flange Mating part Shaft 400 VAC 3 kW Servomotors (without Brake) *1. For servomotors without Brake, brake wire signals are not used (terminal open). Integrated connector (Type M23) Eye-bolt Flange...

  • Page 61: Servomotor Functions

    1 Features and System Configuration 1-3-4 Servomotor Functions The functions of each part of the Servomotor are described below. Shaft The load is mounted on this shaft. The direction which is in parallel with the shaft is called the thrust direction, and the direction which is perpendicular to the shaft is called the radial direction.

  • Page 62: Shield Clamp Part Names

    1 Features and System Configuration 1-3-5 Shield Clamp Part Names The shield clamp part names are given below. Shield Clamp Bracket Cable Tie Shield Clamp Plate Cable Tie *1. It comes with a cable. *2. Do not cut the cable tie. *3.

  • Page 63: System Block Diagram

    1 Features and System Configuration System Block Diagram The block diagram of a 1S-series Servo Drive Advance Type with Built-in EtherCAT Communications is shown below. R88D-1SAN02H-ECT/-1SAN04H-ECT DC/DC Power supply P/B1 Relay drive Regeneration FUSE control Gate drive Current detection error detection Overcurrent Voltage detection...
  • Page 64 1 Features and System Configuration R88D-1SAN08H-ECT/-1SAN10H-ECT DC/DC Power supply P/B1 Relay drive Regeneration FUSE control error detection Gate drive Current detection Overcurrent Voltage detection temperature detection Input voltage monitoring (IPM error) monitoring MPU, FPGA Control circuit Display area rotary switch ECAT IN ECAT OUT CN15...
  • Page 65 1 Features and System Configuration R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT DC/DC +24V Power supply Relay drive Regeneration control FUSE Gate drive Current detection error detection Overcurrent Voltage detection temperature detection Input voltage monitoring (IPM error) monitoring MPU, FPGA Control circuit Display area rotary switch ECAT IN ECAT OUT CN15...
  • Page 66 1 Features and System Configuration R88D-1SAN10F-ECT/-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT DC/DC +24V Power supply Relay drive Regeneration control Gate drive Current detection FUSE error detection Overcurrent Voltage HS temperature detection detection Input voltage monitoring monitoring (IPM error) MPU, FPGA Control circuit Display area rotary switch ECAT IN ECAT OUT CN15...

  • Page 67: Applicable Standards

    1 Features and System Configuration Applicable Standards This section describes applicable standards. 1-5-1 EU Directives The 1S-series Servo Drives/Servomotors Advance Type comply with the following EU directives. EU Directives Product Applicable standards EMC Directive Servo Drives EN61800-3 second environment, C3 Category (EN 61000-6-7 Functional Safety) Low Voltage Directive Servo Drives...

  • Page 68: Ul And Cul Standards

    1 Features and System Configuration 1-5-2 UL and cUL Standards The 1S-series Servo Drives/Servomotors Advance Type conform to the following standards. Standard Product Applicable standards File number UL standards Servo Drives UL 61800-5-1 E179149 Servomotors UL 1004-1, UL 1004-6 E331224 Servo Drives CSA C22.2 No.

  • Page 69: Korean Radio Regulations (Kc)

    1 Features and System Configuration 1-5-3 Korean Radio Regulations (KC) • Observe the following precaution if you use this product in Korea. Guide for Users This equipment has been evaluated for conformity in a commercial environment. When used in a residential environment, it may cause radio interference. •...

  • Page 70: Unit Versions

    1 Features and System Configuration Unit Versions The 1S-series Servo Drive Advance Type uses unit versions. Unit versions are used to manage differences in supported functions due to product upgrades, etc. 1-6-1 Confirmation Method The unit version of 1S-series Servo Drive Advance Type is displayed at the location shown below. Display location Unit version Display on the product...

  • Page 71: Procedures To Start Operation

    1 Features and System Configuration Procedures to Start Operation This section explains the procedures to operate a system that incorporates Servo Drives. 1-7-1 Overall Procedure Use the following procedures to build a system that incorporates Servo Drives. To use the Servo Drive safety function, you must build the standard control and safety control together. STEP 1 System Design STEP 1-1 Determining safety measures based on risk assessment STEP 1-2 Selecting standard devices, Servo Drive, Servomotor, and safety devices...
  • Page 72 1 Features and System Configuration STEP 8 Mounting and wiring STEP 8-1 Mounting STEP 8-2 Wiring STEP 10 Safety control operation check STEP 9 Standard control operation check STEP 9-1 Placing Sysmac Studio online STEP 10-1 Transferring configuration information and downloading project STEP 10-2 Checking operation with actual machine STEP 10-3 Conducting safety validation test STEP 9-2 Online Debugging...

  • Page 73: Procedure Details

    1 Features and System Configuration 1-7-2 Procedure Details As described previously, the procedures for the standard control and safety control are performed in parallel. This section explains the procedure details for using the Servo Drive safety function. If you use an NJ/NX-series CPU Unit to perform the standard control, refer to NJ/NX-series CPU Unit Software User's Manual (Cat.
  • Page 74 1 Features and System Configuration STEP 3 Software and Hardware Design for Safety Control Procedure Description Reference STEP 3-1 Determine wiring used for the communication network, Safety Control Unit User's Determining wiring for power supply, and safety I/O devices. Manual communications, power supply, and connection with external I/O devices...
  • Page 75 1 Features and System Configuration STEP 5 Software Design and Programming for Standard Control Procedure Description Reference • Register variables in the Sysmac Studio. NJ/NX-series CPU Unit User’s Manuals • Write the algorithms for the POUs (programs, func- STEP 5-4 Programming tion blocks, and functions) in the required languages.
  • Page 76 1 Features and System Configuration STEP 7 Servo Drive Setting, Adjustment, and Operation Check Procedure Description Reference Install the Servomotor and Servo Drive according to the STEP 7-1 installation conditions. Do not connect the Servomotor Installation and mount- Section 4, 4-1 to mechanical systems before checking the operation without any load.
  • Page 77 1 Features and System Configuration STEP 10 Safety Control Operation Check Procedure Description Reference • Connect the computer (Sysmac Studio) to the • NJ/NX-series CPU Unit NJ/NX-series CPU Unit. User’s Manuals • Download the project data to the CPU Unit. •...
  • Page 78 1 Features and System Configuration 1 - 32 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 79: Models And External Dimensions

    Models and External Dimensions This section explains the models of Servo Drives, Servomotors, Decelerators, and peripheral devices, and provides the external dimensions and mounting dimensions. 2-1 Servo System Configuration ........2-2 2-2 How to Read Model Numbers .

  • Page 80: Servo System Configuration

    2 Models and External Dimensions Servo System Configuration This section shows the Servo system configuration that consists of Controllers, Servo Drives, Servomo- tors, Decelerators, and other devices. Support Software Controller ● Automation Software Sysmac Studio NJ/NX-series CPU Unit (with EtherCAT port) DC24V Machine Automation Controller NJ/NX-series...
  • Page 81 2 Models and External Dimensions Servomotor Servo Drive Power signal Integrated cable · Without brake wire communications R88A-CX1 · With brake wire R88A-CX1 · Extension cable EtherCAT R88A-CX1 E communications Feedback signal ● 1S-series Servomotor ● 1S-series Servo Drive Advance Type Advance Type R88M-1AL /1AM R88D-1SAN -ECT...

  • Page 82: How To Read Model Numbers

    2 Models and External Dimensions How to Read Model Numbers This section describes how to read and understand the model numbers of Servo Drives, Servomotors, Integrated Cables, and Decelerators. 2-2-1 Servo Drive The Servo Drive model number shows the Servo Drive type, applicable Servomotor, power supply volt- age, etc.

  • Page 83: Servomotor

    2 Models and External Dimensions 2-2-2 Servomotor The Servomotor model number tells the Servomotor type, rated output, rated rotation speed, voltage, etc. R88M-1AM20030T-BOS2 1S-series Servomotor Servomotor type AL: Advance/Low-inertia type AM: Advance/Middle-inertia type Rated output 200: 200 W 400: 400 W 750: 750 W 1K0: 1 kW 1K5: 1.5 kW...

  • Page 84: Integrated Cable

    2 Models and External Dimensions 2-2-3 Integrated Cable The cable model number tells the cable type, cable length, connector type, etc. R88A-CX1A003BF Peripheral for the 1S-series Peripheral type CX1: Integrated Cable Applicable Servomotor type A: 200 VAC 3,000-r/min Servomotor 200 W, 400 W, 750 W B: 200 VAC 3,000-r/min Servomotor 1 kW C: 200 VAC...

  • Page 85: Decelerator

    2 Models and External Dimensions 2-2-4 Decelerator The Decelerator model number tells the Decelerator series, flange size number, reduction ratio, back- lash, etc. Backlash: 3 Arcminutes Max. R88G-HPG32A112K0SBJ Decelerator for Servomotor Backlash: 3 Arcminutes max. Flange size number 14A: 60×60 20A: 90×90 32A: 120×120 50A: 170×170...
  • Page 86 2 Models and External Dimensions Backlash: 15 Arcminutes Max. R88G-VRXF05B200CJ Decelerator for Servomotor Backlash: 15 Arcminutes Max. Reduction ratio 05: 1/5 09: 1/9 15: 1/15 25: 1/25 Flange size number B: 52×52 C: 78×78 D: 98×98 Applicable Servomotor rated output 200: 200 W 400: 400 W 750: 750 W...

  • Page 87: Model Tables

    2 Models and External Dimensions Model Tables This section lists the models of Servo Drives, Servomotors, Decelerators, cables, connectors, periph- eral devices, etc. in the tables. 2-3-1 Servo Drive Model Table The following table lists the Servo Drive models. Specifications Model Reference Single-phase/3-phase...

  • Page 88: Servomotor Model Tables

    2 Models and External Dimensions 2-3-2 Servomotor Model Tables The following tables list the Servomotor models by the rated motor speed. 3,000-r/min Servomotors Model Refer- Specifications Without oil seal With oil seal ence Straight shaft With key and tap Straight shaft With key and tap 200 VAC 200 W...
  • Page 89 2 Models and External Dimensions Model Refer- Specifications Without oil seal With oil seal ence Straight shaft With key and tap Straight shaft With key and tap 200 VAC 200 W R88M- R88M- R88M- R88M- P. 2-25 1AM20030T-B 1AM20030T-BS2 1AM20030T-BO 1AM20030T-BOS2 400 W R88M-...

  • Page 90: Servo Drive And Servomotor Combination Tables

    2 Models and External Dimensions 2-3-3 Servo Drive and Servomotor Combination Tables The following tables show the possible combinations of 1S-series Servo Drives Advance Type and Ser- vomotors. The Servomotors and Servo Drives can only be used in the listed combinations. “” at the end of the motor model number is for options, such as the shaft type and brake.

  • Page 91: Decelerator Model Tables

    2 Models and External Dimensions 2-3-4 Decelerator Model Tables The following tables list the Decelerator models for 1S-series Servomotors Advance Type. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at  of the Decelerator model number in the following table.
  • Page 92 2 Models and External Dimensions  For 1,500-r/min Servomotors Specifications Model Reference Servomotor Reduction rated output ratio 1.5 kW R88G-HPG32A053K0B P. 2-51 1/11 R88G-HPG32A112K0SB 1/21 R88G-HPG50A21900TB 1/33 R88G-HPG50A33900TB 2.7 kW (200 V) R88G-HPG50A055K0SB 1/11 R88G-HPG50A115K0SB 3 kW (400 V) 1/20 R88G-HPG65A205K0SB...

  • Page 93: Servomotor And Decelerator Combination Tables

    2 Models and External Dimensions 2-3-5 Servomotor and Decelerator Combination Tables The following tables show the possible combinations of 1S-series Servomotors Advance Type and Decelerators. You cannot use a Servomotor with a key and tap (model numbers with -S2 at the end) in combination with a Decelerator.

  • Page 94: Table Of Integrated Cables, Connectors, And Shield Clamps

    2 Models and External Dimensions 2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps Types of integrated cables, connectors, and shield clamps are listed below. Integrated Cable Model Applicable Servomotors Without brake wire With brake wire 200 V 3,000-r/min Servomotors of R88A-CX1A003SF R88A-CX1A003BF 200 W, 400 W, 750 W...
  • Page 95 2 Models and External Dimensions Applicable Servomotors Model 200 V 3,000-r/min Servomotors of 10 m R88A-CX1DE10BF 2 kW, 2.6 kW 20 m R88A-CX1DE20BF 1,500-r/min Servomotors of 2.7 kW Peripheral Connector  Servo Drive Side Connector Name and application Model Main circuit connector (CNA) R88A-CN102P For R88D-1SAN02H-ECT/ -1SAN04H-ECT/ -1SAN08H-ECT/ -1SAN10H-ECT Main circuit connector A (CNA)
  • Page 96 2 Models and External Dimensions Shield Clamp Bracket A shield clamp is used to fix the integrated cable and to connect the shield of the integrated cable to FG of the Servo Drive. A shield clamp consists of a shield clamp bracket and a shield clamp plate. For the each parts name, refer to 1-3-5 Shield Clamp Part Names on page 1-16.

  • Page 97: External Regeneration Resistor And External Regeneration Resistance Unit Model Tables

    2 Models and External Dimensions 2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit Model Tables The following tables list the models of External Regeneration Resistors and External Regeneration Resistance Units. External Regeneration Resistors Applicable Servo Drive Model Specifications R88D-1SAN02H-ECT R88A-RR12025 Regeneration process capacity: 24 W, 25 Ω...

  • Page 98: Reactor Model Table

    2 Models and External Dimensions 2-3-8 Reactor Model Table The following table lists the Reactor models. Applicable Servo Drive Model Type of Reactor R88D-1SAN02H-ECT R88A-PD2002 DC reactor R88D-1SAN04H-ECT R88A-PD2004 R88D-1SAN08H-ECT R88A-PD2007 R88D-1SAN10H-ECT/-1SAN15H-ECT R88A-PD2015 R88D-1SAN20H-ECT R88A-PD2022 R88D-1SAN30H-ECT R88A-PD2037 R88D-1SAN10F-ECT/-1SAN15F-ECT R88A-PD4015 R88D-1SAN20F-ECT R88A-PD4022 R88D-1SAN30F-ECT R88A-PD4037...

  • Page 99: External And Mounting Dimensions

    2 Models and External Dimensions External and Mounting Dimensions This section provides the external dimensions and mounting dimensions of Servo Drives, Servomotors, Decelerators, and peripheral devices. 2-4-1 Servo Drive Dimensions The Servo Drives are described in order of increasing rated output of the applicable Servomotors. Single-phase/3-phase 200 VAC: R88D-1SAN02H-ECT/ -1SAN04H-ECT/-1SAN08H-ECT (200 to 750 W) 3-phase 200 VAC: R88D-1SAN10H-ECT (1 kW)
  • Page 100 2 Models and External Dimensions Single-phase/3-phase 200 VAC: R88D-1SAN15H-ECT (1.5 kW) 3-phase 200 VAC: R88D-1SAN20H-ECT/-1SAN30H-ECT (2 to 3 kW) 3-phase 400 VAC: R88D-1SAN10F-ECT/-1SAN15F-ECT/ -1SAN20F-ECT/-1SAN30F-ECT (1 to 3 kW) outlet 3-M4 49±0.5 2-M4 Air intake 98±0.5 External dimensions Mounting dimensions 2 - 22 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 101: Servomotor Dimensions

    2 Models and External Dimensions 2-4-2 Servomotor Dimensions Servomotors are grouped by rated rotation speed, and described in order of increasing rated output. 3,000-r/min Servomotors (200 V)  200 W/400 W (without Brake) R88M-1AM20030T(-O/-S2/-OS2) R88M-1AM40030T(-O/-S2/-OS2) (L1) Motor, encoder connector 27±0.1 3±0.3 6±0.5 60×60±0.95...
  • Page 102 2 Models and External Dimensions Shaft-end with key and tap QE (tap) LT (tap depth) Key and tap cross section Dimensions [mm] Model R88M-1AM20030T(-S2/-OS2) -0.2 -0.03 R88M-1AM40030T(-S2/-OS2) -0.2 -0.03 2 - 24 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 103 2 Models and External Dimensions  200 W/400 W (with Brake) R88M-1AM20030T-B(O/S2/OS2) R88M-1AM40030T-B(O/S2/OS2) (L1) Motor, brake, and encoder connector 27±0.1 3±0.3 6±0.5 60×60±0.95 30±0.5 (L2) Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 104 2 Models and External Dimensions Shaft-end with key and tap QE (tap) LT (tap depth) Key and tap cross section Dimensions [mm] Model R88M-1AM20030T-B(S2/OS2) -0.2 -0.03 R88M-1AM40030T-B(S2/OS2) -0.2 -0.03 2 - 26 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 105 2 Models and External Dimensions  750 W (without Brake) R88M-1AM75030T(-O/-S2/-OS2) (L1) Motor and encoder connector 3±0.3 8±0.5 80×80±0.95 35±0.8 (L2) Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 106 2 Models and External Dimensions  750 W (with Brake) R88M-1AM75030T-B(O/S2/OS2) (L1) Motor, brake, and encoder connector 3±0.3 8±0.5 80×80±0.95 35±0.8 (L2) Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 107 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (without Brake) R88M-1AL1K030T(-O/-S2/-OS2) R88M-1AL1K530T(-O/-S2/-OS2) R88M-1AL2K030T(-O/-S2/-OS2) (L1) Motor, encoder connector 50±0.8 3±0.3 10±0.5 100×100±2 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 108 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (with Brake) R88M-1AL1K030T-B(O/S2/OS2) R88M-1AL1K530T-B(O/S2/OS2) R88M-1AL2K030T-B(O/S2/OS2) (L1) Motor, brake, and encoder connector 50±0.8 10±0.5 3±0.3 100×100±2 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 109 2 Models and External Dimensions  2.6 kW (without Brake) R88M-1AL2K630T(-O/-S2/-OS2) (104) Motor, encoder connector 50±0.8 4±0.4 12±0.5 130×130±2 211±3 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 110 2 Models and External Dimensions  2.6 kW (with Brake) R88M-1AL2K630T-B(O/S2/OS2) (104) Motor, brake, and encoder connector 50±0.8 12±0.5 4±0.4 130×130±2 258±3 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 111 2 Models and External Dimensions 3,000-r/min Servomotors (400 V)  750 W/1 kW/1.5 kW/2 kW (without Brake) R88M-1AL75030C(-O/-S2/-OS2) R88M-1AL1K030C(-O/-S2/-OS2) R88M-1AL1K530C(-O/-S2/-OS2) R88M-1AL2K030C(-O/-S2/-OS2) (L1) Motor, encoder connector 50±0.8 3±0.3 10±0.5 100×100±2 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 112 2 Models and External Dimensions Shaft-end with key and tap QE (tap) LT (tap depth) Key and tap cross section Dimensions [mm] Model R88M-1AL75030C(-S2/-OS2) -0.2 -0.03 R88M-1AL1K030C(-S2/-OS2) -0.2 -0.03 R88M-1AL1K530C(-S2/-OS2) -0.2 -0.03 R88M-1AL2K030C(-S2/-OS2) -0.2 -0.03 2 - 34 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 113 2 Models and External Dimensions  750 W/1 kW/1.5 kW/2 kW (with Brake) R88M-1AL75030C-B(O/S2/OS2) R88M-1AL1K030C-B(O/S2/OS2) R88M-1AL1K530C-B(O/S2/OS2) R88M-1AL2K030C-B(O/S2/OS2) (L1) Motor, brake, and encoder connector 50±0.8 10±0.5 3±0.3 100×100±2 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 114 2 Models and External Dimensions Shaft-end with key and tap QE (tap) LT (tap depth) Key and tap cross section Dimensions [mm] Model R88M-1AL75030C-B(S2/OS2) -0.2 -0.03 R88M-1AL1K030C-B(S2/OS2) -0.2 -0.03 R88M-1AL1K530C-B(S2/OS2) -0.03 -0.2 R88M-1AL2K030C-B(S2/OS2) -0.2 -0.03 2 - 36 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 115 2 Models and External Dimensions  3 kW (without Brake) R88M-1AL3K030C(-O/-S2/-OS2) (104) Motor, encoder connector 50±0.8 4±0.4 12±0.5 130×130±2 211±3 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 116 2 Models and External Dimensions  3 kW (with Brake) R88M-1AL3K030C-B(O/S2/OS2) (104) Motor, brake, and encoder connector 50±0.8 12±0.5 4±0.4 130×130±2 258±3 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 117 2 Models and External Dimensions 1,500-r/min Servomotors (200 V/400 V)  1.5 kW (without Brake) R88M-1AM1K515T(-O/-S2/-OS2) R88M-1AM1K515C(-O/-S2/-OS2) (91) Motor, encoder connector 50±0.8 4±0.4 11.5±0.5 130×130±2 197±2 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 118 2 Models and External Dimensions  1.5 kW (with Brake) R88M-1AM1K515T-B(O/S2/OS2) R88M-1AM1K515C-B(O/S2/OS2) (91) Motor, brake, and encoder connector 50±0.8 11.5±0.5 4±0.4 130×130±2 244±3 55±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 119 2 Models and External Dimensions  2.7 kW/3 kW (without Brake) R88M-1AM2K715T(-O/-S2/-OS2) R88M-1AM3K015C(-O/-S2/-OS2) (85) Motor, encoder connector 2-M6 65±0.95 3±0.3 2-M6 16±0.8 180×180±2 186±2 70±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
  • Page 120 2 Models and External Dimensions  2.7 kW/3 kW (with Brake) R88M-1AM2K715T-B(O/S2/OS2) R88M-1AM3K015C-B(O/S2/OS2) (85) Motor, brake, and encoder connector Eye bolt (2-M6) 65±0.95 3±0.3 2-M6 (For eye bolt) 16±0.8 180×180±2 232±3 70±1 Note The standard shaft type is a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.

  • Page 121: Cable Outlet Direction Of Integrated Connector

    2 Models and External Dimensions 2-4-3 Cable Outlet Direction of Integrated Connector This section describes the movable range and the dead angle when the integrated connector in the Servomotor rotates. The cable outlet direction of the integrated connector. The below shows the selectable range. The change of the cable outlet direction shall be up to five times.

  • Page 122: Cable Wiring Dimension For A Case Of Servomotor Installing

    2 Models and External Dimensions 2-4-4 Cable Wiring Dimension for a Case of Servomotor Installing The integrated cable wiring dimensions are shown below the table according to connector type for Ser- vomotors. The dimensions from the rotation center of the integrated connector to the integrated cable surrounding are indicated as A when you wire a cable with the minimum bending radius (ten times as outer dimen- sion of sheath wire).
  • Page 123 2 Models and External Dimensions Servomotor for Connector Type M23 Dimensions [mm] Model R88M-1AL75030C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL1K030T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL1K030C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL1K530T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL1K530C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL2K030T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL2K030C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL2K630T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AL3K030C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2 R88M-1AM1K515T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AM1K515C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AM2K715T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1AM3K015C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) 2 - 45 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 124: Decelerator Dimensions

    2 Models and External Dimensions 2-4-5 Decelerator Dimensions The following tables show the dimensions of Decelerators. Backlash: 3 Arcminutes Max.  For 3,000-r/min Servomotors (200 W to 750W) Dimensions [mm] Servo- Reduc- motor Outline tion Model drawing rated ratio output 200 W R88G-HPG14A05200B...
  • Page 125 2 Models and External Dimensions Servo- Dimensions [mm] Reduc- motor tion Model rated ratio output 200 W R88G-HPG14A05200B M4 × 10 1/11 R88G-HPG14A11200B M4 × 10 1/21 R88G-HPG20A21200B M4 × 10 1/33 R88G-HPG20A33200B M4 × 10 1/45 R88G-HPG20A45200B M4 × 10 400 W R88G-HPG14A05400B...
  • Page 126 2 Models and External Dimensions  Outline Drawing 1 Flange side Servomotor side Set bolt (AT) C1×C1 4-Z2 D2 dia. D1 dia. C2×C2 4-Z1-dia. Key and tap dimensions M (Depth L)  Outline Drawing 2 Flange side Servomotor side C1×C1 Set bolt (AT) 4-Z2 D1 dia.
  • Page 127 2 Models and External Dimensions  For 3,000-r/min Servomotors (1 to 3 kW) Dimensions [mm] Servo- motor Outline duc- Model rated drawing tion output ratio 1 kW R88G-HPG32A052K0B 135 dia. 12.5 1/11 R88G-HPG32A112K0B 135 dia. 12.5 1/21 R88G-HPG32A211K5B 135 dia. 12.5 1.5 kW R88G-HPG32A052K0B...
  • Page 128 2 Models and External Dimensions  Outline Drawing 1 Flange side Servomotor side Set bolt (AT) 4-Z2 C1×C1 D2 dia. D1 dia. 4-Z1-dia. C2×C2 Key and tap dimensions M (Depth L)  Outline Drawing 2 Flange side Servomotor side C1×C1 Set bolt (AT) 4-Z2 D1 dia.
  • Page 129 2 Models and External Dimensions  For 1,500-r/min Servomotors (1.5 to 3 kW) Dimensions [mm] Servo- motor duc- Outline Model rated tion drawing output ratio 1.5 kW R88G-HPG32A053K0B 130×130 12.5 1/11 R88G-HPG32A112K0SB 130×130 12.5 1/21 R88G-HPG50A21900TB 130×130 1/33 R88G-HPG50A33900TB 130×130 2.7 kW R88G-HPG50A055K0SB...
  • Page 130 2 Models and External Dimensions  Outline Drawing 1 Flange side Servomotor side 2-M10×20 (65) Taps for eye bolts Set bolt (AT) 4-Z2 D2 dia. ØD1 4-Z1-dia. C2×C2 C1×C1 *3. The tolerance is “h8” for R88G-HPG50 and R88G-HPG65. Key and tap dimensions *4.
  • Page 131 2 Models and External Dimensions Backlash: 15 Arcminutes Max.  For 3,000-r/min Servomotors Dimensions [mm] Model 200 W R88G-VRXF05B200CJ 72.5 R88G-VRXF09C200CJ 89.5 1/15 R88G-VRXF15C200CJ 100.0 1/25 R88G-VRXF25C200CJ 100.0 400 W R88G-VRXF05C400CJ 89.5 R88G-VRXF09C400CJ 89.5 1/15 R88G-VRXF15C400CJ 100.0 1/25 R88G-VRXF25C400CJ 100.0 750 W R88G-VRXF05C750CJ 93.5...
  • Page 132 2 Models and External Dimensions  Outline Drawing 4-Z2 (Available depth L) 4-Z1 C2×C2 C1×C1 Set bolt (AT) m (Depth l) 2 - 54 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 133: Dimensions Of External Regeneration Resistors And External Regeneration Resistance Units

    2 Models and External Dimensions 2-4-6 Dimensions of External Regeneration Resistors and External Regeneration Resistance Units The following are the dimensions of External Regeneration Resistors and External Regeneration Resis- tance Units. R88A-RR12025 t3.5 R88A-RR30008/ -RR30010/ -RR30014/ -RR30020/ -RR30025/ -RR30032/ -RR30033/ -RR30054 t2.5 2-4.5 dia.

  • Page 134: Reactor Dimensions

    2 Models and External Dimensions 2-4-7 Reactor Dimensions The following are the dimensions of Reactors. R88A-PD2002 Terminal block top view 2-terminal M4 screw (16) 4-mounting hole for M4 screw 50 max. 40 max. R88A-PD2004 Terminal block top view 2-terminal M4 screw (16) 4-mounting hole for M4 screw...
  • Page 135 2 Models and External Dimensions R88A-PD2007 Terminal block top view 2-terminal M4 screw (16) 4-mounting hole for M4 screw 50 max. 40 max. R88A-PD2015 Terminal block top view 2-terminal M4 screw (18) 4-mounting hole for M4 screw 50 max. 36 max. 2 - 57 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 136 2 Models and External Dimensions R88A-PD2022 Terminal block top view 2-terminal M4 screw (18 ) 4-mounting hole for M4 screw 60 max. 45 max. R88A-PD2037 Terminal block top view 2-terminal M4 screw (26) 4-mounting hole for M6 bolt 60 max. 55 max.
  • Page 137 2 Models and External Dimensions R88A-PD4015 Terminal block top view 2-terminal M4 screw (18) 4-mounting hole for M4 screw 50 max. 36 max. 2 - 59 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 138 2 Models and External Dimensions R88A-PD4022 Terminal block top view 2-terminal M4 screw (18) 4-mounting hole for M4 screw 60 max. 45 max. 2 - 60 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 139 2 Models and External Dimensions R88A-PD4037 Terminal block top view 2-terminal M4 screw (26) 4-mounting hole for M6 bolt 60 max. 55 max. 2 - 61 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 140 2 Models and External Dimensions 2 - 62 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 141: Specifications

    Specifications This section provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices. 3-1 Servo Drive Specifications ........3-3 3-1-1 General Specifications .
  • Page 142 3 Specifications 3-5 Specifications of External Regeneration Resistors and External Regeneration Resistance Units ........3-72 3-5-1 General Specifications .

  • Page 143: Servo Drive Specifications

    3 Specifications Servo Drive Specifications Select a Servo Drive that matches the Servomotor to be used. Refer to 2-3-3 Servo Drive and Servo- motor Combination Tables on page 2-12. 3-1-1 General Specifications The specifications of the Servo Drives are shown below. Item Specifications Operating ambient temperature and humidity...

  • Page 144: Characteristics

    3 Specifications 3-1-2 Characteristics The characteristics of the Servo Drives are shown below. 200-VAC Input Models Servo Drive model (R88D-) 1SAN02H-ECT 1SAN04H-ECT 1SAN08H-ECT Item 200 W 400 W 750 W Input Main circuit Power sup- Single-phase and 3-phase 200 to 240 VAC (170 to 252 V) ply voltage Frequency 50/60 Hz (47.5 to 63 Hz)
  • Page 145 3 Specifications Servo Drive model (R88D-) 1SAN10H-ECT 1SAN15H-ECT 1SAN20H-ECT 1SAN30H-ECT Item 1 kW 1.5 kW 2 kW 3 kW Input Main circuit Power sup- 3-phase 200 to Single-phase 3-phase 200 to 240 VAC (170 to ply voltage 240 VAC (170 to and 3-phase 252 V) 200 to 240 VAC...
  • Page 146 3 Specifications 400-VAC Input Models Use a neutral grounded 400 VAC 3-phase power supply for the 400 VAC input models. Servo Drive model 1SAN10F-ECT 1SAN15F-ECT 1SAN20F-ECT 1SAN30F-ECT (R88D-) Item 1 kW 1.5 kW 2 kW 3 kW Input Main circuit Power sup- 3-phase 380 to 480 VAC (323 to 504 V) ply voltage...
  • Page 147 3 Specifications Relationship between Servo Drive, Servomotors and the Main Cir- cuit Heating Value The combination of Servo Drive and Servomotors that changes the main circuit heating value is shown below. Main circuit heating Servo Drive model Servomotor model value [W] R88D-1SAN15H-ECT R88M-1AL1K530T-...

  • Page 148: Ethercat Communications Specifications

    3 Specifications 3-1-3 EtherCAT Communications Specifications The specifications of EtherCAT communications are shown below. Item Specifications Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile Physical layer 100BASE-TX (IEEE802.3) Connectors RJ45 × 2 (shielded) ECAT IN: EtherCAT input ECAT OUT: EtherCAT output Communications media Recommended media:...

  • Page 149: Main Circuit And Motor Connections

    3 Specifications 3-1-4 Main Circuit and Motor Connections When you wire the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT  Main Circuit Connector (CNA) Specifications Pin No. Symbol Name Specifications Main circuit power sup- R88D-1SANH-ECT ply input Single-phase 200 to 240 VAC (170 to 252 V) 50/60 Hz (47.5...
  • Page 150 3 Specifications R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/ -1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT  Main Circuit Connector A (CNA) Specifications Symbol Name Specifications External Regeneration When the Internal Regeneration Resistor is used: Resistor connection termi- • Open between B1 and B2. nals • Short-circuit B2 and B3. When the External Regeneration Resistor is used: •...
  • Page 151 3 Specifications  Motor Connector (CNC) Specifications Symbol Name Specifications Motor connection terminals Phase W These are output terminals to the Servomotor. Phase V Be sure to wire them correctly. Phase U Terminal Block Wire Sizes The following tables show the rated current that flows to the terminal block on the Servo Drive and the applicable wire sizes.
  • Page 152 *2. The first value is for single-phase input power and the second value is for 3-phase input power. *3. Connect OMRON Integrated Cable to the motor connection terminals. *4. Use the wire with the same current capacity for the wiring of the motor connection terminals and for that of B1 and B2.
  • Page 153 3 Specifications Wire Sizes and Allowable Current (Reference) The following table shows the allowable currents for each wire size. Select wires carefully so that the specified allowable currents are not exceeded.  600-V Heat-resistant Vinyl Wire (HIV) Nominal Allowable current [A] Conductive cross-sec- Configuration...

  • Page 154: Control I/O Connector (Cn1) Specifications

    3 Specifications 3-1-5 Control I/O Connector (CN1) Specifications The following shows the specifications of the control I/O connector. Control I/O Signal Connections and External Signal Processing General Input 1 /ERR+ General Error output Input 2 /ERR- General Input 3 OUT1+ Maximum General output 1 service voltage:...
  • Page 155 Output Output Reserved Reserved Control I/O Connector (28 pins) Model Manufacturer OMRON model R88A-CN102C DFMC1,5/14-ST-3,5-LRBK PHOENIX CONTACT Applicable wire: AWG 24 to 16 (0.2 to 1.5 mm ) (Strip length of the wire insulating cover: 10 mm) 3 - 15...

  • Page 156: Control Input Circuits

    3 Specifications 3-1-6 Control Input Circuits The specifications of the control input circuits are shown below. General Inputs (IN1 to IN6) General Input 1 6.8 kΩ IN1 5 External power supply 12 VDC-5% to 22 kΩ 24 VDC+5% Input current General Input 2 6.8 kΩ...

  • Page 157: Control Input Details

    3 Specifications 3-1-7 Control Input Details The detailed information about the control input pins is shown below. General Inputs (IN1 to IN8) Pin No. General input The functions that are allocated by default General input 1 (IN1) Error Stop Input (ESTP) General input 2 (IN2) Positive Drive Prohibition Input (POT) General input 3 (IN3)

  • Page 158: Control Output Circuits

    DC 24V Di: Surge voltage prevention diode* *1. We reccomend you to use the OMRON MY Relay (24 V type) for the external relay. *2. We reccomend you to use the Panasonic Corporation ERZ-V07D390 for the surge suppressor. *3. Always insert a diode as shown in the above figure.

  • Page 159: Control Output Details

    3 Specifications 3-1-9 Control Output Details The detailed information about the control output pins is shown below. Error Output (/ERR) Pin No. Error output Function /ERR+ This output is turned OFF when the Servo Drive detects an error. /ERR- General Output (OUT1 to OUT3) Pin No.

  • Page 160: Safety Signal Connector (Cn14) Specifications

    3 Specifications 3-1-11 Safety Signal Connector (CN14) Specifications The following shows the specifications of the connector used for functional safety signals (STO sig- nals/SOPT inputs). Connection of Safety I/O Signals and Processing of External Signals SF1+ External power supply SF1+ 24 VDC±5% SF1- SOPT input 1...
  • Page 161 Test output, 24-V power supply for SOPT input (+) supply for SOPT input (-)  Connector for CN14 (22 Pins) Model Manufacturer Omron model DFMC1,5/11-ST-3,5-LRBK PHOENIX CONTACT R88A-CN101S *1. Four short-circuit wires are connected to the connector. Connection combinations: 3: SF1+ and 5: SF2+...
  • Page 162 3 Specifications Safety Input Circuits Servo Drive 4.3 kΩ SF1+ External power supply SF1+ 430 Ω Photocoupler input 24 VDC±5% SF1- SF1- 4.3 kΩ SF2+ External power supply SF2+ 430 Ω Photocoupler input 24 VDC±5% SF2- SF2- Signal level ON level: 20.8 V or more OFF level: 5 V or less EDM Output Circuit Servo Drive...
  • Page 163 3 Specifications Test output/SOPT Input Circuits Servo Drive Test output Maximum output current: 50 mA FET output Leakage current: 1 mA or less Residual voltage: 1.2 V or less (voltage between IOV terminal and TO terminal) SOPT input 1 FET output SOPT input 2 4.3 kΩ...

  • Page 164: Safe Brake Control Connector (Cn15) Specifications

    SBC1- SBC2+ SBC2-  Connector for CN15 (8 Pins) Model Manufacturer Omron model DFMC1,5/4-ST-3,5-LRBK PHOENIX CONTACT R88A-CN102S Applicable wire: AWG 24 to 16 (0.2 to 1.5 mm ) (Strip length of the wire insulating cover: 10 mm) 3 - 24...

  • Page 165: Brake Interlock Connector (Cn12) Specifications

    Brake output (-) Brake output (+) BKIR+  Connectors (4 Pins) Model Manufacturer Omron model 2091-1104/0002-1000 WAGO R88A-CN101B Applicable wire: AWG 24 to 16 (0.2 to 1.5 mm 2 3 4 (Strip length of the wire insulating cover: 10 mm)

  • Page 166: Encoder Connector (Cn2) Specifications

    Reserved Reserved Shell Frame ground  Connectors for CN2 (6 Pins) Name Model Manufacturer OMRON model Receptacle 3E206-0100KV R88A-CN101R Shell kit 3E306-3200-008 3-1-15 EtherCAT Communications Connector (RJ45) Specifications The EtherCAT twisted-pair cable is connected to a shielded connector. • Electrical characteristics: Conform to IEEE 802.3.

  • Page 167: Usb Connector (Cn7) Specifications

    3 Specifications 3-1-16 USB Connector (CN7) Specifications Through the USB connection with computer, you can perform operations such as servo parameter set- ting and changing, monitoring of control status, and checking error status and error history. Pin No. Symbol Name Function and interface VBUS USB signal terminal...

  • Page 168: Overload Characteristics (Electronic Thermal Function)

    3 Specifications 3-1-18 Overload Characteristics (Electronic Thermal Function) The overload protection function (electronic thermal) is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading. If an overload occurs, first eliminate the cause of the overload and then wait for the Servomotor temperature to drop before you turn ON the power again.
  • Page 169 3 Specifications • 750 W • 1 kW R88M-1AM75030T R88M-1AL1K030T 10000 10000 1AL1K030T (rotation) S,BS (rotation) 1AL1K030T (lock) S,BS (lock) 1000 1000 OS,BOS (rotation) OS,BOS (lock) 0.31 s 100% 100% 150% 200% 250% 300% 350% 400% 150% 200% 250% 300% 350% 400% Output current ratio [%]...
  • Page 170 3 Specifications  400-VAC Servomotors • 750 W, 1 kW • 1.5 kW R88M-1AL75030C/-1AL1K030C R88M-1AL1K530C/-1AM1K515C 10000 10000 1AL75030C (rotation) 1AL1K530C (rotation) 1AL75030C (lock) 1AL1K530C (lock) 1AL1K030C (rotation) 1000 1000 1AM1K515C (rotation) 1AL1K030C (lock) 1AM1K515C (lock) 100% 100% 150% 200% 250% 300% 350% 400%...

  • Page 171: Servomotor Specifications

    3 Specifications Servomotor Specifications The following 1S-series Servomotors Advance Type R88M-1AL/-1AM are available. • 3,000-r/min Servomotors • 1,500-r/min Servomotors There are various options available, such as models with brakes, or different shaft types. Select a Servomotor based on the mechanical system’s load conditions and the installation environ- ment.

  • Page 172: Encoder Specifications

    3 Specifications 3-2-2 Encoder Specifications The encoder specifications are shown below. Item Specifications Encoder system Optical batteryless absolute encoder Resolution per rotation 20 bits Multi-rotation data hold 12 bits Output signal Serial communications Output interface RS485 compliant It is possible to use an absolute encoder as an incremental encoder. Refer to 9-13 Encoder-related Objects on page 9-104 for setting.

  • Page 173: Characteristics

    3 Specifications 3-2-3 Characteristics 3,000-r/min Servomotors Model (R88M-) 200 VAC Item Unit 1AM20030T 1AM40030T 1AM75030T Rated output* N·m 0.637 1.27 2.39 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 6,000 N·m Momentary maximum torque* 2.2* 4.5* 8.4* A (rms) Rated current* A (rms)
  • Page 174 3 Specifications For models with an oil seal the following derating is used due to increase in friction torque. Model (R88M-) 1AM20030T-O/ 1AM40030T-O/ 1AM75030T-O/ -OS2/-BO/-BOS2 -OS2/-BO/-BOS2 -OS2/-BO/-BOS2 Item Unit Derating rate Rated output Rated current A (rms) Model (R88M-) 200 VAC Item Unit 1AL1K030T...
  • Page 175 3 Specifications Model (R88M-) 400 VAC Item Unit 1AL75030C 1AL1K030C 1AL1K530C 1,000 1,500 Rated output* N·m 2.39 3.18 4.77 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 5,000 N·m 7.16 9.55 14.3 Momentary maximum torque* A (rms) Rated current* A (rms) 14.1...
  • Page 176 3 Specifications Model (R88M-) 400 VAC Item Unit 1AL2K030C 1AL3K030C 2,000 3,000 Rated output* N·m 6.37 9.55 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 5,000 N·m 19.1 28.7 Momentary maximum torque* A (rms) Rated current* A (rms) 19.8 27.7 Momentary maximum current*...
  • Page 177 3 Specifications *6. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating tempera- tures. The allowable radial loads are applied as shown in the following diagram. Radial load Thrust load Center of shaft (LR/2) *7.
  • Page 178 3 Specifications  Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input. • R88M-1AM20030T • R88M-1AM40030T • R88M-1AM75030T Momentary Momentary Momentary operation range operation range operation range Continuous...
  • Page 179 3 Specifications  Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input. • R88M-1AL75030C • R88M-1AL1K030C • R88M-1AL1K530C Momentary Momentary Momentary operation range operation range operation range Continuous Continuous...
  • Page 180 3 Specifications 1,500-r/min Servomotors Model (R88M-) 200 VAC Item Unit 1AM1K515T 1AM2K715T 1,500 2,700 Rated output* N·m 9.55 17.2 Rated torque* r/min 1,500 Rated rotation speed* Maximum rotation speed r/min 3,000 N·m 28.7 51.6 Momentary maximum torque* A (rms) 14.6 Rated current* A (rms) 28.4...
  • Page 181 3 Specifications Model (R88M-) 400 VAC Item Unit 1AM1K515C 1AM3K015C 1,500 3,000 *1*2 Rated output N·m 9.55 19.1 Rated torque* r/min 1,500 Rated rotation speed* Maximum rotation speed r/min 3,000 N·m 28.7 57.3 Momentary maximum torque* A (rms) Rated current* A (rms) 14.1 28.3...
  • Page 182 3 Specifications *4. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating tempera- tures. The allowable radial loads are applied as shown in the following diagram. Radial load Thrust load Center of shaft (LR/2) *5.
  • Page 183 3 Specifications  Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase or sin- gle-phase 220-VAC input. • R88M-1AM1K515T • R88M-1AM2K715T Momentary operation range Momentary operation range Continuous Continuous operation range...

  • Page 184: Decelerator Specifications

    3 Specifications Decelerator Specifications The following tables list the Decelerator models for 1S-series Servomotors Advance Type. Select an appropriate model based on the Servomotor rated output. Backlash: 3 Arcminutes Max.  For 3,000-r/min Servomotors Momen- Momen- Rated tary Allow- Allow- tary Servo- rota-...
  • Page 185 3 Specifications Note 1. The Decelerator inertia is the Servomotor shaft conversion value. 2. The protective structure rating of the Servomotor with the Decelerator is IP44. 3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2). Radial load Thrust load Center of shaft...
  • Page 186 3 Specifications Backlash: 15 Arcminutes Max.  For 3,000-r/min Servomotors Momen- Rated Momen- Allow- Allow- tary Servo- rota- Rated Effi- tary Decelerator able able Reduc- maximum Weight motor tion torque ciency maximum inertia radial thrust tion Model rotation rated speed torque load load...

  • Page 187: Cable And Connector Specifications

    3 Specifications Cable and Connector Specifications This section describes the specifications of the cables connecting Servo Drives/Servomotors and the connectors for use. Select the cables according to the Servomotors to be used. Precautions for Correct Use Requirements of cables vary in the user’s country. In some cases, the requirements vary in installation areas/sites even within the country.
  • Page 188 3 Specifications Cables without Brake Wire  R88A-CX1ASF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 200 W, 400 W, and 750 W Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1A003SF 11.9 mm dia. 119 mm Approx.
  • Page 189 3 Specifications Wiring Servomotor side Symbol Name Servo Drive side Phase U White Semi-strip Phase V Blue Phase W Green/Yellow M4 crimp terminal SOLIS DIN 0.5-1.0 R M4 (TE) Symbol Name Blue DSL+ DSL+ Grey DSL- DSL- Shield 1 Shell Shield 2 Cable Motor side Connector...
  • Page 190 3 Specifications  R88A-CX1BSF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1B003SF 14.5 mm dia. 145 mm Approx. 1.3 kg R88A-CX1B005SF Approx. 1.8 kg R88A-CX1B010SF 10 m Approx.
  • Page 191 3 Specifications Wiring   Servomotor side Servo Drive side Symbol Name Phase U White Semi-strip Phase V Blue Phase W Green/Yellow M4 crimp terminal SOLIS DIN 0.5-1.0 R M4 (TE) Name Symbol Blue DSL+ DSL+ Grey DSL- DSL- Sleeve Shield 1 Shell Shield 2 Cable...
  • Page 192 3 Specifications  R88A-CX1CSF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1.5 kW 1,500-r/min Servomotors of 1.5 kW 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, 2 kW, and 3 kW 1,500-r/min Servomotors of 1.5 kW and 3 kW Cable types  ...
  • Page 193 3 Specifications Wiring   Servomotor side Symbol Name Servo Drive side Phase U White Phase V Blue Semi-strip Phase W Green/Yellow Name Symbol Blue DSL+ DSL+ Grey DSL- DSL- Sleeve Shield 1 Shell Shield 2 Cable Motor side Connector AWG18×4C UL758 M23 Series (Phoenix Contact) AWG22×1P UL758 Connector model...
  • Page 194 3 Specifications  R88A-CX1DSF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW and 2.6 kW 1,500-r/min Servomotors of 2.7 kW Cable types   Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1D003SF 14.9 mm dia. 149 mm Approx.
  • Page 195 3 Specifications Wiring   Servomotor side Symbol Name Servo Drive side Phase U White Phase V Blue Semi-strip Phase W Green/Yellow Name Symbol Blue DSL+ DSL+ Grey DSL- DSL- Sleeve Shield 1 Shell Shield 2 Cable Motor side Connector AWG16×4C UL758 M23 Series (Phoenix Contact) AWG22×1P UL758 Connector model...
  • Page 196 3 Specifications Cables with Brake Wire  R88A-CX1ABF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 200 W, 400 W, and 750 W Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1A003BF 11.8 mm dia. 118 mm Approx.
  • Page 197 3 Specifications Wiring Servomotor side Servo Drive side Symbol Name Phase U White Phase V Semi-strip Blue Phase W Green/Yellow M4 crimp terminal SOLIS DIN 0.5-1.0 R M4 (TE) Black Brake+ Ferrule Black 966067-2 (TE) Brake- Symbol Name Blue DSL+ DSL+ Grey DSL-...
  • Page 198 3 Specifications  R88A-CX1BBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1B003BF 14.5 mm dia. 145 mm Approx. 1.3 kg R88A-CX1B005BF Approx. 1.8 kg R88A-CX1B010BF 10 m Approx.
  • Page 199 3 Specifications Wiring Servomotor side Servo Drive side Symbol Name Phase U White Semi-strip Phase V Blue Phase W Green/Yellow M4 crimp terminal SOLIS DIN 0.5-1.0 R M4 (TE) Black Brake+ Ferrule Black 966067-2 (TE) Brake- Name Symbol Blue DSL+ DSL+ Grey DSL-...
  • Page 200 3 Specifications  R88A-CX1CBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1.5 kW 1,500-r/min Servomotors of 1.5 kW 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, 2 kW, and 3 kW 1,500-r/min Servomotors of 1.5 kW and 3 kW Cable types Outer diameter Minimum bend-...
  • Page 201 3 Specifications Wiring   Servomotor side Servo Drive side Symbol Name Phase U White Phase V Semi-strip Blue Phase W Green/Yellow Black Ferrule Brake+ 966067-2 (TE) Black Brake- Name Symbol Blue DSL+ DSL+ Grey DSL- DSL- Sleeve Shield 1 Shell Shield 2 Cable Motor side Connector...
  • Page 202 3 Specifications  R88A-CX1DBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW and 2.6 kW 1,500-r/min Servomotors of 2.7 kW Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1D003BF 14.9 mm dia. 149 mm Approx.
  • Page 203 3 Specifications Wiring Servomotor side Symbol Name Servo Drive side Phase U White Phase V Semi-strip Blue Phase W Green/Yellow Black Ferrule Brake+ 966067-2 (TE) Black Brake- Name Symbol Blue DSL+ DSL+ Grey DSL- DSL- Sleeve Shield 1 Shell Shield 2 Cable Motor side Connector AWG16×4C UL758...
  • Page 204 3 Specifications Extension Cable  R88A-CX1AEBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 200 W, 400 W and 750 W Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1AE10BF 10 m 11.8 mm dia. 118 mm Approx.
  • Page 205 3 Specifications  R88A-CX1BEBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW and 1.5 kW 1,500-r/min Servomotors of 1.5 kW 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, 2 kW, and 3 kW 1,500-r/min Servomotors of 1.5 kW and 3 kW Cable types Outer diameter Minimum bend-...
  • Page 206 3 Specifications  R88A-CX1DEBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW and 2.6 kW 1,500-r/min Servomotors of 2.7 kW Cable types Outer diameter Minimum bend- Model Length [L] Weight of sheath ing radius R88A-CX1DE10BF 10 m 14.9 mm dia. 149 mm Approx.

  • Page 207: Combination Of Integrated Cable And Extension Cable

    3 Specifications 3-4-2 Combination of Integrated Cable and Extension Cable This section describes specifications for a case when an integrated cable is used with extension cables. When the integrated cable is over 20 m, follow the below list that specifies the combination of integrated cable with extension cable.

  • Page 208: Resistance To Bending Of Integrated Cable

    3 Specifications 3-4-3 Resistance to Bending of Integrated Cable This section describes the test conditions related to the resistance to bending and the estimated life of a integrated cable. The flexing life of a cable is estimated under the following conditions. Precautions for Correct Use •...

  • Page 209: Ethercat Communications Cable Specifications

    Kuramo Electric Co. AWG 22 KETH-PSB-OMR *1. We recommend you to use this cable in combination with the OMRON connector (Model: XS6G-T421-1). Precautions for Correct Use The maximum cable length between nodes is 100 m. However, some cables are specified for less than 100 m.
  • Page 210 3 Specifications Attaching the Connectors to the Cable Use straight wiring for the communications cable, as shown below. Pin No. Wire color Wire color Pin No. White, green White, green Green Green White, orange White, orange Blue Blue White, blue White, blue Orange Orange...
  • Page 211 3 Specifications Wiring This example shows how to connect an NJ/NX-series CPU Unit to Servo Drives by the use of EtherCAT Communications Cables. Connect the NJ/NX-series CPU unit 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.

  • Page 212: Specifications Of External Regeneration Resistors And External Regeneration Resistance Units

    3 Specifications Specifications of External Regeneration Resistors and External Regeneration Resistance Units This section describes the specifications of the External Regeneration Resistor and External Regener- ation Resistance Unit. Refer to 2-4-6 Dimensions of External Regeneration Resistors and External Regeneration Resistance Units on page 2-55 for external dimensions.
  • Page 213 3 Specifications External Regeneration Resistance Unit External Regeneration Resistance Unit Applicable Servo Power to be Drive Resis- Heat absorbed for Wire size (R88D-1SAN Model tance radiation Weight 120ºC -ECT) value specification temperature rise R88A-RR1K608 8 Ω 640 W Forced 8.0 kg AWG 10, cooling by the R88A-RR1K610...

  • Page 214: External Regeneration Resistance Unit Specifications

    3 Specifications 3-5-3 External Regeneration Resistance Unit Specifications Terminal Block Specifications Pin No. Symbol Name Specifications Regeneration Resistor External regeneration resistor (640 W) connection terminals Protective earth (PE) Ground terminal Fan power supply input Input voltage: 24 VDC (20.4 to 27.6 V) Input current: 0.27 A /SENS Fan rotation error signal...

  • Page 215: Reactor Specifications

    3 Specifications Reactor Specifications Connect a Reactor to the Servo Drive for reduction of harmonic current. Select an appropriate Reactor according to the Servo Drive model. Refer to 2-4-7 Reactor Dimensions on page 2-56 for dimensions. 3-6-1 General Specifications Model Item R88A-PD20...

  • Page 216: Terminal Block Specifications

    3 Specifications 3-6-3 Terminal Block Specifications Symbol Name Remarks DC Reactor Terminal block screw: M4 connection terminals Tightening torque: 1.4 to 1.8 N·m 3 - 76 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 217: Noise Filter Specifications

    3 Specifications Noise Filter Specifications Connect a noise filter to the input power supply for conformity to the EMC Directives. For 1S-series Servo Drives Advance Type, the Book-type Noise Filters that are manufactured by Soshin electric Co., Ltd. conform to the EMC Directives. For the wiring method etc., refer to Noise Filter for Power Input on page 4-37 in 4-3 Wiring Conforming to EMC Directives on page 4-32.
  • Page 218 3 Specifications 3 - 78 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 219 Configuration and Wiring This section explains the conditions for installing Servo Drives, Servomotors, and Decelerators, the wiring methods including wiring conforming to EMC Directives, the regenerative energy calculation methods, as well as the performance of External Regeneration Resistors. 4-1 Installation Conditions ......... 4-2 4-1-1 Servo Drive Installation Conditions .

  • Page 220: Installation Conditions

    4 Configuration and Wiring Installation Conditions This section explains the conditions for installing Servo Drives, Servomotors, Decelerators, and noise filters. 4-1-1 Servo Drive Installation Conditions Space Conditions around Servo Drives Install the Servo Drives according to the dimension conditions shown in the following illustration, and ensure proper dispersion of heat from inside the Servo Drive and convection inside the panel.
  • Page 221 4 Configuration and Wiring  Side-by-side Installation Front view Side view Dimen- Distance sion 100 mm min. R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT 150 mm min. R88D-1SAN10H-ECT/-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/ 180 mm min. -1SAN10F-ECT/-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT 40 mm min. 10 mm min. R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT 45 mm min. R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/ 60 mm min. -1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT 50 mm min.
  • Page 222 4 Configuration and Wiring Mounting Direction Turn the bottom of Servo Drive in the gravity direction. Gravity direction Bottom of Servo Drive Front view Side view Operating Environment Conditions The environment in which the Servo Drive is operated must meet the following conditions. The Servo Drive may malfunction if it is operated under any other conditions.

  • Page 223: Servomotor Installation Conditions

    4 Configuration and Wiring Keeping Foreign Objects Out of Units • Take measures during installation and operation to keep foreign objects such as metal particles, oil, machining oil, dust, or water out of the Servo Drive. • Place a cover over the Servo Drive or take other preventative measures to keep foreign objects, such as drill filings, out of the Servo Drive during installation.
  • Page 224 4 Configuration and Wiring Connecting to Mechanical Systems • For the allowable axial loads for Servomotors, refer to Ball screw center line 3-2-3 Characteristics on page 3-33. If an axial load greater than that specified is applied to a Servomotor, it may reduce the limit of the motor bearings and may break the motor shaft.
  • Page 225 4 Configuration and Wiring Water and Drip Resistance The protective structure rating of the Servomotor is IP67, except for the through-shaft part and connec- tor pins. Oil-water Measures Use the Servomotor with an oil seal if you use it in an environment where oil drops can adhere to the through-shaft part.
  • Page 226 4 Configuration and Wiring Other Precautions Take measures to protect the motor shaft from corrosion. The motor shaft is coated with anti-corrosion oil when it is shipped, but you should remove anti-corrosion oil when you connect the components that apply load to the shaft. Wire cables not to contact with Servomotors, which have high temperature.

  • Page 227: Decelerator Installation Conditions

    4 Configuration and Wiring 4-1-3 Decelerator Installation Conditions Installing the R88G-HPG (3 Arcminutes Type) Follow the instructions bellow for installing this Decelerator and the Servomotor. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap. Apply the sealant on the side which the Servomotor is installed.
  • Page 228 4 Configuration and Wiring Mount the supplied rubber cap to complete the installation.  Installing Decelerator into the Machine When you install the R88G-HPG into the machine, confirm that the mounting surface is flat and there are no burrs on the tap sections, and fix the mounting flange with bolts. Bolt tightening torque on the mounting flange (for aluminum) R88G-HPG Number of bolts...
  • Page 229 4 Configuration and Wiring Installing the R88G-VRXF (15 Arcminutes Type) Follow the instructions bellow for installing this Decelerator and the Servomotor. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap. Check that the set bolt is loose.
  • Page 230 19.6 Using a Non-OMRON Decelerator (Reference) If you use a non-OMRON decelerator together with a 1S-series Servomotor Advance Type due to sys- tem configuration requirement, select the Decelerator so that the loads on the motor shaft i.e., both the radial and thrust loads are within the allowable ranges. For the allowable axial loads for Servomotors, refer to 3-2-3 Characteristics on page 3-33.

  • Page 231: External Regeneration Resistance Unit Installation Conditions

    4 Configuration and Wiring 4-1-4 External Regeneration Resistor and External Regeneration Resistance Unit Conditions General Installation Conditions Obey the following conditions when installing. • Clearance with peripheral equipment: 50 mm min. • Wire length: 3 m max. External Regeneration Resistance Unit Installation Conditions Obey the following conditions along with the general installation conditions when installing.

  • Page 232: Wiring

    4 Configuration and Wiring Wiring This section gives the examples of connection with peripheral equipment and wirig such as connection of the main circuit and Servomotor. 4 - 14 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 233: Peripheral Equipment Connection Examples

    4 Configuration and Wiring 4-2-1 Peripheral Equipment Connection Examples R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT (Single-phase Input) Single-phase 200 to 240 VAC 50/60 Hz (*5) MCCB (FUSE) Noise filter (*1) Main circuit power supply Main circuit conductor (*1) × Ground to 100 Ω or less Surge suppressor (*1) ×...
  • Page 234 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-32. When you connect sev- eral Servo Drives to the same power supply, insert a noise filter to the power line. Without the noise filter, a noise con- veyed to the other Servo Drives during Servo ON may cause malfunction like unintended regeneration operation or Overvoltage Error.
  • Page 235 4 Configuration and Wiring R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT (3-phase Input) 3-phase 200 to 240 VAC 50/60 Hz (*5) MCCB (FUSE) Noise filter (*1) Main circuit power supply Main circuit conductor (*1) × Ground to 100 Ω or less Surge suppressor (*1) × Servo error display AC Servo Drive CN12 _BKIR: 1...
  • Page 236 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-32. When you connect sev- eral Servo Drives to the same power supply, insert a noise filter to the power line. Without the noise filter, a noise con- veyed to the other Servo Drives during Servo ON may cause malfunction like unintended regeneration operation or Overvoltage Error.
  • Page 237 4 Configuration and Wiring R88D-1SAN15H-ECT (Single-phase Input) Single-phase 200 to 240 VAC 50/60 Hz (*4) MCCB (FUSE) Noise filter (*1) Main circuit power supply Main circuit conductor (*1) × Ground to 100 Ω or less Surge suppressor (*1) × Servo error display AC Servo Drive CN12 _BKIR: 1...
  • Page 238 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-32. When you connect sev- eral Servo Drives to the same power supply, insert a noise filter to the power line. Without the noise filter, a noise con- veyed to the other Servo Drives during Servo ON may cause malfunction like unintended regeneration operation or Overvoltage Error.
  • Page 239 4 Configuration and Wiring R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT (3-phase input) 3-phase 200 to 240 VAC 50/60 Hz (*4) MCCB (FUSE) Noise filter (*1) Main circuit power supply Main circuit conductor (*1) × Ground to 100 Ω or less Surge suppressor (*1) × Servo error display AC Servo Drive CN12 _BKIR: 1...
  • Page 240 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-32. When you connect sev- eral Servo Drives to the same power supply, insert a noise filter to the power line. Without the noise filter, a noise con- veyed to the other Servo Drives during Servo ON may cause malfunction like unintended regeneration operation or Overvoltage Error.
  • Page 241 4 Configuration and Wiring R88D-1SAN10F-ECT/-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT (380 to 480 VAC Neutral Grounding) 3-phase 380 to 480 VAC 50/60 Hz (*4) MCCB (FUSE) Noise filter (*1) Main circuit power supply Main circuit conductor (*1) × Ground to 10 Ω or less Surge suppressor (*1) ×...
  • Page 242 4 Configuration and Wiring *3. Short-circuit B2 and B3 for models with a built-in regeneration resistor (1SAN15H-ECT, 1SAN20H-ECT, and 1SAN30H-ECT). When the amount of regeneration is large, remove the short-circuit wire between B2 and B3 and con- nect a regeneration resistor between B1 and B2. *4.

  • Page 243: Procedure For Wiring Connector-Type Terminal Blocks And For Mounting A Shield Clamp

    4 Configuration and Wiring 4-2-2 Procedure for Wiring Connector-type Terminal Blocks and for Mounting a Shield Clamp The procedures for wiring connector-type terminal blocks and integrated cables and mounting a shield clamp to the servo drive are explained below. Precautions for Correct Use •...
  • Page 244 4 Configuration and Wiring Connect the wires. Insert the hook of the spring opener into a square hole located on the same side as the wire holes, and use your thumb to press down the lever of the spring opener until it clicks into place. Insert the wire fully into the back of a wire hole while the lever of the spring opener is held down.
  • Page 245 4 Configuration and Wiring • Do not put loads on the cable and the shield clamp such as twisting, pushing and pulling etc. Mount the terminal block to the Servo Drive. After all of the terminals are wired, return the terminal block to its original position on the Servo Drive.

  • Page 246: Procedure For Attaching An Integrated Connector

    4 Configuration and Wiring 4-2-3 Procedure for Attaching an Integrated Connector This section describes a procedure for attaching an integrated connector in a Servomotor. Use the fol- lowing procedure to fit the connector. Precautions for Correct Use Be sure to unwind integrated cables wound for packing before mating integrated connectors to the cables.
  • Page 247 4 Configuration and Wiring Turn the knurling nut to clockwise direction until it stops. The connector is locked by turning the knurling nut until it stops. Knurling nut  Procedure for detaching connectors Turn the knurling nut of the cable plug to counterclockwise direction. When the printed “open”...

  • Page 248: Procedure For Change Of Cable Outlet Direction For Integrated Cable

    4 Configuration and Wiring 4-2-4 Procedure for Change of Cable Outlet Direction for Integrated Cable This section describes a procedure for change of cable outlet direction for connector Type M17 or M23. The change of cable outlet directions shall be up to five times. Pre-determine the cable outlet directions such as mounting a Servomotor to devices, etc.
  • Page 249 4 Configuration and Wiring Use your hand, instead of tool, etc. when changing the cable outlet direction. Otherwise, a large amount of force is applied easily even toward not-specified direction and may cause failure of the connector. Do not pull out a cable during the change of cable outlet direction. Doing so may cause failures of a connector and a cable.

  • Page 250: Wiring Conforming To Emc Directives

    4 Configuration and Wiring Wiring Conforming to EMC Directives 1S-series Servo Drives Advance Type conform to the EMC Directives (EN 61800-3) under the wiring conditions described in this section. The following conditions are determined so that 1S-series Servo Drive Advance Type can conform to EMC Directives.

  • Page 251: Peripheral Equipment Connection Examples

    4 Configuration and Wiring 4-3-1 Peripheral Equipment Connection Examples R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT ECAT IN CN10 P/B1 ECAT OUT CN11 φ CN14 Shield Clamp I/O slave 1-phase 200 VAC Controller 3-phase 200 VAC Note For single-phase inputs, connect between any two phases out of the following: L1, L2, and L3. •...
  • Page 252 HF2020A-SZC-33DDD 1-phase 200 VAC (20 A) Ltd. HF3020C-SZC-33DDD 3-phase 200 VAC (20 A) Servo Drive OMRON Servomotor OMRON I/O slave Controller *1. Consult Soshin Electric Co., Ltd. for the specifications. *2. Refer to 2-3-3 Servo Drive and Servomotor Combination Tables on page 2-12 for Servo Drive and Servomo- tor combinations.
  • Page 253 4 Configuration and Wiring R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/ -1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT ECAT IN CN10 ECAT OUT CN11 +24V CN14 Shield Clamp I/O slave 3-phase 200 VAC Controller 3-phase 400 VAC Note For single-phase inputs, connect between any two phases out of the following: L1, L2, and L3. •...
  • Page 254 Ltd. HF3020C-SZC-33DDD 3-phase 200 VAC (20 A) 3-phase 400 VAC (20 A) HF3020C-SZC Servo Drive OMRON Servomotor OMRON I/O slave Controller *1. Consult Soshin Electric Co., Ltd. for the specifications. *2. Refer to 2-3-3 Servo Drive and Servomotor Combination Tables on page 2-12 for Servo Drive and Servomo- tor combinations.
  • Page 255 4 Configuration and Wiring Noise Filter for Power Input The following noise filters are recommended for Servo Drives. The noise filters conform to the EMC Directives. Applicable Servo Drive Noise Filter Rated Phase Model Model Leakage current Manufacturer current Single- R88D-1SAN- HF2020A-SZC-33 20 Arms...
  • Page 256 4 Configuration and Wiring  Separate Type Noise Filter External Dimensions HF2020A-SZC-33DDD/HF3020C-SZC(-33DDD)  Separate Type Noise Filter Circuit Diagram For single-phase LINE LOAD (PE) For 3-phase LINE LOAD (PE) 4 - 38 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 257: Selecting Connection Component

    4 Configuration and Wiring 4-3-2 Selecting Connection Component This section describes the criteria for selecting connection components that are required to improve noise immunity. Thoroughly understand the characteristics such as capacity, performance, and the range of application of the connection components before you select them. Consult the manufacturer for details of the parts.
  • Page 258 4 Configuration and Wiring The value of the inrush current varies depending on the input voltage to the Servo Drive. The values shown above are for the following input voltages. Main circuit power Model supply voltage R88D-1SANH-ECT 240 VAC R88D-1SANF-ECT 480 VAC Leakage Breaker •...
  • Page 259 4 Configuration and Wiring Surge Absorber • Use a surge absorber to absorb the lightning surge voltage and the abnormal voltage from the power input line. • The following table gives the recommended surge absorber specifications. Recommended Servo Drive voltage Surge current tolerance Recommended model manufacturer...
  • Page 260 4 Configuration and Wiring Surge Suppressors • Install surge suppressors for a load with an induction coil such as a relay, solenoid, and clutch. • The following table gives the types of surge suppressors and the recommended products. Type Feature Recommended product Diode Diodes are used for relatively small loads...
  • Page 261 4 Configuration and Wiring Reactor for Harmonic Current Reduction  Countermeasure against Harmonic Current • Use a reactor to suppress the harmonic current. A reactor can suppress a sharp change in cur- rent. • Select the reactor according to the model of your Servo Drive. Applicable Servo Drive DC Reactor Rated...

  • Page 262: Regenerative Energy Absorption

    4 Configuration and Wiring Regenerative Energy Absorption The Servo Drives have a built-in capacitor, which absorbs the regenerative energy produced during motor deceleration, etc. When the built-in capacitor cannot absorb all regenerative energy, the Internal Regeneration Resistor absorbs the rest of the energy. If the amount of regenerative energy from the Servomotor is too large, regeneration operation stops and an Overvoltage Error occurs in order to pre- vent the Internal Regeneration Resistor from burning.
  • Page 263 4 Configuration and Wiring Regenerative energy calculation for a vertical axis is explained. Downward movement Motor operation Upward movement - N2 Eg21 Eg22 Motor output torque • In the output torque graph, acceleration in the rising direction is shown as positive (+), and accelera- tion in the falling direction is shown as negative (-).
  • Page 264 4 Configuration and Wiring  Regenerative Energy Absorption by Built-in Capacitor If both of the previously mentioned values Eg1 and Eg2 [J] are smaller than or equal to the amount of regenerative energy Ec [J] that the Servo Drive’s built-in capacitor can absorb, the built-in capaci- tor can process all regenerative energy.

  • Page 265: Servo Drive Regeneration Absorption Capacity

    4 Configuration and Wiring 4-4-2 Servo Drive Regeneration Absorption Capacity Amount of Internal Regeneration Absorption in Servo Drives The following table shows the amount of regenerative energy and regenerative power that each Servo Drive can absorb. If the regenerative energy exceeds these values, take measures as mentioned previ- ously.

  • Page 266: Regenerative Energy Absorption By An External Regeneration Resistance Device

    4 Configuration and Wiring 4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device If the regenerative power exceeds the average regenerative power that the Internal Regeneration Resistor of the Servo Drive can absorb, connect an External Regeneration Resistance Device. Connect the External Regeneration Resistance Device between B1 and B2 terminals on the Servo Drive.

  • Page 267: Connecting An External Regeneration Resistor

    4 Configuration and Wiring 4-4-4 Connecting an External Regeneration Resistor Normally, short-circuit B2 and B3. When an External Regeneration Resistor is required, remove the short-circuit wire between B2 and B3, and connect an External Regeneration Resistor between B1 and B2 as shown below. Servo Drive External Regeneration Resistor...

  • Page 268: Adjustment For Large Load Inertia

    4 Configuration and Wiring Adjustment for Large Load Inertia The applicable Servomotor load inertia is a value to prevent the Servo Drive circuits from damage during normal operation. For the use of the Servomotor within the range of applicable load inertia, the precautions for adjustment and dynamic brake are described below.

  • Page 269: Ethercat Communications

    EtherCAT Communications This section explains EtherCAT communications under the assumption that the Servo Drive is connected to a Machine Automation Controller NJ/NX-series CPU Unit, NY-series IPC Machine Controller, or Position Control Unit (Model: CJ1W-NC8). 5-1 Display Area and Settings ........5-2 5-1-1 Node Address Setting .

  • Page 270: Display Area And Settings

    5 EtherCAT Communications Display Area and Settings This section explains the indicators and switches located on the front of the Serve Drive. ID switches Status indicators 5-1-1 Node Address Setting Use the ID switches located in the display area to set the EtherCAT node address. Description ID switch setting Connection to NJ/NX-series CPU Unit, NY-series IPC Machine...

  • Page 271: Status Indicators

    5 EtherCAT Communications 5-1-2 Status Indicators The following table shows the status indicators and their meaning. Name Function Color Status Description Displays the sta- Green Control power supply OFF tus of control Control power supply ON power supply. Displays Unit error No error status.
  • Page 272 5 EtherCAT Communications See the following diagram for the status of the indicators. 50 ms Flickering 200 ms 200 ms Blinking Single 200 ms 1,000 ms 200 ms flashing Double 200 ms 200 ms 200 ms 1,000 ms 200 ms flashing 500 ms 500 ms...

  • Page 273: Structure Of The Can Application Protocol Over Ethercat

    5 EtherCAT Communications Structure of the CAN Application Protocol over EtherCAT This section explains the structure of the CAN application protocol over EtherCAT (CoE) for a 1S-series Servo Drive Advance Type with built-in EtherCAT communications. Servo Drive Application layer Servo Drive application Object dictionary PDO mapping EtherCAT State...

  • Page 274: Ethercat State Machine

    5 EtherCAT Communications EtherCAT State Machine The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT master. Initialization Pre-Operational Safe-Operational Operational State Description communications reception transmission Init Not possible Not possible Not possible Communication initialization is in progress.

  • Page 275: Process Data Objects (Pdos)

    5 EtherCAT Communications Process Data Objects (PDOs) The process data objects (PDOs) are used for real-time data transfer during cyclic communications. PDOs can be RxPDOs, which receive data from the controller, or TxPDOs, which send status from the Servo Drive to the host controller. RxPDO Operation commands and target values...

  • Page 276: Sync Manager Pdo Assignment Settings

    5 EtherCAT Communications 5-4-2 Sync Manager PDO Assignment Settings A Sync Manager channel consists of several PDOs. The Sync Manager PDO Assignment objects describe relationships between these PDOs and the Sync Manager. The number of PDOs is shown in subindex 00 hex in the Sync Manager PDO Assignment table. 1S-series Servo Drives Advance Type use 1C12 hex for an RxPDO, and 1C13 hex for a TxPDO.
  • Page 277 5 EtherCAT Communications PDO Mapping 2 (Position Control, Velocity Control, Torque Control, and Touch Probe Function) This is the mapping for an application that uses one of the following modes with switching them: Cyclic synchronous position mode (csp), Cyclic synchronous velocity mode, and Cyclic synchronous torque mode.
  • Page 278 5 EtherCAT Communications PDO Mapping 5 (Position Control, Velocity Control, Touch Probe Function, Torque Limit, and Torque Feed-forward) This is the mapping for an application that uses one of the following modes with switching them: Cyclic synchronous position mode (csp) and Cyclic synchronous velocity mode. The touch probe function and torque limit are available.

  • Page 279: Variable Pdo Mapping

    5 EtherCAT Communications 5-4-4 Variable PDO Mapping 1S-series Servo Drives Advance Type allow you to change some mapped objects. The PDO mapping objects for which you can change the setting are the 1st receive PDO Mapping (1600 hex) and the 1st transmit PDO Mapping (1A00 hex). These objects can be changed only when the EtherCAT communications state is Pre-Operational.

  • Page 280: Safety Pdo Mapping

    5 EtherCAT Communications 5-4-5 Safety PDO Mapping When you use safety functions in Servo Drive, use the following safety PDO mapping. Objects fixed for safety functions are assigned. In addition, objects according to safety function for use can be assigned. Settable or not: PDO mapping object Assigned object...
  • Page 281 5 EtherCAT Communications Default Setting FSoE Master CMD (E700-01 hex), STO command (6640-00 hex), SS1 command 1 RxPDO: [17th receive (6650-01 hex), SS2 command 1 (6670-01 hex), SOS command 1 (6668-01 hex), SDI PDO Mapping] (1610 positive direction command (66D0-00 hex), SDI negative direction command (66D1-00 hex) hex), error acknowledge (6632-00 hex), FSoE Master CRC_0 (E700-03 hex), and FSoE Master Conn_ID (E700-02 hex)

  • Page 282: Sync Manager Pdo Mapping Assignment Settings

    5 EtherCAT Communications 5-4-6 Sync Manager PDO Mapping Assignment Settings 1S-series Servo Drives Advance Type use Sync Manager 2 to 3 PDO Assignment. You can assign PDO mapping objects to each Sync Manager as shown in the following table. Max. No. Assigned Supported Assigned...

  • Page 283: Service Data Objects (Sdos)

    5 EtherCAT Communications Service Data Objects (SDOs) 1S-series Servo Drives Advance Type support SDO communications. SDO communications are used for setting objects and monitoring the status of Servo Drives. The host controller performs object setting and status monitoring by reading and writing data to entries in the object dictionary. The following table lists the abort codes for when an SDO communications error occurs.

  • Page 284: Synchronization Mode And Communications Cycle

    5 EtherCAT Communications Synchronization Mode and Commu- nications Cycle 1S-series Servo Drives Advance Type support the following synchronization modes. • Distributed Clock (DC) Mode • Free-Run Mode Note SM Event Mode is not supported. 5-6-1 Distributed Clock (DC) Mode A mechanism called distributed clock (DC) is used to synchronize EtherCAT communications. The DC Mode is used for 1S-series Servo Drives Advance Type to perform highly accurate control in a multi-axis system.

  • Page 285: Emergency Messages

    5 EtherCAT Communications Emergency Messages When an error or warning occurs in 1S-series Servo Drives Advance Type, an emergency message is sent to the master through SDO communications. An emergency message is not sent for a communica- tions error. You can select whether or not to send emergency messages in Diagnosis History (10F3 hex). When the power supply is turned ON, Diagnosis History –...

  • Page 286: Sysmac Device Features

    Sysmac Device Features Sysmac Device refers to the control device product designed according to standardized communica- tions and user interface specifications for OMRON control devices. And the features that are available with such a device are called Sysmac Device Features.
  • Page 287 5 EtherCAT Communications Saving the Node Address Setting When the ID switches are set to 00, the value of the node address you set in Sysmac Studio is used. (Software setting) When Software setting is enabled, in Sysmac Studio, execute Slave Node Address Writing on the Eth- erCAT tab page to save the slave node address setting in the non-volatile memory of the Servo Drive.
  • Page 288 5 EtherCAT Communications  Switch Setting The value of the ID switches of the slave is used as the node address. EtherCAT Master Non-volatile EtherCAT memory Slave Controller Register: 0010 hex Register: 0012 hex ID switches EtherCAT Slave (Servo Drive) (1) Set the ID switches during power OFF.
  • Page 289 SII Verification Error (Error No. 88.03) or ESC Initialization Error (Error No. 88.01). If this error is not cleared after the power cycle, contact your OMRON sales representative. Precautions for Correct Use Do not use non-OMRON configuration tools to edit the SII information. 5 - 21 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 290 5 EtherCAT Communications 5 - 22 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 291: Basic Control Functions

    6-8 Homing Mode ..........6-24 6-9 Connecting with OMRON Controllers ......6-25 6 - 1 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 292: Outline Of Control Functions

    6 Basic Control Functions Outline of Control Functions This section explains the implemented control functions. 6-1-1 Basic Control and Control Methods 1S-series Servo Drives Advance Type can use the following controls to control Servomotors. • Position control • Velocity control •...

  • Page 293: Control Method

    6 Basic Control Functions 6-1-2 Control Method For the 1S-series Servo Drives Advance Type, TDF control and ODF control are available. TDF control is a control method proper for positioning control. The smooth internal commands are gen- erated so that the control target can be followed, and TDF controls the internal commands. In TDF con- trol, the following ability for the internal commands is improved and the overshooting is reduced making it easier to reduce the positioning stabilization time.
  • Page 294 6 Basic Control Functions TDF Control Structure Diagram Target position TDF control section Torque offset Velocity offset Position Velocity Torque Motor control control control Velocity detection coder ODF Control Structure Diagram Torque offset Velocity offset Position Velocity Torque Motor Target position control control control...

  • Page 295: Control Blocks

    6 Basic Control Functions Control Blocks The block diagrams for position control, velocity control and torque control are given. 6-2-1 Block Diagram for Position Control The block diagrams for TDF position control and ODF position control are given. TDF Position Control 60FC hex 3010-84 hex 6062 hex...
  • Page 296 6 Basic Control Functions ODF Position Control 60FC hex 3010-84 hex 3010-85 hex 3010-86 hex 6062 hex 3010-83 hex 607A hex Position demand Position demand Position Command Motor Velocity After Position Command Motor Velocity After Position Target position value internal value Motor Velocity Velocity Damping Filtering...

  • Page 297: Block Diagram For Velocity Control

    6 Basic Control Functions 6-2-2 Block Diagram for Velocity Control The block diagrams for TDF velocity control and ODF velocity control are given. TDF Velocity Control 3020-82 hex 60FF hex 3020-83 hex Velocity Command Target velocity Motor Velocity After Velocity Motor Velocity (Command unit/s) Command Filtering...
  • Page 298 6 Basic Control Functions ODF Velocity Control 3020-82 hex 60FF hex 3020-83 hex Velocity Command Target velocity Motor Velocity After Velocity Motor Velocity (Command unit/s) Command Filtering (r/min) (r/min) Velocity Command Filter Velocity Command Filter IIR Filter 3021-01 Acceleration Time Cutoff Frequency Gain Switching in Velocity Control 3021-04...

  • Page 299: Block Diagram For Torque Control

    6 Basic Control Functions 6-2-3 Block Diagram for Torque Control The block diagram for torque control is given. 3030-81 hex 6071 hex Torque Command Target torque Torque (0.1%) (0.1%) Filter Switching in Torque Control Mode Selection 3232-01 60B2 hex Torque offset (0.1%) Sign 607F hex...

  • Page 300: Cyclic Synchronous Position Mode

    6 Basic Control Functions Cyclic Synchronous Position Mode In this mode of operation, the controller has a path generation function (an operation profile calculation function) and it gives the target position to the Servo Drive in cyclic synchronization. Velocity offset (60B1 hex) and Torque offset (60B2 hex) can be used as the velocity feed-forward and torque feed-forward amounts respectively.
  • Page 301 6 Basic Control Functions Related Objects Index Subindex Default Name Access Size Unit Setting range (hex) (hex) setting 6040 Controlword 0 to FFFF hex 0000 6041 Statusword 6060 Modes of operation INT8 0 to 10 6064 Position actual value INT32 Command unit Following error win-...

  • Page 302: Cyclic Synchronous Velocity Mode

    6 Basic Control Functions Cyclic Synchronous Velocity Mode In this mode of operation, the controller has a path generation function (an operation profile calculation function) and it gives the target velocity to the Servo Drive in cyclic synchronization. The Torque offset (60B2 hex) can be used as the torque feed-forward amount. Cyclic Synchronous Velocity Mode Configuration The following diagram shows the configuration of the Cyclic synchronous velocity mode.
  • Page 303 6 Basic Control Functions Related Objects Subindex Default Index (hex) Name Access Size Unit Setting range (hex) setting 6040 Controlword 0 to FFFF hex 0000 6041 Statusword 6060 Modes of operation INT8 0 to 10 6064 Position actual value INT32 Command unit 606C...

  • Page 304: Cyclic Synchronous Torque Mode

    6 Basic Control Functions Cyclic Synchronous Torque Mode In this mode of operation, the controller has a path generation function (an operation profile calculation function) and it gives the target torque to the Servo Drive in cyclic synchronization. Cyclic Synchronous Torque Mode Configuration The following diagram shows the configuration of the Cyclic synchronous torque mode.
  • Page 305 6 Basic Control Functions Related Objects Subindex Default Index (hex) Name Access Size Unit Setting range (hex) setting 6040 Controlword 0 to FFFF hex 0000 6041 Statusword 6060 Modes of operation INT8 0 to 10 6064 Position actual value INT32 Command unit 606C...

  • Page 306: Profile Position Mode

    6 Basic Control Functions Profile Position Mode In this mode of operation, the controller uses the path generation function (an operation profile calcula- tion function) inside the Servo Drive to perform PTP positioning operation. It executes path generation based on the target position, profile velocity, profile acceleration, profile deceleration, and other infor- mation.
  • Page 307 6 Basic Control Functions Related Objects Index Subindex Default set- Name Access Size Unit Setting range (hex) (hex) ting 6040 Controlword 0 to FFFF hex 0000 hex 6041 Statusword 6060 Modes of operation INT8 0 to 10 6062 Position demand INT32 Command value...
  • Page 308 6 Basic Control Functions Description of Function Set the Controlword (6040 hex) bit 5 (Change set immediately) to 1. When you set the Target position (607A hex) and the Profile velocity (6081 hex) and then change the Controlword (6040 hex) bit 4 (New set point) from 0 to 1, the Servo Drive starts positioning to the set target position.
  • Page 309 6 Basic Control Functions Precautions for Correct Use Depending on the positional relationship between the position actual value and target position, operation is performed in the direction with a shorter travel distance. Position [Command unit] Position Operation in the direction with a actual value shorter travel distance 7FFF FFFF Hex...
  • Page 310 6 Basic Control Functions Statusword (6041 hex) in Profile Position Mode The bits in Statusword used in the Profile position mode are explained below. Name Value Description Target reached Halt bit is 0: Positioning is not completed. Halt bit is 1: The axis is decelerating. Halt bit is 0: Positioning is completed.

  • Page 311: Profile Velocity Mode

    6 Basic Control Functions Profile Velocity Mode In this mode of operation, the controller uses the path generation function (an operation profile calcula- tion function) inside the Servo Drive to control the velocity. It executes path generation based on the tar- get velocity, profile acceleration, profile deceleration, and other information.
  • Page 312 6 Basic Control Functions Related Objects Index Subindex Default Name Access Size Unit Setting range (hex) (hex) setting 6040 Controlword 0000 to FFFF 0000 hex 6041 Statusword 6064 Position actual value INT32 Command unit 606B Velocity demand INT32 Command value unit/s 606C Velocity actual value...
  • Page 313 6 Basic Control Functions Controlword (6040 hex) in Profile Velocity Mode The bits in Controlword used in the Profile position mode are explained below. For the bits that are common to all modes, refer to A-1 CiA 402 Drive Profile on page A-2. Name Value Description...

  • Page 314: Homing Mode

    A-1-5 Homing Mode Specifications on page A-7. Additional Information Procedure 1 is used for the OMRON Machine Automation Controller NJ/NX-series CPU Unit, NY-series IPC Machine Controller, and Position Control Unit (Model: CJ1W-NC8). In this procedure, the Position Control Unit creates a homing operation pattern and provides the com- mand to the Servo Drive in the Cyclic synchronous position mode (csp) to perform the homing operation.

  • Page 315: Connecting With Omron Controllers

    6 Basic Control Functions Connecting with OMRON Controllers This section describes the settings required to connect the Servo Drive with an OMRON controller. Machine Automation Controller NJ/NX-series CPU Unit/IPC Machine Controller NY-series The following tables show the setting values required to use the control functions of the controller.
  • Page 316 6 Basic Control Functions Recom- Subindex Index (hex) Name mended Description (hex) setting 4632 External Latch Input 1 The External Latch Input 1 is allocated to General Input 7 (IN7) with positive logic (NO Port Selection contact). Logic Selection 4633 External Latch Input 2 The External Latch Input 2 is allocated to General Input 8 (IN8) with positive logic (NO...
  • Page 317 6 Basic Control Functions Recom- Subindex Index (hex) Name mended Description (hex) setting 3B31 Touch Probe 2 Touch probe1 source is set to External Latch Input 1, and Touch probe 2 source Touch Probe 2 Source is set to External Latch Input 2. 4020 Warning Customization The warning is automatically cleared...
  • Page 318 6 Basic Control Functions 6 - 28 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 319: Applied Functions

    Applied Functions This section provides the outline and settings of the applied functions such as elec- tronic gear and gain switching. 7-1 General-purpose Input Signals ........7-3 7-1-1 Objects Requiring Settings .
  • Page 320 7 Applied Functions 7-9 Soft Start ........... . 7-32 7-9-1 Objects Requiring Settings .

  • Page 321: General-Purpose Input Signals

    7 Applied Functions General-purpose Input Signals The 1S-series Servo Drive provides 8 ports for general-purpose input signals to which you can allocate function inputs in the Control I/O Connector (CN1). You can also set the logic for input signals that can be allocated.

  • Page 322: Objects Requiring Settings

    7 Applied Functions 7-1-1 Objects Requiring Settings Index Subindex Refer- Name Description (hex) (hex) ence 4630 Positive Drive Prohibition Sets the input signal allocation and logic. P. 9-117 Input Port Selection Selects the port to be allocated. 0: No allocation 1: General Input 1 (IN1) 2: General Input 2 (IN2) 3: General Input 3 (IN3)
  • Page 323 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 463A Monitor Input 3 Sets the input signal allocation and logic. P. 9-120 Port Selection The function is the same as 4630-01 hex. Logic Selection The function is the same as 4630-02 hex. 463B Monitor Input 4 Sets the input signal allocation and logic.

  • Page 324: Default Setting

    7 Applied Functions 7-1-2 Default Setting The allocations of the default input signals are as follows. Default setting Subindex 01 hex Subindex 02 hex Index (hex) Name Port Selection Logic Selection Set value Status Set value Status 4630 Positive Drive Prohibi- General Input 2 (IN2) Negative logic (NC tion Input...

  • Page 325: Function Input Details

    7 Applied Functions 7-1-3 Function Input Details This section explains the function inputs that can be allocated to the general-purpose inputs.  Error Stop Input (ESTP) • This signal is used to forcibly generate an error to stop motor rotation from an external device. •...

  • Page 326: General-Purpose Output Signals

    7 Applied Functions General-purpose Output Signals The 1S-series Servo Drive provides 3 ports for general-purpose output signals to which you can allo- cate function outputs in the Control I/O Connector (CN1). You can also set the logic for output signals that can be allocated.
  • Page 327 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 4651 Servo Ready Output Sets the output signal allocations and P. 9-124 logic. Port Selection Selects the port to be allocated. bit 0: General Output 1 (OUT1) bit 1: General Output 2 (OUT2) bit 2: General Output 3 (OUT3) 0: Not allocated 1: Allocated...

  • Page 328: Default Setting

    7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 465E Remote Output 3 Sets the output signal allocation and logic. P. 9-128 Port Selection The function is the same as 4651-01 hex. Logic Selection The function is the same as 4651-02 hex. 465F Zone Notification Output 1 Sets the output signal allocation and logic.

  • Page 329: Function Output Details

    7 Applied Functions Default setting Subindex 01 hex Subindex 02 hex Index (hex) Name Port Selection Logic Selection Set value Status Set value Status 4657 Velocity Conformity Out- No allocation Positive logic (NO contact) 4658 Warning Output 1 No allocation Positive logic (NO contact) 4659...
  • Page 330 7 Applied Functions  Velocity Attainment Detection Output (TGON) • This output turns ON when the motor rotation speed exceeds the value that is set in the Speed Detection Function - Velocity Attainment Detection Level (3B60-01 hex). • The output is effective both in positive and negative directions regardless the actual direction in which the motor rotates.
  • Page 331 7 Applied Functions  Velocity Conformity Output (VCMP) • This output turns ON when the motor speed conforms to the command velocity. • The velocity conformity is determined when the difference between the velocity command inside the Servo Drive before acceleration or deceleration process and the motor rotation speed is within the range set in the Speed Detection Function - Velocity Conformity Detection Range (3B60-03 hex).
  • Page 332 7 Applied Functions  Remote Output (R-OUT1 to R-OUT3) • Remote Output 1 (R-OUT1) turns ON and OFF according to the value of bit 16 in the Digital out- puts (60FE hex). • Remote Output 2 (R-OUT2) turns ON and OFF according to the value of bit 17 in the Digital out- puts (60FE hex).

  • Page 333: Drive Prohibition Functions

    7 Applied Functions Drive Prohibition Functions If the Positive Drive Prohibition Input (POT) or the Negative Drive Prohibition Input (NOT) is active, the motor will stop rotating. You can thus prevent the motor from rotation outside of the movement range of the device by using limit inputs from the device connected to the Servo Drive.

  • Page 334: Description Of Operation

    7 Applied Functions 7-3-2 Description of Operation If Drive Prohibition - Enable (3B10-01 hex) is set to 1 (Drive Prohibition Enabled), when the Servo Drive detects that the Positive Drive Prohibition Input (POT) or Negative Drive Prohibition Input (NOT) is active, it stops the Servomotor according to the method specified in Stop Selection (3B10-02 hex). After stopping Stop Selec- During deceleration...

  • Page 335: Software Position Limit Functions

    7 Applied Functions Software Position Limit Functions This function notifies you that the present position exceeded the specified movement range and stops the Servomotor rotation. 7-4-1 Operating Conditions The Software Position Limit Function is performed when home is defined. 7-4-2 Objects Requiring Settings Index Subindex...

  • Page 336: Description Of Operation

    7 Applied Functions 7-4-3 Description of Operation When the software position limit function is enabled in Software Position Limit - Enable Selection (3B11-01 hex), if the present position exceeds the specified movement range, the Servo Drive stops the Servomotor according to the method specified in Stop Selection (3B11-02 hex). The value set in Enable Selection (3B11-01 hex) determines the movement range as follows.
  • Page 337 7 Applied Functions Precautions for Correct Use • Because the deceleration stop causes the Servomotor to decelerate quickly, in the position control mode, the following error may become large momentarily. This may result in an Excessive Position Deviation Error (Error No. 24.00). If this error occurs, set the Position Detection Function - Following Error Window (3B50-05 hex) to an appropriate value.

  • Page 338: Backlash Compensation

    7 Applied Functions Backlash Compensation This function compensates the specified backlash compensation amount, travel distance, and present position. Use this function when there is a meshing error in machine systems. The Backlash Compensation function can be used when the communications period is 250 µs or more. When the communications period is 125 µs, set Backlash Compensation Selection to 0 (disabled).

  • Page 339: Description Of Operation

    7 Applied Functions 7-5-3 Description of Operation When the first operation after Servo ON is performed in the direction specified in Backlash Compen- sation Selection (3001-02 hex), position data is compensated by Backlash Compensation Amount. After that, compensation is executed each time the operation direction is reversed. The compensation is performed for the target position and the present position.

  • Page 340: Brake Interlock

    7 Applied Functions Brake Interlock This function lets you set the output timing for the Brake Interlock Output (BKIR) signal that activates the holding brake when the Servo is turned OFF or an error occurs. It is also possible to use the controller to force the brake control via EtherCAT communications. You can select a port for the Brake Interlock Output from the brake output (BKIR), General Output (OUT 1 to 3), and Safe Brake Control (SBC) Output.
  • Page 341 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 60FE Digital outputs P. A-59 Physical outputs Changes the function output status. P. A-59 bit 0: NC Contact Brake Interlock Output (BKIR_b) 0: Brake released 1: Brake held bit 28: NO Contact Brake Interlock Output (BKIR_a) 0: Brake held 1: Brake released 4602...

  • Page 342: Description Of Operation

    7 Applied Functions 7-6-2 Description of Operation To control the brake forcibly via EtherCAT communications, set Digital outputs - Physical outputs (60FE-01 hex) and Function Output - Bit Mask (4602-01 hex). However, to prevent a workpiece from falling for a vertical axis, the brake is constantly applied except when the status of ESM is Operational. ...

  • Page 343: Operation Timing

    7 Applied Functions 7-6-3 Operation Timing This section shows the timing of the Brake Interlock Output (BKIR). Basic Timing Control power supply (L1C, L2C) Servo ON/OFF Servo OFF Servo ON Servo OFF Brake Interlock Release request Output (BKIR) Forced-braking is possible. Forced-braking is possible.
  • Page 344 7 Applied Functions Servo ON/OFF Operation Timing When Motor Is Operating Based on these operation timings, regenerative energy is produced if the motor rotation stops abnor- mally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.
  • Page 345 7 Applied Functions Operation Timing When an Error Occurs (Servo ON) Error status Normal Error 1 to 2 ms Motor power supply Power supply No power supply Released Dynamic DB released DB applied*1 Brake Applied Servo Ready Output READY (READY) Error Normal Error...
  • Page 346 7 Applied Functions Operation Timing When an Error Is Reset Reset Error reset command 1 to 2 ms or more Servo Ready Output (READY) READY Error Error Normal Output (/ERR) 0 ms or more Servo ON/OFF Servo OFF Servo ON* Approx.

  • Page 347: Electronic Gear Function

    125 µs, set the gear ratio to 1:1. When the Servo Drive is connected to an OMRON Machine Automation Controller NJ/NX-series CPU Unit or NY-series IPC Machine Controller, the electronic gear ratio is set on the controller. Set the elec- tronic gear ratio to 1:1 on the Servo Drive.

  • Page 348: Torque Limit Switching

    7 Applied Functions Torque Limit Switching This function switches the torque limit according to the operation direction, and depending on the Posi- tive Torque Limit (PCL), the Negative Torque Limit (NCL), and the Positive/Negative Torque Limit Input Commands from EtherCAT communications. This function is used in the following conditions.

  • Page 349: Torque Limit Switching Method

    7 Applied Functions 7-8-3 Torque Limit Switching Method The following table shows the operations that are performed according to the setting of the Torque Limit - Switching Selection (3330-01 hex). Torque limit Positive torque limit Negative torque limit switching iPCL iPCL iNCL iNCL...

  • Page 350: Soft Start

    7 Applied Functions Soft Start This function performs auto acceleration and deceleration inside the Servo Drive when step-type veloc- ity commands are input. To reduce any impacts made by acceleration changes, you can also use the velocity command first-order lag filter. 7-9-1 Objects Requiring Settings Index...

  • Page 351: Velocity Command First-Order Lag Filter

    7 Applied Functions Precautions for Correct Use Do not set the Acceleration Time and the Deceleration Time when the position loop structure with a host controller is used. 7-9-3 Velocity Command First-order Lag Filter The command first-order lag filter is an IIR filter for velocity commands. Velocity command Velocity command Velocity command [r/min]...

  • Page 352: Gain Switching Function

    7 Applied Functions 7-10 Gain Switching Function This function switches the position control gain, velocity control gain, and torque command filter. If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping or operating, you can perform optimal control by using gain switching. 7-10-1 Objects Requiring Settings Index Subindex...
  • Page 353 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 3232 Filter Switching in Torque Sets the filter switching method in the torque P. 9-41 Control control. Mode Selection Selects the condition to switch between 1st P. 9-42 Filter and 2nd Filter. 0: Always 1st Filter 1: Always 2nd Filter 2: Gain switching command input via Ether-...

  • Page 354: Mode Selection

    7 Applied Functions 7-10-2 Mode Selection The Mode Selection is used to set the condition to switch between Gain 1 and Gain 2. When you select Gain 1, control is performed based on 1st Position Control Gain, 1st Velocity Con- trol Gain, and 1st Torque Command Filter.

  • Page 355: Gain Switching In Position Control

    7 Applied Functions When Mode Selection = 3: Actual motor velocity with position com- mand If Mode Selection is set to 3, you can switch between Gain 1 and Gain 2 by using the position com- mand and the motor velocity. Set the Gain Switching in Position Control - Speed (3212-03 hex) to a speed threshold to switch from Gain 2 to Gain 1.

  • Page 356: Touch Probe Function (Latch Function)

    7 Applied Functions 7-11 Touch Probe Function (Latch Func- tion) The touch probe function latches the actual position and time stamp at the rising edge of an external latch input signal or the encoder’s phase-Z signal. 1S-series Servo Drives have two latch functions. 7-11-1 Related Objects Index Subindex...
  • Page 357 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 4633 External Latch Input 2 P. 9-118 Port Selection Selects the port to be allocated. 0: No allocation 1: General Input 1 (IN1) 2: General Input 2 (IN2) 3: General Input 3 (IN3) 4: General Input 4 (IN4) 5: General Input 5 (IN5) 6: General Input 6 (IN6)

  • Page 358: Trigger Signal Settings

    7 Applied Functions 7-11-2 Trigger Signal Settings You can select the latch trigger as follows. Actual position EXT1 IN1/2/3/4 EXT1/2 Latch trigger input EXT1/2/ Phase Z Latch Function 1 Touch probe 1 Phase Z positive edge Phase Z Actual position EXT2 Latch trigger input EXT1/2/...

  • Page 359: Operation Sequence

    7 Applied Functions 7-11-3 Operation Sequence The operations when Cont (latch operation) is 0 (Trigger First Event Mode) and 1 (Continuous Mode) are explained below. When the setting is changed when Ena (touch probe function) is 1 (enabled), the change is applied immediately.

  • Page 360: Encoder Dividing Pulse Output Function

    7 Applied Functions 7-12 Encoder Dividing Pulse Output Func- tion The Encoder Dividing Pulse Output Function outputs the position information obtained from the encoder in the form of two-phase pulses (phase A and B) with a 90° phase difference. This function also supports Z-phase outputs.

  • Page 361: Objects Requiring Settings

    7 Applied Functions 7-12-1 Objects Requiring Settings Index Subindex Refer- Name Description (hex) (hex) ence 4620 Encoder Dividing Pulse Sets the encoder dividing pulse output. P. 9-114 Output Enable Selects whether to enable or disable the P. 9-114 encoder dividing pulse output function. 0: Disabled 1: Enabled Dividing Numerator...

  • Page 362: Output Reverse Selection

    7 Applied Functions 7-12-3 Output Reverse Selection You can use Output Reverse Selection (4620-04 hex) to reverse the output pulses. Output Reverse Selection 0: Not reverse Phase A Phase A Phase B Phase B 1: Reverse Phase A Phase A Phase B Phase B 7-12-4 Z-phase Output...

  • Page 363: Dynamic Brake

    7 Applied Functions 7-13 Dynamic Brake The dynamic brake can be used to stop the Servomotor in the events such as drive prohibition input, Servo OFF, and occurrence of an error. The dynamic brake stops the Servomotor quicker than a free-run stopping. Precautions for Correct Use •...

  • Page 364: Description Of Operation

    7 Applied Functions Subin- Refer- Index (hex) Name Description dex (hex) ence 3B20 Stop Selection P. 9-64 Shutdown Option Code Selects the operation for the time when the PDS state machine is Shutdown. Mirror object of 605B hex Disable Operation Option Selects the operation for the time when the Code PDS state machine is Disable Operation.
  • Page 365 7 Applied Functions Deceleration operation Operation after stopping value Operation Deceleration stop (The decelera- Free tion stop torque is used.) Operation Free-run Operation Deceleration stop (The decelera- Free tion stop torque is used.) Operation Dynamic brake operation Operation Deceleration stop (The decelera- Dynamic brake operation tion stop torque is used.) Operation...
  • Page 366 7 Applied Functions Occurrence of Error You can select the dynamic brake as a method to stop the Servomotor when an error occurs (PDS state = Fault reaction active). Also, you can select the dynamic brake for the operation after stopping. Use the Stop Selection - Fault Reaction Option Code (3B20-04 hex) for setting.

  • Page 367: Safety Function

    Safety Function This section explains the Servo Drive safety function. 8-1 Outline of Safety Functions ........8-3 8-1-1 Description of Safety Functions .
  • Page 368 8 Safety Function 8-6 Safely-limited Speed (SLS) Function ......8-68 8-6-1 Objects Requiring Settings ........8-70 8-6-2 Operation Procedure .

  • Page 369: Outline Of Safety Functions

    8 Safety Function Outline of Safety Functions This section describes connections, settings necessary for use of safety functions and the information about configuration of safety system. 8-1-1 Description of Safety Functions Servo Drive has the following safety functions: Function Description Reference Safe Torque OFF This function is used to cut off a motor current and stop the motor.

  • Page 370: Configuration For Safety System

    8 Safety Function 8-1-2 Configuration for Safety System To make devices go into safe state, a combined control among a safety controller, a standard controller and a Servo Drive is required. Typical roles of each device are shown as below. Device Role Safety Controller...
  • Page 371 8 Safety Function This section describes a flow of control with an example of SLS function. Electromagnetic Lock safety Standard Controller NX-series EtherCAT Coupler Unit key selector switch Safety Controller Safety Digital Input Unit Sysmac Studio Servomotor Servo Drive Safety system configuration equipment Model Standard Controller NX701...
  • Page 372 8 Safety Function Safety system is achieved in the following controls with use of the equipment. Electromagnetic Servo- Safety Controller Standard Controller Servo Drive Lock safety key motor selector switch Detect change Change to to maintenace maintenace mode. mode. Provide Data (maintenace mode) with Get Data...

  • Page 373: Network Connection And Settings

    Connect the EtherCAT network, and configure the EtherCAT master and safety controller to use safety functions in Servo Drives. For safety controller, the controller that supports FSoE master function can be used. You can easily build the safety system when you use Omron s Sysmac products. ’...

  • Page 374: Operating Procedure For Safety Function

    8 Safety Function 8-1-4 Operating Procedure for Safety Function Addition of Safety PDO Add the following safety PDO to Servo Drive PDO assignment for EtherCAT network setting Sync Man- ager 2 PDO Assignment (1C12 hex) and Sync Manager 3 PDO Assignment (1C13 hex) for use of safety functions.
  • Page 375 8 Safety Function As for safety functions for non-use, set Safety Function Disable Setting - 1st Byte Disable Setting (4F20-01 hex) to 1:disable. Index Subindex Name Description Reference (hex) (hex) 4F20 Safety Function Disable safety functions assigned to safety PDO P.
  • Page 376 8 Safety Function Assignable safety functions and instances are followings. Safety function Assignable instance Setting value SS1 command 1 to 8 66500101 to 66500801 SS2 command 1 to 8 66700101 to 66700801 SOS command 2 to 8 66680201 to 66680801 SLS command 1 to 8 66900101 to 66900801 SLP command 1 to 8...

  • Page 377: Safety Reaction Time For Safety Distance

    8 Safety Function 8-1-5 Safety Reaction Time for Safety Distance Safety reaction time (Safety response performance) is the maximum time required for cutting off out- puts with consideration for failures and breakdowns in safety chain . Under the safety system design, safety distance can be calculated from the safety reaction time.

  • Page 378: Data Necessary For Designing Programs Of Each Controller

    8 Safety Function 8-1-6 Data Necessary for Designing Programs of Each Controller To secure a combined control between a safety controller and a standard controller, design programs for each controller and install the Servo Drive with the consideration of the followings. Time Length Required to Activate the Safety Function The minimum time length is required to activate the safety functions after the safety controller sent command signals.
  • Page 379 8 Safety Function Delay Time of Safety Functions “The delay time” setting is required for SS1, SS2, and SLS functions to activate their safety functions. The delay time is used for the standard controller to decelerate and stop the motor rotation. Calculate times needed for the deceleration according to user s program and set the time to the Servo Drives.
  • Page 380 8 Safety Function Timing to Issue a Command to Activate Safety Functions by the Safety Controller The timing to issue a command to activate safety functions by the safety controller varies in existence or non-existence of delay time shown in the following figure. SS1, SS2 or SLS functions can detect automatically that the Servomotor decelerates up to the set velocity.

  • Page 381: Pfh

    4.2 x 10 [1/h] Use Safely-limited Speed (SLS) and Safe Operating Stop (SOS) 4.2 x 10 [1/h] Precautions for Correct Use As for updated PHF Confirm http://www.ia.omron.com/support/sistemalibrary/index_jp.html. 8 - 15 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 382: Position/Velocity Data Monitored By Safety Functions

    8 Safety Function 8-1-8 Position/Velocity Data Monitored by Safety Functions Safety Present Motor Velocity, Safety Present Pulse Position and Safety Present Position moni- tored by safety functions have each characteristic. Safety Present Motor Velocity Safety Present Motor Velocity (4F1A-00 hex), which is used for operations each of SS1, SS2, SOS, SLS and SDI functions and for a monitoring range setting, is different from Present Motor Velocity (3221-82 hex) and Velocity actual value (606C-00 hex) as shown below explanation.
  • Page 383 8 Safety Function Safety Present Pulse Position Safety Present Pulse Position (4F18-00 hex), which is used for setting monitoring ranges for SS2, SOS and SDI functions and for determining safety origin position with SLP function, is different from Position actual internal value (6063-00 hex). ...
  • Page 384 8 Safety Function Safety Present Position Safety Present Position (4F19-00 hex), which is used for setting monitoring ranges with SLP func- tion, is different from Position actual value (6064-00 hex).  Reference of Position Data Encoder position is counted with safety origin position Zero. Zero is always displayed until the safety origin position is determined.

  • Page 385: Precaution On Use

    8 Safety Function 8-1-9 Precaution on Use In Test Run and Adjustment Deactivate safety functions when you use a function for adjustment of the Servo Drive. Otherwise, you may face a failure for adjustment of the Servo Drive. In System Configuration and Its Operation •...

  • Page 386: Procedure For Reset Of Safety Error

    8 Safety Function 8-1-10 Procedure for Reset of Safety Error This section describes a procedure for error reset other than “Cycle Power Supply” in failures of safety functions. Refer to Section 12 Troubleshooting based on error No. and error code and take appropriate measures.

  • Page 387: Safety Program

    8 Safety Function 8-1-11 Safety Program This is an example to reset the safety errors of the Servo Drive via the safety CPU unit. Set safety pro- cess data communications to 1S-series Servo Drives Advance Type to use function block by Sysmac Studio.

  • Page 388: Safe Torque Off (Sto) Function

    8 Safety Function Safe Torque OFF (STO) Function This function is used to cut off motor's currents by commands from a safety controller and stop the motor. When the STO function is activated, a Servo Drive turns OFF the Servo Ready Output (READY) and enters the safe state.

  • Page 389: Sto Function Via Safety Input Signals

    8 Safety Function 8-2-1 STO Function via Safety Input Signals This section explains how to use the STO function via safety input signals. Specification of Safety I/O Signals The following I/O signals are available to use the STO function: the safety input signals (SF1 and SF2) and the external device monitoring (EDM) output signal.
  • Page 390 8 Safety Function Safety input has diagnosis function, which can detect wiring errors like incorrect wiring. When the wiring error is detected in safety input, Discrepancy Error at SF Input (Error No. 71.04) occurs. The wiring errors are the followings: Wiring error Timing of detection Contact to power supply line (+)
  • Page 391 8 Safety Function Precautions for Correct Use Start the applications of the safety controller after the Servo Drive established EtherCAT com- munications. If this condition is not met, an EDM error may be detected.  EDM Output Signal and Errors Occurrence When an error leading to STO occurs, EDM Output turns ON.
  • Page 392 8 Safety Function Operation Example This section gives the timing charts to show the operation timing to a safe state as well as the timing of return from safe state.  Operation Timing to Safe State Servo ON/OFF Servo ON Servo OFF 200 ms or less Safety input 1...
  • Page 393 8 Safety Function When there is discrepancy between Safety input 1 and Safety input 2 for 200 ms or longer, Discrep- ancy Error at SF Input (Error No. 71.04) occurs. Servo ON/OFF Servo ON Servo OFF 200 ms Safety input 1 Normal status STO status Safety input 2...
  • Page 394 8 Safety Function  Recovery Timing from Safe State Servo ON/OFF Servo OFF Servo ON 200 ms or less Safety input 1 STO status Normal status Safety input 2 STO status Normal status 7 ms max. EDM output Motor power status Dynamic brake DB applied DB released...
  • Page 395 8 Safety Function Connection Example The following connection examples show how to connect the safety inputs and the EDM output to the safety controller.  Connection with a Safety Controller Connect a safety controller and safety inputs to a Servo Drive as the following diagram. For the safety controller, such as G9SP series, has a function to detect wiring errors, this EDM function is not required.
  • Page 396 8 Safety Function When EDM output is used with the same way of connection to existing Servo Drive, connect to a safety controller as the following diagram. Safety Safety output Controller (source) Servo Drive G9SP Series Safety output 1 SF1 + Safety input SF1 - Safety...
  • Page 397 8 Safety Function When EDM output is used with the same way of connection to existing servo drive, connect the EDM signal to the terminal EDM + P on the first Unit, and to the terminal EDM + on a Unit from the second as shown in the following diagram.

  • Page 398: Sto Function Via Ethercat Communications

    8 Safety Function 8-2-2 STO Function via EtherCAT Communications This section explains how to use the STO function via EtherCAT communications. Object Required for Settings Index Subindex Name Description Reference (hex) (hex) 6640 STO command Gives the STO status and issues the STO com- P.
  • Page 399 8 Safety Function Operation Timing  Operation Timing to Safe State Servo ON/OFF Servo ON Servo OFF STO command Activate STO Reset at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO STO command at Servo Drive Activate STO...
  • Page 400 8 Safety Function  Recovery Timing from Safe State Servo OFF Servo ON Servo ON/OFF STO command Activate STO Reset STO at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO STO command Reset STO Activate STO...
  • Page 401 8 Safety Function Programming Example This is a programming example in which the STO function of the 1S-series Servo Drives Advance Type is operated from the Safety CPU Unit. SF_EmergencyStop SF_EDM STO command S_EStop In S_EStop Out S_OutControl S_EDM Out (RxPDO) S_EDM1 Reset...

  • Page 402: Sto With Sbc Functions Via Ethercat Communications

    8 Safety Function 8-2-3 STO with SBC Functions via EtherCAT Communications While the STO function is activated via EtherCAT communications, Safe Brake Control (SBC) function can be used. When concurrent use of SBC and STO functions is set, SBC function is activated in the following cases.
  • Page 403 8 Safety Function Operation Timing When you make STO command assigned to safety process data 0 (Activate STO), STO function is acti- vated with SBC function at the same time. STO command Reset Activate STO at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Issue Safety PDO...
  • Page 404 8 Safety Function Once STO function is deactivated, SBC function is deactivated, too. Activate STO command Reset STO at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Issue Safety PDO Issue Safety PDO Activate STO command Reset STO at Servo Drive 10 ms max.

  • Page 405: Safe Stop 1 (Ss1) Function

    8 Safety Function Safe Stop 1 (SS1) Function This function is used to stop a motor by activating STO function at any timing after receiving a com- mand from a safety controller. It receives the command from the safety controller via EtherCAT (FSoE) communications.
  • Page 406 8 Safety Function STO is activated when either condition of the SS1 time to STO or the SS1 time for velocity zero is met earlier. SS1 command Reset Activate SS1 at Servo Drive SS1 time to STO Velocity SS1 time for velocity zero SS1 velocity zero window...

  • Page 407: Objects Requiring Settings

    8 Safety Function 8-3-1 Objects Requiring Settings Subindex Index (hex) Name Description Reference (hex) 6650 – SS1 command Gives SS1 function status and issues SS1 P. A-63 command. SS1 command 1 Gives SS1 instance 1 state and issues SS1 command. Read Gives SS1 status.
  • Page 408 8 Safety Function Subindex Index (hex) Name Description Reference (hex) 6654 – SS1 time for velocity It is a setting to activate SS1 function with P. A-65 zero motor's velocity. Sets a time for monitoring to detect that a motor stops. STO function is activated after SS1 time for velocity zero passed when the motor's velocity continuously fulfills one within SS1 velocity...

  • Page 409: Operation Procedure

    8 Safety Function 8-3-2 Operation Procedure This section describes how to use the SS1 function. Assign SS1 function to PDO. SS1 function was already assigned when only SS1 command 1 is used. Assign an instance to be used from SS1 command 2 to SS1 command 8 (6650-02 hex to 08 hex) when other SS1 command is used.

  • Page 410: Operation Timing

    8 Safety Function 8-3-3 Operation Timing This section describes operation timing for SS1 function. Operation Timing in Start (a) To activate STO after the delay time passed. SS1 command Reset Activate SS1 at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO...
  • Page 411 8 Safety Function (b) Before the delay time passed, to activate STO at the same time when the motor stopped. SS1 command Activate SS1 Reset at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO STO command Activate SS1...
  • Page 412 8 Safety Function Operation Timing in Termination This section describes timing when a Servo Drive terminates SS1 function by SS1 command. SS1 command Activate SS1 Reset SS1 at Safety CPU Unit STO command Reset STO Reset STO Activate at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit...

  • Page 413: Example Of Safety Program

    8 Safety Function 8-3-4 Example of Safety Program This section gives an example of a program to use SS1 function of Servo Drive from Safety CPU Unit. Set safety process data communications to 1S-series Servo Drives Advance Type to use function block by Sysmac Studio.

  • Page 414: Concurrent Use Of Ss1 Function And Sbc Function

    8 Safety Function 8-3-5 Concurrent Use of SS1 Function and SBC Function You can use SS1 function with Safe Brake Control (SBC) function concurrently. Object Requiring Setting Subindex Index (hex) Name Description Reference (hex) 6658 – SS1 activate SBC This setting is to activate SBC function P.
  • Page 415 8 Safety Function Operation Procedure This section describes how to use the SS1 function with SBC function. Carry out the brake wiring. For wiring the brake, refer to 8-9 Safe Brake Control (SBC) Function on page 8-112. Set parameters. • Set a SBC command to instances from SS1 activate SBC - SS1 activate SBC 1 to SS1 acti- vate SBC 8 (6658-01 hex to 08 hex).
  • Page 416 8 Safety Function The following are the examples of the timing described concretely. (a) The time of “SS1 time to STO - SBC brake time delay” elapsed after count start of SS1 time to STO. SS1 command Reset Activate SS1 at Safety CPU Unit Safety task cycle Safety task cycle...
  • Page 417 8 Safety Function (b) The condition of “Safety Preset Motor Velocity ≤ SS1 velocity zero window 1” was continuously fulfilled during SS1 time for velocity zero. SS1 command Activate SS1 Reset at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO...
  • Page 418 8 Safety Function In this case, SBC function is activated after the time of SS1 time for velocity zero elapsed under con- dition (b) mentioned earlier. Precautions for Correct Use • When interlocking the SBC function, if external forces such as gravity are applied on the ver- tical axes, the motor rotates until the external brake is held.
  • Page 419 8 Safety Function Operation Timing in Termination SBC function is reset when you reset STO function after resetting SS1 function. SS1 command Activate SS1 Reset SS1 at Safety CPU Unit STO command Activate Reset STO Reset STO at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit...

  • Page 420: Safe Stop 2 (Ss2) Function

    8 Safety Function Safe Stop 2 (SS2) Function This function is used to monitor a motor's stop by activating SOS function at any timing after receiving a command from a safety controller. As for SOS function, refer to 8-5 Safe Operating Stop (SOS) Func- tion on page 8-62.

  • Page 421: Objects Requiring Settings

    8 Safety Function SOS starts monitoring when either condition of SS2 time to SOS or SS2 time for velocity zero is met earlier. SS2 command Reset Activate SS2 at Servo Drive SS2 time to SOS SS2 time for Velocity velocity zero SOS velocity zero window Time...
  • Page 422 8 Safety Function Subindex Index (hex) Name Description Reference (hex) 6671 – SS2 time to SOS Sets a time until it activates SOS function after P. A-70 receiving SS2 Activate Command. Sets the time for each SS2 command. SS2 time to SOS 1 Sets a time until it activates SOS2 function after receiving SS2 command 1.

  • Page 423: Operation Procedure

    8 Safety Function 8-4-2 Operation Procedure This section describes how to use the SS2 function. Assign SS2 function to safety PDO. SS2 function was already assigned when only SS2 command 1 is used. Assign an instance from SS2 command 2 to SS2 command 8 (6670-02 hex to 08 hex) when other SS2 command is used.

  • Page 424: Operation Timing

    8 Safety Function 8-4-3 Operation Timing This section describes operation timing for SS2 function. Operation Timing in Start (a) To operate SOS function after the delay time passed. SS2 command Reset Activate SS2 at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO...
  • Page 425 8 Safety Function (b) To activate SOS function at the time the motor stopped before the delay time passed. SS2 command Reset Activate SS2 at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO SS2 command Reset SS2...
  • Page 426 8 Safety Function Operation Timing in Termination This section describes timing when a Servo Drive terminates SS2 function and SOS function by a com- mand. Use SS2 command and SOS command to terminate each function. Set SS2 command to 1 (Reset SS2) from 0 (Activate SS2) and SOS command to 1 (Reset SOS) from 0 (Activate SOS).

  • Page 427: Example Of Safety Program

    8 Safety Function 8-4-4 Example of Safety Program This section gives an example of a program to use SS2 function of Servo Drive from Safety CPU Unit. Set safety process data communications to 1S-series Servo Drives Advance Type to use function block by Sysmac Studio.

  • Page 428: Safe Operating Stop (Sos) Function

    8 Safety Function Safe Operating Stop (SOS) Function This function is used to monitor that a motor stops at any positions. The position means one at timing when a motor received SOS command from a safety controller, or one at timing when SOS function activated by SS2 function became activated. Both a position and velocity are monitored, and Excessive Limit Value Error (Error No.

  • Page 429: Operation Procedure

    8 Safety Function Subindex Index (hex) Name Description Reference (hex) 666C – SOS velocity zero Sets a limit for monitoring of velocity zero. P. A-69 window Sets a window for each SOS command. SOS velocity zero Sets the window for monitoring of velocity zero window 1 to SOS command 1.

  • Page 430: Operation Timing

    8 Safety Function 8-5-3 Operation Timing This section describes operation timing for SOS function. Operation Timing in Start This section describes timing when a Servo Drive starts SOS function after receiving SOS command. SOS command Activate SOS at Safety CPU Unit FSoE Communication time SOS command Reset SOS...
  • Page 431 8 Safety Function Operation Timing in Error Detection (a) Timing when an error occurs due to out of SOS position zero window and STO function is acti- vated. SOS command Reset Activate SOS at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO...
  • Page 432 8 Safety Function (b) Timing when an error occurs due to out of SOS velocity zero window and STO function is acti- vated. SOS command Reset Activate SOS at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO SOS command...

  • Page 433: Example Of Safety Program

    8 Safety Function 8-5-4 Example of Safety Program This section gives an example of a program to use SOS function of Servo Drive from Safety controller. Safety CPU Unit Operation FB enable Permission SF_SafetyRequest SOS Function Activate Ready Activate S_OpMode SOS command S_Acknowledge SOS command...

  • Page 434: Safely-Limited Speed (Sls) Function

    8 Safety Function Safely-limited Speed (SLS) Function This function is used to monitor present velocity. It monitors the velocity when SLS function is activated. Excessive Limit Value Error (Error No. 71.03) occurs when the velocity surpasses the specified limit. Set a timing of SLS function with the two following ways. (a) When the Servo drives activate SLS function after SLS time to velocity monitoring elapses Set the time length, from receiving SLS Activate Command to running SLS monitoring, to SLS time to velocity monitoring.
  • Page 435 8 Safety Function (b) To activate SLS function once the velocity arrives the velocity limit before the delay time passed. In addition to (a), if the motor was decelerated to the velocity limit before SLS time to velocity monitoring passed, SLS monitoring function starts at the time the motor decelerated. In this case, set a time to SLS time for velocity in limits that determines that the motor velocity is within veloc- ity limit.

  • Page 436: Objects Requiring Settings

    8 Safety Function 8-6-1 Objects Requiring Settings Subindex Index (hex) Name Description Reference (hex) 6690 – SLS command Gives SLS function status and issues SLS P. A-71 command. SLS command 1 Gives SLS instance 1 status and issues SLS command. Read Gives SLS status.
  • Page 437 8 Safety Function Subindex Index (hex) Name Description Reference (hex) 6694 – SLS time for velocity in Sets a time to determine the velocity in its P. A-72 limits limit. SLS function is activated after the SLS time for velocity in limits passed when the motor's velocity continuously keeps one within SLS velocity limit.

  • Page 438: Operation Procedure

    8 Safety Function Precautions for Correct Use • Set an even number to SLS time to monitoring velocity - SLS time to velocity monitor- ing 1 to SLS time to velocity monitoring 8 (6691-01 hex to 08 hex). When a setting value is an odd number, the function is activated as the value +1.

  • Page 439: Operation Timing

    8 Safety Function 8-6-3 Operation Timing This section describes operation timing for SLS function. Operation Timing in Start A Servo Drive starts monitoring of Safety Present Motor Velocity when you set SLS command, which is assigned to safety PDO, to 0 (Activate SLS). (a) When the Servo drives activate SLS function after SLS time to velocity monitoring elapses SLS command Reset...
  • Page 440 8 Safety Function (b) To activate SLS function once the velocity arrives the velocity limit before the delay time passed. SLS command Reset Activate SLS at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO SLS command Reset...
  • Page 441 8 Safety Function Operation Timing in Error Detection Excessive Limit Value Error (Error No. 71.03) occurs when a Safety Present Motor Velocity exceeds the velocity limit, and then SLS function goes into the STO status. To reset the error, refer to 8-1-10 Pro- cedure for Reset of Safety Error on page 8-20.
  • Page 442 8 Safety Function Under condition that Error Detection Activate in SLS Deactivate (4F16 hex) is set to 1 (Activate), you set SLS command to 1 (Reset SLS) before SLS command (Status) enters 1 (SLS status), Safety Function Error (Error No. 71.02) occurs and a Servo Drive goes into the STO status. SLS command Reset SLS Activate SLS Reset SLS...
  • Page 443 8 Safety Function When you set Error Detection Activate In SLS Deactivate (4F16 hex) to 0 (Deactivate), the error does not occur and Servo Drive does not go into the STO status. SLS command Reset SLS Activate SLS Reset SLS at Safety CPU Unit FSoE Communication time SLS command...

  • Page 444: Example Of Safety Program

    8 Safety Function 8-6-4 Example of Safety Program This section gives an example of a program to use SLS function of Servo Drive from Safety CPU Unit. Safety CPU Unit Operation FB enabled Permission SF_SafetyRequest SLS Function Activate Activate Ready S_OpMode SLS command S_Acknowledge...

  • Page 445: Safely-Limited Position (Slp) Function

    8 Safety Function Safely-limited Position (SLP) Func- tion This function is used to monitor a Safety Present Position. Commands from a safety controller acti- vate SLP function, which start monitoring the position. Excessive Limit Value Error (Error No. 71.03) occurs when the Safety Present Position is out of the specified range while the monitoring. It receives the commands from a safety controller via EtherCAT (FSoE) communications.
  • Page 446 8 Safety Function Safety key Safety Standard Servo Drive Motor selector switch Controller/Sensor Controller Detect operation Operation of key selector of key switch selector Position control switch (Normal Provide Data operation) (Operation of key EtherCAT selector switch) with standard CPU Get Data EtherCAT (Operation of key...

  • Page 447: Objects Requiring Settings

    8 Safety Function 8-7-2 Objects Requiring Settings Subindex Index (hex) Name Description Reference (hex) 66A0 – SLP command Gives SLP function status and issues SLP P. A-73 command. SLP command 1 Gives SLP instance 1 status and issues SLP command. Read Gives SLP status.
  • Page 448 8 Safety Function Subindex Index (hex) Name Description Reference (hex) 66A4 – SLP position lower Sets monitoring lower limit with SLP function. P. A-74 limit Sets the lower limit for each SLP command. SLP position lower Sets SLP monitoring lower limit position to limit 1 SLP command 1.
  • Page 449 8 Safety Function Subindex Index (hex) Name Description Reference (hex) 4F00 Test Pulse Diagnosis Sets the test pulse diagnosis whether or not P. 9-132 the test pulse is output from test output ports at certain intervals. bit0: TO1 output terminal 0: Test pulse diagnosis is not enable 1: Test pulse diagnosis is enable bit1: TO2 output terminal...

  • Page 450: Operation Procedure

    8 Safety Function Precautions for Correct Use • Set a multiple number of 128 to the setting value of SLP position upper limit - SLP posi- tion upper limit 1 to SLP position upper limit 8 (66A2-01 hex to 08 hex). If you set other number, the setting value is automatically corrected to the multiple number of 128 which does not exceed the setting value.

  • Page 451: Operation Timing

    8 Safety Function 8-7-4 Operation Timing This section describes operation timing for SLP function. Operation Timing in Start When you set SLP command assigned to Safety PDO to 0 (Activate SLP), a Servo Drive starts a moni- toring of Safety Present Position. SLP command Reset Activate SLP...
  • Page 452 8 Safety Function Operation Timing in Error Detection This section describes when an error occurs and STO function is activated after Safety Present Posi- tion exceeds a monitoring range. SLP command Reset Activate SLP at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO...
  • Page 453 8 Safety Function Operation Timing in Termination This section describes a timing at which a Servo Drive terminates SLP function by a SLP command. Activate SLP command Reset SLP at Safety CPU Unit FSoE Communication time SLP command Activate SLP Reset SLP at Servo Drive 6 ms max.

  • Page 454: Example Of Safety Program

    8 Safety Function 8-7-5 Example of Safety Program This section gives an example of a program to SLP function of Servo Drive from Safety controller. Safety CPU Unit Operation FB enabled Permission SLP Function Activate SF_SafetyRequest Activate Ready S_OpMode SLP command (Status) S_Acknowledge SLP command...

  • Page 455: Setting Of Safety Origin Position

    8 Safety Function 8-7-6 Setting of Safety Origin Position Safety origin position is a basic position for SLP monitoring, where Safety Present Position is Zero. This section describes how to set the safety origin position. Select appropriate methods according to SIL (Safety Integrity Level) and PL (Performance Level) that is achieved by a user's device.
  • Page 456 8 Safety Function  Procedure for Safety Origin Position Determination Control a work to pass an installation position of SOPT input devices between SOPT 1 Input and SOPT 2 Input at constant velocity. At this time, secure 10 ms or longer for work to pass SOPT1 input device and SOPT2 input device.
  • Page 457 8 Safety Function Case where SOPT input devices are installed closely SOPT 1 input [SOPT Input Terminal Setting] (4F00-03 hex) = Set negative logic. SOPT 2 input [SOPT Input Terminal Setting] (4F00-03 hex) = Set negative logic. Work behavior Safety Present Pulse Position Safety original position : Initial position in a state of safety origin position undetermined : Acquisition point where position information of SOPT Input...
  • Page 458 8 Safety Function In the following cases, the safety origin position cannot be fixed or the position is not determined properly. Be sure to fix the safety origin position with a work behavior shown above. • A work starts or closes a behavior of safety origin position determination with a signal of SOPT input devices ON.
  • Page 459 8 Safety Function  Dual Channel Monitoring Function This function monitors the distance of the SOPT input devices to detect a misalignment of the safety original position. When the safety origin position is fixed, the function is activated. When the misalignment of it is detected, SOPT Input Monitoring Error (Error No. 71.01) occurs. Set an installation distance of SOPT input devices to Discrepancy Distance (4F00-05 hex) to acti- vate dual channel monitoring function.
  • Page 460 8 Safety Function  Setting of Safety Origin Position Tolerance Set a maximum tolerance value of SOPT input devices. The maximum value refers to the value added each maximum detected tolerance for SOPT1 input device and SOPT2 input device. The detected tolerance is calculated from several actual values or the characteristics values of SOPT input devices.
  • Page 461 8 Safety Function  Procedure for Setting of Safety Origin Position Carry out the following settings and check operation in accordance with 1-7 Procedures to Start Operation on page 1-25. Select SOPT Input devices that is connected to SOPT 1 Input and SOPT 2 Input. Set the following safety parameters.
  • Page 462 8 Safety Function Safety Origin Position Determination Method (4F00-01 hex) = 1: [Only specified operation] Safety Origin Position Offset A safety origin position is a value set to Safety Origin Position Setting - Safety Origin Position Off- set (4F00-04 hex). Set any of a position in motor one-rotation. In this method, a safety origin position determination and a SOPT input device is not required.
  • Page 463 8 Safety Function Safety Origin Position Determination Method (4F00-01 hex) = 2: [Only specified operation] Safety Origin Position Offset and SOPT1 Input Set an installation position of SOPT 1 input device to Safety Origin Position Setting - Safety Origin Position Offset (4F00-04 hex) to fix a safety origin position. Set the position in motor one-rotation. In this method, check a misalignment between the installation position of SOPT input device and the position that is set to Safety Origin Position Offset (4F00-04 hex).
  • Page 464 8 Safety Function In the following cases, the safety origin position cannot be fixed or the position is not determined prop- erly. Be sure to fix the safety origin position with a work behavior shown above. • A work starts and closes a behavior of safety origin position determination with a signal of SOPT input device ON •...
  • Page 465 8 Safety Function  Procedure for Safety Origin Position Setting Carry out the following settings and check operation in accordance with 1-7 Procedures to Start Opera- tion on page 1-25. Select a SOPT Input device that is connected to SOPT 1 Input. Set the following safety parameters.
  • Page 466 8 Safety Function Input Devices to Determine Safety Origin Position The following SOPT input devices are used to determine Safety Origin Position. Input device Recommended devices Safety Limit Switch Compact Safety limit switch D4N Limit Switch Compact Limit Switch D4C Photoelectric Sensor Photoelectric sensor built-in compact amplifier E3Z Static Capacity Type Proximity Sensor...
  • Page 467 8 Safety Function Test Pulse Diagnosis Function This function detects failure of SOPT input devices and wiring errors. While this function is activated, the test pulse for self-diagnosis outputs via the test output terminals (TO1, TO2) at a certain interval. You can set TO1 or TO2 individually through Safety Origin Position Setting - Test Pulse Diagnosis (4F00-02 hex).

  • Page 468: Safe Direction (Sdi) Function

    8 Safety Function Safe Direction (SDI) Function This function is used to monitor that a motor does not rotate toward banned rotation direction. The banned rotation direction is designated with SDI positive direction command and SDI negative direction command. The function monitors the motor's rotation toward positive direction when SDI posi- tive direction command is activated and negative direction when SDI negative direction command is activated.

  • Page 469: Operation Procedure

    8 Safety Function Precautions for Correct Use Set a multiple number of 128 to the setting value of SDI position zero window (66D3-00 hex). If you set other numbers, the setting value is automatically corrected to a multiple number of 128 which does not exceed the setting value for the operation.

  • Page 470: Operation Timing

    8 Safety Function 8-8-3 Operation Timing This section describes operation timing for SDI function. Operation Timing in Start (a) This section describes timing when a Servo Drive starts SDI function by SDI command. SDI positive direction command at Safety CPU Unit SDI negative direction command at Safety CPU Unit...
  • Page 471 8 Safety Function Operation Timing in Error Detection (a) Timing when an error occurs and STO function is activated due to over SDI velocity limit. SDI positive direction command at Safety CPU Unit SDI negative direction command at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit...
  • Page 472 8 Safety Function Excessive Limit Value Error (Error No. 71.03) occurs and a Servo Drive goes into the STO status when a Safety Present Motor Velocity exceeds SDI velocity zero window. To reset the error, refer to 8-1-10 Procedure for Reset of Safety Error on page 8-20. 8 - 106 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 473 8 Safety Function (b) Timing when an error occurs and STO function is activated due to out of SDI position zero window. SDI positive direction command at Safety CPU Unit SDI negative direction command at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO...
  • Page 474 8 Safety Function Operation Timing in Termination This section describes timing when a Servo Drive terminates SDI function by SDI command. SDI positive direction command at Safety CPU Unit SDI negative direction command at Safety CPU Unit Safety task cycle at Safety CPU Unit Transmit Safety PDO SDI positive direction...
  • Page 475 8 Safety Function Change Timing on SDI Positive Direction Rotation Status and SDI Negative Direction Rotation Status • SDI positive direction rotation status and SDI negative direction rotation status show a motor rotation status regardless of SDI command. • These status have a hysteresis at 10 r/min. +10 r/min Safety Present Motor Velocity...

  • Page 476: Example Of Safety Program

    8 Safety Function 8-8-4 Example of Safety Program This section gives an example of a program for SDI function of Servo Drive from Safety controller. Safety CPU Unit Operation FB enabled Permission Prohibit Positive SF_SafetyRequest Direction Rotation Activate Ready S_OpMode SDI positive direction command (Status) S_Acknowledge...
  • Page 477 8 Safety Function *1. When you input safety connection status, a safety controller can limit operations for function block according to status of a system or a program. *2. It indicates that a function block can be activated. Also, it can be used as inputs of other function blocks and the programs.

  • Page 478: Safe Brake Control (Sbc) Function

    8 Safety Function Safe Brake Control (SBC) Function The Safe Brake Control (SBC) function is used to control the safety output for brakes; for example, interlocking operation of Brake Interlock Output (BKIR) or it of STO or SS1 from a safety controller. Use both of SBC1 and SBC2 when two-circuit brake system is constructed, or use one of them when single-circuit brake system is constructed, as the brake control signal of SBC1/SBC2 output terminals are synchronized.

  • Page 479: Configuration Method For Sbc

    8 Safety Function 8-9-1 Configuration Method for SBC This is an example of SBC system configuration. NX Series Standard Controller EtherCAT Coupler Unit Safety Switch Safety Controller Safety Digital Input Unit External Brake Safety Relay Sysmac Studio Servo Drive Motor 8 - 113 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 480 8 Safety Function Example: To operate the SBC function with the BKIR Safety Switch Safety Standard Controller Servo Drive Servomotor Brake Controller/Sensor Detect the Switch ON switch is ON Provide standard controller with the Get the switch switch status status EtherCAT Servo OFF Receive Servo...

  • Page 481: Required Settings For Objects

    8 Safety Function 8-9-2 Required Settings for Objects Subindex Index (hex) Name Description Reference (hex) 6660 – SBC command Gives SBC function state and issues SBC com- P. A-66 mand. SBC command 1 Gives SBC instance 1 state and issues SBC command.

  • Page 482: Operation Procedure

    8 Safety Function 8-9-3 Operation Procedure Refer to 8-2 Safe Torque OFF (STO) Function on page 8-22 and 8-3 Safe Stop 1 (SS1) Function on page 8-39 to interlock with STO, SS1 functions. This section explains how to interlock with the Brake Interlock Output (BKIR). Description of Operation When interlocking the SBC function with the Brake Interlock Output (BKIR), the logical AND of the SBC status and the BKIR status outputs to the SBC output terminal.

  • Page 483: Connection Method

    8 Safety Function Precautions for Correct Use • In the following case, SBC output terminal turns to be brake held regardless of Brake Inter- lock Output (BKIR) status because SBC command is brake held. • FSoE communications is not established. •...
  • Page 484 8 Safety Function To Connect the Brakes via the Safety Relay Connect SBC PS terminal to 24 VDC, and connect SBC CM to 24 VDC GND. Connect each SBC output terminal to safety relays, and then connect brakes to NO contacts of the relays.

  • Page 485: Connection Examples

    8 Safety Function 8-9-5 Connection Examples These are examples of a brake with the SBC function. When the brake that you use has B10d data, fol- lowing safety level can be achieved, depends on the number of brakes connecting to the SBC output terminal.

  • Page 486: Operation Timing

    8 Safety Function 8-9-6 Operation Timing This section explains the operation timing by the SBC command from a safety controller. About the operation timing to interlock with STO or SS1 functions, refer to Operation Timing on page 8-33 or 8-3-3 Operation Timing on page 8-44. SBC command Reset Activate SBC...

  • Page 487: Safety Relay Stuck Error Detection

    8 Safety Function 8-9-8 Safety Relay Stuck Error Detection This section explains about the Safety Relay Stuck Error Detection when the safety relay is connected to the SBC output terminal. About how to connect the safety relay, refer to 8-9-4 Connection Method on page 8-117. Operation Timing The Safety Relay Stuck Error Detection timing is as follows.
  • Page 488 8 Safety Function Precautions for Correct Use • The safety relay stuck error detection function only detects the stuck errors on the ON side. • When you use the safety relay, set Safety Relay Activate (4F08-00 hex) to 1 (Activate). If 0 (Deactivate) is set, may not detect wiring errors.

  • Page 489: Safety Position/Velocity Validation Monitoring Function

    8 Safety Function 8-10 Safety Position/Velocity Validation Monitoring Function Safety Position/Velocity Validation Monitoring Function provides redundancy with checks of validity in data about safety position/velocity while safety monitoring functions are activated. This function allows you to change the safety level of the safety monitoring function to SIL3/PLe. This function compares a safety position/velocity with each command of position/velocity generated by the Servo Drive.

  • Page 490: Objects Requiring Settings

    8 Safety Function Position/velocity validation is monitored when “Yes” is applied in the table. Basic control Position control Velocity control Safety position/velocity validation monitoring function Position validation monitoring Velocity validation monitoring *1. Activate the SOS function with the motor stops completely. Otherwise, the safety function errors could be de- tected.

  • Page 491: Operation Timing

    8 Safety Function 8-10-4 Operation Timing This section describes operation timings of the safety position/velocity validation monitoring functions. The following charts shown the operation timing when Motor Rotation Direction Selection corre- sponds to Safety Motor Rotation Direction Selection, and then Safety Present Pulse Position is converted to the present pulse position equivalent.
  • Page 492 8 Safety Function Safety Velocity Validation Monitoring This section describes change timing when a difference between Internal Velocity Command and a Safety Present Motor Velocity exceeds the velocity tolerance. Monitoring function command at Safety CPU Unit Safety task cycle Safety task cycle at Safety CPU Unit Transmit Safety PDO Transmit Safety PDO...
  • Page 493 8 Safety Function Relation between Safety Monitoring Function and Position Toler- ance When Position Tolerance, prior to and subsequent to Safety Present Pulse Position , exceeds the safety monitoring function’s range, the Servo Drive goes into the STO status and Monitoring Limit Exceedance Error (Error No.
  • Page 494 8 Safety Function Relation between Safety Monitoring Function and Allowable Velocity Range When Velocity Tolerance, prior to and subsequent to Safety Present Motor Velocity, exceeds the safety monitoring function’s range, the Servo Drive goes into the STO status and Monitoring Limit Exceedance Error (Error No.

  • Page 495: Details On Servo Parameters

    Details on Servo Parameters This section explains the details on each servo parameter, including the set values, set- tings, and the display. 9-1 Object Description Format ........9-5 9-2 Common Control Objects .
  • Page 496 9 Details on Servo Parameters 9-4-11 3230 hex: Internal Torque Command ....... 9-41 9-4-12 3231 hex: Torque Detection .
  • Page 497 9 Details on Servo Parameters 9-14 I/O-related Objects ......... . . 9-107 9-14-1 4600 hex: I/O Monitor .
  • Page 498 9 Details on Servo Parameters 9-17-6 4F09 hex: Safety Relay OFF Delay Time 1 ......9-137 9-17-7 4F0A hex: Safety Relay OFF Delay Time 2 .

  • Page 499: Object Description Format

    9 Details on Servo Parameters Object Description Format The 1S-series Servo Drives with built-in EtherCAT communications use the servo parameters that are defined with objects. For information on the objects, refer to 1-1-3 Object Dictionary on page 1-4. In this manual, objects are described in the following format. Data Index Subindex...
  • Page 500 9 Details on Servo Parameters Mirror Objects For 1S-series Servo Drives, a special object called “mirror object” is defined. A mirror object enables access to the same object from different object numbers. Accessing the mirror object and accessing the original object cause the same operation. More specifically, the mirror objects are used to assign the Servo Drive profile objects (index number 6000s) to the servo parameter objects (index number 3000s to 4000s).

  • Page 501: Common Control Objects

    9 Details on Servo Parameters Common Control Objects This section explains the common control objects. 9-2-1 3000 hex: Basic Functions Sets the basic functions of Servo Drives. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera-...
  • Page 502 9 Details on Servo Parameters Subindex 01 hex: Motor Rotation Direction Selection • Selects the motor rotation direction for the command position.  Description of Set Values Description value A positive direction command sets the motor rotation to clockwise direction. A positive direction command sets the motor rotation to counterclockwise direction.
  • Page 503 9 Details on Servo Parameters Subindex 81 hex: Function Status • Gives the status of the Servo Drive.  Description of Set Values Set value Description Bit 0 Origin Position (ZPOINT) Outside origin range Within origin range Bit 1 Distribution Completed (DEN) Distribution not completed Distribution completed Bit 2...
  • Page 504 9 Details on Servo Parameters Subindex 82 hex: Motor Stop Cause • Gives the failure cause when the motor does not rotate. • If the value of a bit is 1, the motor stop cause which corresponds to the bit is present. ...
  • Page 505 9 Details on Servo Parameters Subindex 85 hex: Supported Drive Modes • Gives the supported modes of operation. • Mirror object of 6502 hex  Description of Set Values Supported mode Definition pp (Profile position mode) 1: Supported vl (Velocity mode) 0: Not supported pv (Profile velocity mode) 1: Supported...
  • Page 506 9 Details on Servo Parameters Subindex F2 hex: Modes of Operation • Selects the Modes of operation. • Mirror object of 6060 hex  Description of Set Values Description value Not specified. Profile position mode (pp) Profile velocity mode (pv) Homing mode (hm) Cyclic synchronous position mode (csp) Cyclic synchronous velocity mode (csv)

  • Page 507: 3001 Hex: Machine

    9 Details on Servo Parameters 9-2-2 3001 hex: Machine Sets the mechanical system which is connected to the motor. Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of oper- (hex) setting access (hex) bute ation 3001...

  • Page 508: 3002 Hex: Optimized Parameters

    9 Details on Servo Parameters Subindex 04 hex: Backlash Compensation Time Constant • Sets the backlash compensation time constant in the position control. Refer to 7-5 Backlash Com- pensation on page 7-20 for details. Subindex 05 hex: Motor Revolutions • Sets the numerator of the electronic gear. •...
  • Page 509 9 Details on Servo Parameters Copy source Copy destination Index Sub- Sub- Name (hex) index Name index Name (hex) (hex) 3001 Machine Inertia Ratio Display Inertia Ratio 3310 Torque Compensation Viscous Friction Coeffi- Viscous Friction Coeffi- cient Display cient Unbalanced Load Com- Unbalanced Load Com- pensation Display pensation...
  • Page 510 9 Details on Servo Parameters 9-2-4 3010 hex: Position Command Sets the position command and gives the command value. Sub- Data Modes Index Setting Default Complete index Object name Unit attri- Size Access of oper- (hex) range setting access (hex) bute ation 3010...
  • Page 511 9 Details on Servo Parameters Subindex 85 hex: Motor Velocity After Position Command Filtering • Gives the command velocity after position command filtering in units of r/min. Subindex 86 hex: Motor Velocity After Damping Filtering • Gives the command velocity after damping filtering, in units of r/min. Subindex 87 hex: Reference Position for csp •...

  • Page 512: 3011 Hex: Position Command Filter

    9 Details on Servo Parameters 9-2-5 3011 hex: Position Command Filter Sets the position command filter. The position command filter can be used when the communications cycle is 250 µs or more. When the communications cycle is 125 µs, the position command filter is disabled. Sub- Data Index...

  • Page 513: 3012 Hex: Damping Control

    9 Details on Servo Parameters 9-2-6 3012 hex: Damping Control Selects the method to switch the damping filters. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3012 Damping Control...
  • Page 514 9 Details on Servo Parameters 9-2-7 3013 hex: Damping Filter 1 Sets the damping filter 1. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3013 Damping Filter 1 Possible Number of...

  • Page 515: 3014 Hex: Damping Filter 2

    9 Details on Servo Parameters Subindex 06 hex: 3rd Damping Time Coefficient • Sets the trade-off with torque required for the vibration suppression time and damping. Setting a small value shortens the time to suppress the vibration, however it is highly possible that torque satu- ration occurs.
  • Page 516 9 Details on Servo Parameters Subindex 03 hex: 2nd Frequency • Sets the damping frequency 2 for the damping filter 2. Subindex 04 hex: 2nd Damping Time Coefficient • Sets the trade-off with torque required for the vibration suppression time and damping. Setting a small value shortens the time to suppress the vibration, however it is highly possible that torque satu- ration occurs.

  • Page 517: 3020 Hex: Velocity Command

    9 Details on Servo Parameters 9-2-9 3020 hex: Velocity Command Sets the velocity command and gives the command value. Sub- Data Modes Index Setting Default Complete index Object name Unit attri- Size Access of oper- (hex) range setting access (hex) bute ation 3020...

  • Page 518: 3021 Hex: Velocity Command Filter

    9 Details on Servo Parameters 9-2-10 3021 hex: Velocity Command Filter Sets the velocity command filter. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3021 Velocity Com- Possible mand Filter...

  • Page 519: 3030 Hex: Torque Command

    9 Details on Servo Parameters 9-2-11 3030 hex: Torque Command Sets the torque command and gives the command value. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 3030 Torque Com-...

  • Page 520: 3040 Hex: Profile Command

    9 Details on Servo Parameters Subindex 81 hex: Status • Gives the velocity limit status in the torque control.  Description of Set Values Description value Velocity limit not applied Velocity limit applied 9-2-13 3040 hex: Profile Command Sets the profile command. Sub- Data Modes...

  • Page 521: 3041 Hex: Command Dividing Function

    9 Details on Servo Parameters 9-2-14 3041 hex: Command Dividing Function Sets the Command Dividing Function which is enabled in the Cyclic synchronous position mode (csp) or Cyclic synchronous velocity mode (csv). In the free-run mode only, the setting is updated, and in the synchronous mode, the DC cycle time is automatically applied as the interpolation time period.
  • Page 522 9 Details on Servo Parameters Subindex 10 hex: Interpolation Method Selection in csp • Selects the interpolation method for the command in the Cyclic synchronous position mode (csp).  Description of Set Values Description value 1st Order Interpolation 2nd Order Interpolation 9 - 28 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 523: Control Method Objects

    9 Details on Servo Parameters Control Method Objects This section explains the objects that set the operations in the one-degree-of-freedom and two-degree-of-freedom controls. 9-3-1 3112 hex: ODF Velocity Feed-forward Sets the velocity feed-forward in the one-degree-of-freedom control. Sub- Data Index Setting Default Complete...

  • Page 524: 3113 Hex: Odf Torque Feed-Forward

    9 Details on Servo Parameters Subindex E1 hex: Gain Command • Sets the one-degree-of-freedom velocity feed-forward gain. • The velocity feed-forward can reduce a following error and improve the responsiveness during posi- tion control. • Although the following ability is improved by the increase in gain, overshooting may occur in some cases.

  • Page 525: 3120 Hex: Tdf Position Control

    9 Details on Servo Parameters Subindex 02 hex: LPF Enable • Selects whether to enable or disable the low-pass filter in the torque feed-forward.  Description of Set Values Description value Disabled Enabled Subindex 03 hex: LPF Cutoff Frequency • Sets the low-pass filter cutoff frequency for the one-degree-of-freedom torque feed-forward. Subindex E1 hex: Gain Command •...

  • Page 526: 3121 Hex: Tdf Velocity Control

    9 Details on Servo Parameters Subindex 01 hex: Command Following Gain • Sets the following performance for the target position. • The higher the gain is, the higher the following performance of the internal command is for the target position. •...
  • Page 527 9 Details on Servo Parameters Subindex 01 hex: Command Following Gain • Sets the following performance for the target velocity. • The higher the gain is, the higher the following performance of the internal command is for the target velocity. •...

  • Page 528: Control Loop Objects

    9 Details on Servo Parameters Control Loop Objects This section explains the objects related to the control loop. 9-4-1 3210 hex: Internal Position Command Gives the position command value which is calculated in the Servo Drive. Sub- Set- Data Index Default Complete Modes of...

  • Page 529: 3211 Hex: Position Detection

    9 Details on Servo Parameters 9-4-2 3211 hex: Position Detection Gives the position detection value. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3211 Position Detec- Possible tion Number of...

  • Page 530: 3213 Hex: 1St Position Control Gain

    9 Details on Servo Parameters Subindex 01 hex: Mode Selection • Selects the method to switch the gain in the position control.  Description of Set Values Description value Always Gain 1 Always Gain 2 Gain switching command input via EtherCAT communications Actual motor velocity with position command Subindex 02 hex: Delay Time •...

  • Page 531: 3214 Hex: 2Nd Position Control Gain

    9 Details on Servo Parameters 9-4-5 3214 hex: 2nd Position Control Gain Sets the 2nd position control gain. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3214 2nd Position...

  • Page 532: 3221 Hex: Velocity Detection

    9 Details on Servo Parameters Subindex 82 hex: Motor Velocity • Gives the command velocity which is generated in the Servo Drive, in units of r/min. Subindex 83 hex: Control Effort • Gives the velocity command value which is generated in the position control of the Servo Drive. •...

  • Page 533: 3222 Hex: Gain Switching In Velocity Control

    9 Details on Servo Parameters 9-4-8 3222 hex: Gain Switching in Velocity Control Sets the gain switching function in the velocity control. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex)

  • Page 534: 3224 Hex: 2Nd Velocity Control Gain

    9 Details on Servo Parameters Subindex E1 hex: Proportional Gain Command • Sets the 1st velocity proportional gain. • This object is intended for PDO assignment. Use this object to change the propotional gain from a PDO. Subindex E2 hex: Integral Gain Command •...

  • Page 535: 3230 Hex: Internal Torque Command

    9 Details on Servo Parameters 9-4-11 3230 hex: Internal Torque Command Gives the internal torque command value. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3230 Internal Torque Possible...

  • Page 536: 3233 Hex: 1St Torque Command Filter

    9 Details on Servo Parameters Subindex 01 hex: Mode Selection • Selects the condition to switch between 1st torque filter and 2nd torque filter.  Description of Set Values Set value Description Always 1st Filter Always 2nd Filter Gain switching command input via EtherCAT communications 9-4-14 3233 hex: 1st Torque Command Filter Sets the 1st torque command filter.

  • Page 537: 3234 Hex: 2Nd Torque Command Filter

    9 Details on Servo Parameters 9-4-15 3234 hex: 2nd Torque Command Filter Sets the 2nd torque command filter. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3234 2nd Torque...

  • Page 538: Torque Output Setting Objects

    9 Details on Servo Parameters Torque Output Setting Objects These objects are used for the torque output setting. 9-5-1 3310 hex: Torque Compensation Sets the torque compensation. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera-...
  • Page 539 9 Details on Servo Parameters Subindex 04 hex: Negative Dynamic Friction Compensation • Sets the amount of dynamic friction compensation in the negative direction. Subindex 81 hex: Viscous Friction Coefficient Display • Gives the amount of viscous friction compensation torque that is currently set. •...

  • Page 540: 3320 Hex: Adaptive Notch Filter

    9 Details on Servo Parameters 9-5-2 3320 hex: Adaptive Notch Filter Sets the adaptive notch filter. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3320 Adaptive Notch Possible Filter...
  • Page 541 9 Details on Servo Parameters 9-5-3 3321 hex: 1st Notch Filter Sets the 1st resonance suppression notch filter. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3321 1st Notch Filter...
  • Page 542 9 Details on Servo Parameters Subindex 04 hex: Depth • Sets the notch depth of the 1st resonance suppression notch filter. • Increasing the setting value lengthens the notch depth and the phase lag. Subindex 81 hex: Enable Display • Gives whether the 1st notch filter function is enabled or disabled. ...
  • Page 543 9 Details on Servo Parameters 9-5-4 3322 hex: 2nd Notch Filter Sets the 2nd resonance suppression notch filter. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3322 2nd Notch Filter...
  • Page 544 9 Details on Servo Parameters Subindex 04 hex: Depth • Sets the notch depth of the 2nd resonance suppression notch filter. • Increasing the setting value lengthens the notch depth and the phase lag. Subindex 81 hex: Enable Display • Gives whether the 2nd notch filter function is enabled or disabled. ...
  • Page 545 9 Details on Servo Parameters 9-5-5 3323 hex: 3rd Notch Filter Sets the 3rd resonance suppression notch filter. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 3323 3rd Notch Filter Possible...
  • Page 546 9 Details on Servo Parameters Subindex 04 hex: Depth • Sets the notch depth of the 3rd resonance suppression notch filter. • Increasing the setting value lengthens the notch depth and the phase lag. Subindex 81 hex: Enable Display • Gives whether the 3rd notch filter function is enabled or disabled. ...
  • Page 547 9 Details on Servo Parameters 9-5-6 3324 hex: 4th Notch Filter Sets the 4th resonance suppression notch filter. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3324 4th Notch Filter...
  • Page 548 9 Details on Servo Parameters Subindex 04 hex: Depth • Sets the notch depth of the 4th resonance suppression notch filter. • Increasing the setting value lengthens the notch depth and the phase lag. Subindex 81 hex: Enable Display • Gives whether the 4th notch filter function is enabled or disabled. ...

  • Page 549: 3330 Hex: Torque Limit

    9 Details on Servo Parameters 9-5-7 3330 hex: Torque Limit Sets the torque limit function. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3330 Torque Limit Possible Number of 81 hex...
  • Page 550 9 Details on Servo Parameters Subindex 03 hex: Positive Torque Limit Value • Sets the positive torque limit value. • The function of this object is the same as the Positive torque limit value (60E0 hex). Set this object when you use the limit value without mapping 60E0 hex to a PDO. Subindex 04 hex: Negative Torque Limit Value •...

  • Page 551: Homing Objects

    9 Details on Servo Parameters Homing Objects These objects are used for the homing setting. Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of oper- (hex) setting access (hex) bute ation 3A00 Homing Possible Number of 89 hex...
  • Page 552 9 Details on Servo Parameters Subindex 02 hex: Homing Method • Selects the homing method in the Homing mode (hm). • Mirror object of 6098 hex  Description of Set Values Description value Not specified Homing by Home Proximity Input and home signal (positive operation start) Homing by Home Proximity Input and home signal (negative operation start) Homing without home signal (positive operation start) Homing without home signal (negative operation start)
  • Page 553 9 Details on Servo Parameters Subindex 81 hex: Homing Status • Gives the homing status.  Description of Set Values Set value Description Bit 0 During Homing Interrupted or not started During Homing Bit 1 Homing Completion Not completed Completed Bit 2 Target Position Reached Not reached...
  • Page 554 9 Details on Servo Parameters Subindex 86 hex: 4th Supported Homing Method • Gives the number of the supported homing method. • Mirror object of 60E3-04 hex Subindex 87 hex: 5th Supported Homing Method • Gives the number of the supported homing method. •...

  • Page 555: Applied Function Objects

    9 Details on Servo Parameters Applied Function Objects This section explains the objects related to the applied functions. 9-7-1 3B10 hex: Drive Prohibition Sets the drive prohibition function. Refer to 7-3 Drive Prohibition Functions on page 7-15 for details. Sub- Data Index Setting...

  • Page 556: 3B11 Hex: Software Position Limit

    9 Details on Servo Parameters 9-7-2 3B11 hex: Software Position Limit Sets the software position limit function. Sub- Data Modes of Index Default Complete index Object name Setting range Unit attri- Size Access opera- (hex) setting access (hex) bute tion 3B11 Software Posi- Possible...
  • Page 557 9 Details on Servo Parameters Subindex 02 hex: Stop Selection • Selects the operation when the software position limit is enabled.  Description of Set Values Description value Deceleration method: Deceleration stop (The deceleration stop torque is used.) State after stopping: Lock at the stop position PDS state: Operation enabled Following error state: Clear at the start of deceleration and at the stop.

  • Page 558: 3B20 Hex: Stop Selection

    9 Details on Servo Parameters 9-7-3 3B20 hex: Stop Selection Sets the operation during stop. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 3B20 Stop Selection Possible Number of 04 hex...
  • Page 559 9 Details on Servo Parameters Subindex 02 hex: Disable Operation Option Code • Selects the operation for the time when the PDS state machine is Disable operation. • When the running motor decelerates and its speed reaches 30 r/min or lower, the operation changes from the deceleration operation to the operation after stopping.
  • Page 560 9 Details on Servo Parameters Subindex 04 hex: Fault Reaction Option Code • Selects the operation for the time when an error occurred in the Servo Drive (PDS state = Fault reac- tion active). • When the running motor decelerates and its speed reaches 30 r/min or lower, the operation changes from the deceleration operation to the operation after stopping.
  • Page 561 9 Details on Servo Parameters a) When the drive prohibition is enabled and deceleration is performed with Drive Prohibition - Stop Selection (3B10-02 hex) set to 2 b) When deceleration is performed with Disable Operation Option Code (3B20-02 hex) set to -6 or -4 c) When deceleration is performed with Shutdown Option Code (3B20-01 hex) set to -7 to -4 d) When deceleration is performed with Halt Option Code (3B20-03 hex) set to 3...
  • Page 562 9 Details on Servo Parameters Subindex 01 hex: Touch Probe 1 Source • Selects the trigger to be used for the Latch Function 1. • Mirror object of 60D0-01 hex  Description of Set Values Description value External Latch Input 1 (EXT1) External Latch Input 2 (EXT2) Encoder Phase Z Subindex 81 hex: Status...
  • Page 563 9 Details on Servo Parameters Subindex F1 hex: Setting • Sets the Latch Function 1.  Description of Set Values Set value Description Bit 0 Enable or disable Latch Function 1 Disabled Enabled Bit 1 Latch 1 operation Latch on the first trigger only. Latch continuously on every trigger input Bit 2 and 3 Latch 1 trigger input signal switch...
  • Page 564 9 Details on Servo Parameters 9-7-6 3B31 hex: Touch Probe 2 Sets the Latch Function 2 (Touch Probe 2). Refer to 7-11 Touch Probe Function (Latch Function) on page 7-38 for details. Sub- Data Modes of Index Setting Default Complete index Object name Unit...
  • Page 565 9 Details on Servo Parameters Subindex 84 hex: Touch Probe 2 Positive Edge • Gives the position which is latched on the positive edge by the Latch Function 2 (Touch Probe 2). • Mirror object of 60BC hex Subindex F1 hex: Setting •...
  • Page 566 9 Details on Servo Parameters Subindex 81 hex: Status • Gives the status of Zone Notification 1.  Description of Set Values Set value Description Bit 0 Range of Zone Notification 1 Outside the range Within the range Bit 1 Enable or disable the function Disabled (upper limit less than or equal to lower limit) Enabled (upper limit greater than lower limit)

  • Page 567: 3B50 Hex: Position Detection Function

    9 Details on Servo Parameters 9-7-9 3B50 hex: Position Detection Function Sets the Position Detection Function. Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of oper- (hex) setting access (hex) bute ation 3B50 Position Detec- Possible tion Function...

  • Page 568: 3B52 Hex: Positioning Completion Notification 2

    9 Details on Servo Parameters Subindex 81 hex: Status • Gives the status of Positioning Completion 1.  Description of Set Values Description value Not completed Completed 9-7-11 3B52 hex: Positioning Completion Notification 2 Sets the condition of the Positioning Completion Output 2 (INP2). Sub- Data Modes...

  • Page 569: 3B60 Hex: Speed Detection Function

    9 Details on Servo Parameters Subindex 81 hex: Status • Gives the status of Positioning Completion 2.  Description of Set Values Description value Not completed Completed 9-7-12 3B60 hex: Speed Detection Function Sets the Speed Detection Function. Sub- Data Modes Index Default...

  • Page 570: 3B70 Hex: Vibration Detection

    9 Details on Servo Parameters Subindex 04 hex: Excessive Speed Detection Level • Sets the excessive speed detection level. When 0 is set, the excessive speed is detected at 1.2 times as high as the maximum speed of the motor. •...

  • Page 571: 3B71 Hex: Runaway Detection

    9 Details on Servo Parameters 9-7-14 3B71 hex: Runaway Detection Sets the runaway detection function. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3B71 Runaway Detec- Possible tion Number of...

  • Page 572: 3B80 Hex: Load Characteristic Estimation

    9 Details on Servo Parameters 9-7-15 3B80 hex: Load Characteristic Estimation Sets the operation of the load characteristic estimation. Refer to 11-8 Load Characteristic Estimation on page 11-18 for details. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size...
  • Page 573 9 Details on Servo Parameters Subindex 03 hex: Unbalanced Load Compensation Update Selection • Selects whether to estimate load characteristics and update a value of the unbalanced load compen- sation.  Description of Set Values Description value Use the present set value. Update with the estimation result.
  • Page 574 9 Details on Servo Parameters Subindex FF hex: Estimation Status • Gives the execution status of the load characteristic estimation.  Description of Set Values Description value Never Executed Obtaining data During estimation Estimation completed 9 - 80 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 575: Error- And Warning-Related Objects

    9 Details on Servo Parameters Error- and Warning-related Objects These objects are used for the error and warning setting. 9-8-1 4000 hex: Error Full Code Gives the error code. Sub- Data Modes Index Setting Default Complete index Object name Unit attri- Size Access...
  • Page 576 9 Details on Servo Parameters 9-8-2 4020 hex: Warning Customization Sets the warning detection function. Sub- Data Modes Index Setting Default Complete index Object name Unit attri- Size Access of oper- (hex) range setting access (hex) bute ation 4020 Warning Custom- Possible ization Number of...
  • Page 577 9 Details on Servo Parameters Subindex 04 hex: Warning Hold Selection • Selects whether to hold or not the warning state.  Description of Set Values Set value Description Bit 0 Warning mask 1 hold selection Not hold the warning enabled in Warning Mask 1 Selection. The warning is automatically cleared when the cause of the warning is eliminated.

  • Page 578: 4021 Hex: Warning Output 1 Setting

    9 Details on Servo Parameters 9-8-3 4021 hex: Warning Output 1 Setting Sets the warning to be output by Warning Output 1 (WARN1). Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of opera- (hex) setting access...
  • Page 579 9 Details on Servo Parameters 9-8-4 4022 hex: Warning Output 2 Setting Sets the warning to be output by Warning Output 2 (WARN2). Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of oper- (hex) setting access...

  • Page 580: 4030 Hex: Information Customization

    9 Details on Servo Parameters 9-8-5 4030 hex: Information Customization Sets the function for information detection. Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of oper- (hex) setting access (hex) bute ation 4030 Information Cus- Possible tomization...

  • Page 581: Monitoring-Related Objects

    9 Details on Servo Parameters Monitoring-related Objects These objects are used for the monitoring setting. 9-9-1 4110 hex: Monitor Data via PDO Sets the object for monitoring. You can monitor any object by mapping the monitor data to a TxPDO. Sub- Data Modes of...

  • Page 582: 4120 Hex: Ethercat Communications Error Count

    9 Details on Servo Parameters 9-9-2 4120 hex: EtherCAT Communications Error Count Counts the number of EtherCAT communication errors and clears the error count value. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting...
  • Page 583 9 Details on Servo Parameters Subindex 81 hex: Safety Status • Gives the status of the safety function.  Description of Set Values Set value Description Bit 0 STO status STO is not active STO is active Bit 1 STO status (STO via Hardwire is detected or not) STO via Hardwire is not active STO via Hardwire is active Bit 2...
  • Page 584 9 Details on Servo Parameters Subindex 91 hex: Safety Controlword 1st Byte • Gives the command status of the safety function. • Mirror object of 6620-01 hex  Description of Set Values Set value Description Bit 0 Gives the status of STO command. STO activate command issued STO activate command not issued Bit 1...
  • Page 585 9 Details on Servo Parameters Subindex A1 hex: Safety Statusword 1st Byte • Gives the status of the safety function. • Mirror object of 6621-01 hex  Description of Set Values Set value Description Bit 0 Gives the STO status. Normal status STO status Bit 3...
  • Page 586 9 Details on Servo Parameters 9-9-4 4131 hex: Safety Command Monitor 1 Monitors the safety command. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 4131 Safety Com- Possible mand Monitor 1...
  • Page 587 9 Details on Servo Parameters 9-9-5 4132 hex: Safety Command Monitor 2 Monitors the safety command. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access PDO map opera- (hex) range setting access (hex) bute tion 4132 Safety Com-...
  • Page 588 9 Details on Servo Parameters 9-9-6 4140 hex: Lifetime Information Gives the lifetime information of the Servo Drive. When the set value of each lifetime information is FFFF FFFF hex, it means that data is corrupted. Sub- Data Modes of Index Setting Default...
  • Page 589 9 Details on Servo Parameters Subindex 83 hex: Capacitor Operating Time Ratio • Gives the ratio of the present operating time to the lifetime of the capacitor. • When the ratio is 100%, the lifetime reaches the end. Subindex 84 hex: Inrush Current Prevention Relay ON Count •...

  • Page 590: 4150 Hex: Overload

    9 Details on Servo Parameters Subindex FF hex: Clear Status • Gives the status of the Motor Operating Time Clear and Lifetime Information Clear.  Description of Set Values Set value Description Bit 0 Status of Motor Operating Time Clear Clear is not executed or completed Clear in execution Bit 1...
  • Page 591 9 Details on Servo Parameters Subindex 83 hex: Motor Load Ratio • Gives the load ratio of the motor. • The value of load ratio is the average of the last five seconds. • The value of load ratio is the ratio of the current to the rated current. Servomotor current Servomotor load ratio (%) = ×...

  • Page 592: Display-Related Objects

    9 Details on Servo Parameters 9-10 Display-related Objects These objects are used for the display setting. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4210 Display Possible Number of 01 hex...

  • Page 593: Power Device-Related Objects

    9 Details on Servo Parameters 9-11 Power Device-related Objects These objects are used for the power device setting. 9-11-1 4310 hex: Regeneration Sets the regeneration resistor. Sub- Data Modes Index Default Complete index Object name Setting range Unit attri- Size Access of oper- (hex)
  • Page 594 9 Details on Servo Parameters Subindex 81 hex: Regeneration Load Ratio • Gives the regenerative load ratio. 9-11-2 4320 hex: Main Circuit Power Supply Sets the main circuit power supply. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size...
  • Page 595 9 Details on Servo Parameters Subindex 03 hex: Capacitor Discharge Enable • Selects whether to enable or disable the capacitor discharge enable function. • When the function is enabled, the electric charge in the capacitor is discharged through the internal or external regeneration resistor by turning the main circuit power supply OFF while the control power supply is ON.

  • Page 596: External Device-Related Objects

    9 Details on Servo Parameters 9-12 External Device-related Objects These objects are used for the motor information display. Sub- Data Modes Index Setting Default Complete index Object name Unit attri- Size Access of oper- (hex) range setting access (hex) bute ation 4410 Motor Identity...
  • Page 597 9 Details on Servo Parameters Subindex 92 hex: Motor Manufacturer • Gives the motor manufacturer name. • Mirror object of 6404 hex Subindex F1 hex: Motor Setup • The Motor ID Setup is executed by the writing of 7465 736D hex. Subindex FF hex: Setup Status •...

  • Page 598: Encoder-Related Objects

    9 Details on Servo Parameters 9-13 Encoder-related Objects These objects are used for the encoder setting. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 4510 Encoder Possible Number of...
  • Page 599 9 Details on Servo Parameters Subindex 02 hex: Absolute Encoder Counter Overflow Warning Level • Sets the level to notify the warning. • When the Operation Selection when Using Absolute Encoder is set to 0 (use as the absolute encoder), if the absolute value of encoder multi-rotation number exceeds the set value, the Absolute Encoder Counter Overflow Warning is output.
  • Page 600 9 Details on Servo Parameters Subindex 89 hex: Encoder Temperature • Gives the internal temperature of the encoder which is mounted on the motor, or the internal tem- perature of the motor. Subindex F1 hex: Absolute Encoder Setup • Clears the multi-rotation counter of the absolute encoder. Clear is executed by the writing of 6A64 6165 hex to this object.
  • Page 601 9 Details on Servo Parameters 9-14 I/O-related Objects These objects are used for input/output. 9-14-1 4600 hex: I/O Monitor Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 4600...
  • Page 602 9 Details on Servo Parameters Subindex 82 hex: Safety IO Power • Gives safety IO power status of the Servo Drive. • 0: Low, 1: High  Description of Set Values Signal name IOV monitor SBC PS monitor 9-14-2 4601 hex: Function Input Gives each function input status of the Servo Drive.
  • Page 603 9 Details on Servo Parameters Subindex 82 hex: Digital Inputs • Gives each function I/O status of the Servo Drive. • Mirror object of 60FD hex  Bit Descriptions Signal name Symbol Value Description Negative Drive Prohibition Input Positive Drive Prohibition Input Home Proximity Input Encoder Phase Z Detection Phase-Z signal not...

  • Page 604: 4602 Hex: Function Output

    9 Details on Servo Parameters 9-14-3 4602 hex: Function Output Changes the function output status. Data Com- Modes Index Subindex Setting Default Object name Unit attri- Size Access plete of oper- (hex) (hex) range setting bute access ation 4602 Function Output Possible Number of F1 hex...

  • Page 605: 4604 Hex: Control Input Change Count

    9 Details on Servo Parameters Signal Symbol Value Description Remote Output 2 R-OUT2 Remote Output 3 R-OUT3 Gain Switching G-SEL Gain 1 Gain 2 NO contact Brake Interlock Output BKIR_a Brake held Brake released 9-14-4 4604 hex: Control Input Change Count Counts the number of changes in control inputs.
  • Page 606 9 Details on Servo Parameters 9-14-5 4605 hex: Control Output Change Count Counts the number of changes in control outputs. Data Modes Index Subindex Setting Default Complete Object name Unit attri- Size Access of oper- (hex) (hex) range setting access bute ation 4605...

  • Page 607: 4610 Hex: Brake Interlock Output

    9 Details on Servo Parameters 9-14-6 4610 hex: Brake Interlock Output Sets the brake interlock operation. Refer to 7-6 Brake Interlock on page 7-22 for details. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range...

  • Page 608: 4620 Hex: Encoder Dividing Pulse Output

    9 Details on Servo Parameters Subindex 04 hex: Hardware Delay Time • Sets the delay time of the mechanical brake operation, etc. • Outputs the timing signal of the external brake by the use of this delay time, when the Servo OFF is performed during motor stop.
  • Page 609 9 Details on Servo Parameters Subindex 03 hex: Dividing Denominator • For applications for which the number of output pulses per rotation is not an integer, set this object to a value other than 0. By setting a value other than 0, the number of output pulses per motor rotation can be set with the dividing ratio which is calculated from the dividing numerator and dividing denom- inator.

  • Page 610: General-Purpose Input Setting Objects

    9 Details on Servo Parameters 9-15 General-purpose Input Setting Objects These objects are used for the general-purpose input setting. Refer to 7-1 General-purpose Input Sig- nals on page 7-3 for details. 9-15-1 Setting This section explains the contents of the general-purpose input setting. These setting items are com- mon to all general-purpose inputs.

  • Page 611: 4630 Hex: Positive Drive Prohibition Input

    9 Details on Servo Parameters 9-15-2 4630 hex: Positive Drive Prohibition Input Sets the Positive Drive Prohibition Input (POT). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4630 Positive Drive...

  • Page 612: 4633 Hex: External Latch Input 2

    9 Details on Servo Parameters 9-15-5 4633 hex: External Latch Input 2 Sets the External Latch Input 2 (EXT2). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4633 External Latch...

  • Page 613: 4636 Hex: Negative Torque Limit Input

    9 Details on Servo Parameters 9-15-8 4636 hex: Negative Torque Limit Input Sets the Negative Torque Limit Input (NCL). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4636 Negative Torque...

  • Page 614: 4639 Hex: Monitor Input 2

    9 Details on Servo Parameters 9-15-11 4639 hex: Monitor Input 2 Sets the Monitor Input 2 (MON2). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4639 Monitor Input 2 Possible Number of...

  • Page 615: Hex: Monitor Input 5

    9 Details on Servo Parameters 9-15-14 463C hex: Monitor Input 5 Sets the Monitor Input 5 (MON5). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 463C Monitor Input 5 Possible Number of...

  • Page 616: Hex: Monitor Input 8

    9 Details on Servo Parameters 9-15-17 463F hex: Monitor Input 8 Sets the Monitor Input 8 (MON8). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 463F Monitor Input 8 Possible Number of...

  • Page 617: General-Purpose Output Setting Objects

    9 Details on Servo Parameters 9-16 General-purpose Output Setting Objects These objects are used for the general-purpose output setting. Refer to 7-2 General-purpose Output Signals on page 7-8 for details. 9-16-1 Setting This section explains the contents of the general-purpose output setting. These setting items are com- mon to all general-purpose outputs.

  • Page 618: 4650 Hex: Error Output

    9 Details on Servo Parameters 9-16-2 4650 hex: Error Output Sets the Error Output (ERR). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4650 Error output Possible Number of 81 hex...

  • Page 619: 4653 Hex: Positioning Completion Output 2

    9 Details on Servo Parameters 9-16-5 4653 hex: Positioning Completion Output 2 Sets the Positioning Completion Output 2 (INP2). Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 4653...

  • Page 620: 4656 Hex: Zero Speed Detection Output

    9 Details on Servo Parameters 9-16-8 4656 hex: Zero Speed Detection Output Sets the Zero Speed Detection Output (ZSP). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4656 Zero Speed...

  • Page 621: 4659 Hex: Warning Output 2

    9 Details on Servo Parameters 9-16-11 4659 hex: Warning Output 2 Sets the Warning Output 2 (WARN2). Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 4659 Warning Output 2 Possible...

  • Page 622: Hex: Remote Output 1

    9 Details on Servo Parameters 9-16-14 465C hex: Remote Output 1 Sets the Remote Output 1 (R-OUT1). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 465C Remote Output 1 Possible Number of...

  • Page 623: Hex: Zone Notification Output 1

    9 Details on Servo Parameters 9-16-17 465F hex: Zone Notification Output 1 Sets the Zone Notification Output 1 (ZONE1). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 465F Zone Notification...

  • Page 624: 4662 Hex: Distribution Completed Output

    9 Details on Servo Parameters 9-16-20 4662 hex: Distribution Completed Output Sets the Distribution Completed Output (DEN). Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4662 Distribution Com- Possible pleted Output...
  • Page 625 9 Details on Servo Parameters Subindex 01 hex: Port Selection • Selects the output port to be assigned. • Select ports to be assigned. If any ports are NOT assigned, the ports are output to brake output (BKIR).  Description of Set Values Set value Description Bit 0...

  • Page 626: Safety Related Object

    9 Details on Servo Parameters 9-17 Safety Related Object You set the safety related object. 9-17-1 4F00 hex: Safety Origin Position Setting Sets the Safety Origin Position detection. These objects are for SRA parameters. Sub- Data Index Setting Default Complete Modes of index Object name...
  • Page 627 9 Details on Servo Parameters Subindex 02 hex: Test Pulse Diagnosis • Set the test pulse diagnosis whether or not the test pulse is output from test output ports at certain intervals.  Description of Set Values Set value Description Test pulse diagnosis of TO1 output is not enable Test pulse diagnosis of TO2 output is not enable Test pulse diagnosis of TO1 output is enable...
  • Page 628 9 Details on Servo Parameters Subindex 06 hex: Safety Origin Position Tolerance • Sets the Tolerance Value of SOPT 1/2. Set the total tolerance value including mechanical devices. 9-17-2 4F01 hex: Safety Position/Velocity Validation Monitoring Func- tion Sets the safety position/velocity validation monitoring function. These objects are for SRA parameters.

  • Page 629: 4F02 Hex: Discrepancy Distance Measurement

    9 Details on Servo Parameters 9-17-3 4F02 hex: Discrepancy Distance Measurement It is an object for measuring discrepancy distances monitoring. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4F02...

  • Page 630: 4F03 Hex: Safety Motor Rotation Direction Selection

    9 Details on Servo Parameters  Description of Set Values Set value Description bit 0 SOPT1 Intermediate Position Determination Status Not determined Determined bit 1 SOPT2 Intermediate Position Determination Status Not determined Determined Subindex F1 hex: Re-measurement of Discrepancy Distance •...
  • Page 631 9 Details on Servo Parameters 9-17-5 4F08 hex: Safety Relay Activate Selects whether to use safety relay. This object is for SRA parameters. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation...
  • Page 632 9 Details on Servo Parameters 9-17-8 4F16 hex: Error Detection Activate In SLS Deactivate You set existence/non-existence of error detection by safety function to Reset SLS command. This object is for SRA parameters. Sub- Data Index Setting Default Complete Modes of index Object name Unit...

  • Page 633: 4F19 Hex: Safety Present Position

    9 Details on Servo Parameters 9-17-10 4F19 hex: Safety Present Position Indicates the position information based on the safety origin position. It is used by the SLP function. The value of 0 is displayed until FSoE communication is established. Sub- Data Index Setting...

  • Page 634: 4F20 Hex: Safety Function Disable Setting

    9 Details on Servo Parameters 9-17-12 4F20 hex: Safety Function Disable Setting Disable the Safety Function which are allocated in Safety PDO. This object is for SRA parameters. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access...

  • Page 635: Operation

    Operation This section provides the operational procedure and explains how to operate in each mode. 10-1 Operational Procedure ........10-2 10-2 Preparing for Operation .

  • Page 636: Operational Procedure

    10 Operation 10-1 Operational Procedure Perform installation and wiring correctly, and turn ON the power supply to check the operation of the individual Servomotor and Servo Drive. Then make the function settings as required according to the use of the Servomotor and Servo Drive. If the objects are set incorrectly, there is a risk of unexpected motor operation, which can be dangerous.

  • Page 637: Preparing For Operation

    10 Operation 10-2 Preparing for Operation This section explains the procedure that you perform to prepare the system for operation after installa- tion and wiring of the Servomotor and Servo Drive are completed. It explains items to check both before and after turning ON the power supply.

  • Page 638: Turning On The Power Supply

    10 Operation Checking the Node Address Setting Make sure that the node address is correctly set on the ID switches. 7-segment LED display ID switches Status indicators Description ID switch setting Connection to NJ/NX-series CPU Unit, NY-series IPC Machine Controller or Position Control Unit (Model: CJ1W-NC8) The controller sets the node address.

  • Page 639: Checking The Displays

    10 Operation 10-2-3 Checking the Displays 7-segment LED Display The following figure shows the 7-segment LED display located on the front panel. When the power is turned ON, it shows the node address that is set by the ID switches. Then the display changes according to the setting of the LED Display Selection (4210-01 hex).
  • Page 640 10 Operation Error occurs Error reset Warning occurs ● Error display and warning display The preset character, main code and sub code are displayed in turns. Example) Overvoltage Error: 1200 hex [ER] Error No. Error No. (1 s) Main (1 s) Sub (1 s) ●...

  • Page 641: Absolute Encoder Setup

    10 Operation 10-2-4 Absolute Encoder Setup You must set up the absolute encoder if you use a motor with an absolute encoder. The setup is required when you turn ON the power supply for the first time. When you use an absolute encoder, set the Encoder – Operation Selection when Using Absolute Encoder (4510-01 hex).

  • Page 642: Test Run

    10 Operation 10-3 Test Run When you finished installation, wiring, and switch settings, and confirmed that the status was normal after turning ON the power supply, perform test run. The main purpose of test run is to confirm that the servo system operation is electrically correct.

  • Page 643: Test Run Via Usb Communications From The Sysmac Studio

    10 Operation 10-3-2 Test Run via USB Communications from the Sysmac Studio Connect a sensor or other device to the control I/O connector (CN1). Turn ON the Servo Drive power supply. Connect a USB cable to the USB connector (CN7). Start the Sysmac Studio and go online with the Servo Drive via USB communications.

  • Page 644: Confirmation Of Safety Functions

    10 Operation 10-4 Confirmation of Safety Functions This section describes a procedure for confirmations of safety functions used via EtherCAT communi- cation. 10-4-1 Preparation Before Confirmation of Safety Function Before confirmation of safety functions, you need to configure a safety device. The reason is that you need to confirm that inputs like safety switch, etc.
  • Page 645 10 Operation Issue an operation command to a Servo Drive in a test run screen for Sysmac Studio. Confirm that the safety functions are activated correctly. Specifically, check a time until the safety functions are activated and correct thresholds of STO status. Precautions for Correct Use Confirm the installation that a motor operates at safe velocity and position before issue of the operation command.
  • Page 646 10 Operation Select the safety functions. Click Add items to the list button. Variables necessary for operation check and SRA parameters are added. When you check several safety functions at the same time, select other safety functions repeat- edly and click Add items to the list button. When you check several axes at the same time, select the axes and other safety functions repeatedly and click Add items to the list button.

  • Page 647: Adjustment Functions

    Adjustment Functions This section explains the functions, setting methods, and items to note regarding adjustments. 11-1 Outline of Adjustment Functions ....... . 11-3 11-1-1 Adjustment Methods .
  • Page 648 11 Adjustment Functions 11-11 Friction Torque Compensation Function ......11-26 11-11-1 Operating Conditions ......... . 11-26 11-11-2 Objects Requiring Settings .

  • Page 649: Outline Of Adjustment Functions

    11 Adjustment Functions 11-1 Outline of Adjustment Functions The Servo Drive must operate the Servomotor in response to commands without time delay and with reliability to maximize the performance of the machine. The Servo Drive is adjusted according to the characteristics of the machine.

  • Page 650: Adjustment Procedure

    Operation OK? Use simulation to adjust? Use the parameter Advanced tuning table to adjust each gain. Operation OK? Write to non-volatile memory. Consult OMRON. Adjustment completed. 11 - 4 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 651 11 Adjustment Functions Gain Adjustment and Machine Rigidity The natural vibration (resonance) of mechanical systems 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 fre- quency (low machine rigidity).

  • Page 652: Easy Tuning

    11 Adjustment Functions 11-2 Easy Tuning This function adjusts the gain automatically while the Servomotor is actually operated based on com- mands from the Controller or operation conditions that are set on the Sysmac Studio. It is possible to select the single drive or multiple drives tuning method. In the system with the synchronized axes, you can adjust the gain at the same time in a short time by the use of the easy tuning for multiple drives.
  • Page 653 11 Adjustment Functions Objects That Are Changed According to Easy Tuning Settings The values of the following objects are changed according to the settings that are configured when the easy tuning is executed. Subindex Index (hex) Name Reference (hex) 3001 Machine P.

  • Page 654: Executing Easy Tuning

    11 Adjustment Functions Objects That Are Set to Fixed Values The following objects are set to the fixed values when the easy tuning is executed. Subindex Index (hex) Name Unit Set value Reference (hex) 3011 Position Command Filter P. 9-18 IIR Filter Enable P.

  • Page 655: Advanced Tuning

    11 Adjustment Functions 11-3 Advanced Tuning This function uses simulation to adjust the gain and filter settings. Repeating actual Servomotor opera- tion is not necessary, and a fine adjustment is possible in a short period of time. 11-3-1 Objects That Are Set This section gives the objects that are set when the advanced tuning is executed.

  • Page 656: Executing Advanced Tuning

    11 Adjustment Functions Subindex Index (hex) Name Reference (hex) 3323 3rd Notch Filter P. 9-51 Enable P. 9-51 Frequency P. 9-51 Q-value P. 9-51 Depth P. 9-52 3324 4th Notch Filter P. 9-53 Enable P. 9-53 Frequency P. 9-53 Q-value P.

  • Page 657: Manual Tuning

    11 Adjustment Functions 11-4 Manual Tuning This function adjusts the values of multiple gain parameters at a time according to set values for machine rigidity that are manually adjusted. 11-4-1 Objects That Are Set This section gives the objects that are set when the manual tuning is executed. Objects That Are Changed According to Set Values for Machine Rigidity The values of the following objects are changed according to the set values for machine rigidity.

  • Page 658: Data Trace

    11 Adjustment Functions 11-5 Data Trace This function takes samples of commands to the Servomotor and motor operation (position, velocity, and torque) at regular intervals, and displays the tracing results by the use of the Sysmac Studio. For 1S-series Servo Drives, the data trace on single Servo Drive and the synchronized data trace on multiple Servo Drives are provided.

  • Page 659: Fft

    11 Adjustment Functions 11-6 FFT When you use the Sysmac Studio, you can measure the frequency characteristics of velocity closed loop. For how to use, refer to the Sysmac Studio Drive Functions Operation Manual (Cat. No. I589). 11 - 13 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 660: Damping Control

    11 Adjustment Functions 11-7 Damping Control If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration. This is effective on vibration generated by a low-rigidity machine. The applicable frequencies are from 0.5 to 300 Hz. Two damping filters, the Damping Filter 1 and 2, are provided to control two vibration frequencies simul- taneously.
  • Page 661 11 Adjustment Functions Index Subindex Refer- Name Description (hex) (hex) ence 3013 Damping Filter 1 Sets the damping filter 1. P. 9-20 1st Frequency Sets the damping frequency for the damping filter. P. 9-20 1st Damping Time Sets the trade-off with torque required for the vibration sup- P.

  • Page 662: Operating Procedure

    11 Adjustment Functions 11-7-2 Operating Procedure Adjust the position loop gain and the velocity loop gain. In the easy tuning, manual tuning, advanced tuning, etc., Adjust 1st Position Control Gain or 2nd Position Control Gain (1st: 3213 hex, 2nd: 3214 hex), 1st Velocity Control Gain or 2nd Velocity Control Gain (1st: 3223 hex, 2nd: 3224 hex), and 1st Torque Command Filter or 2nd Torque Command Filter (1st: 3233 hex, 2nd: 3234 hex).

  • Page 663: Setting Frequency With Sysmac Studio

    11 Adjustment Functions 11-7-3 Setting Frequency with Sysmac Studio When you use a function of the Sysmac Studio, you can set the damping control easily based on the vibration frequency that is detected automatically. For how to use, refer to the Sysmac Studio Drive Functions Operation Manual (Cat. No. I589). 11 - 17 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 664: Load Characteristic Estimation

    11 Adjustment Functions 11-8 Load Characteristic Estimation The Load Characteristic Estimation function estimates the load characteristics of the machine in realtime, and sets values of the inertia ratio, viscous friction coefficient, unbalanced load compensation, and dynamic friction compensation automatically according to the result of estimation. You can check the values that are set automatically with Machine –...

  • Page 665: Objects Requiring Settings

    11 Adjustment Functions 11-8-1 Objects Requiring Settings Index Subindex Refer- Name Description (hex) (hex) ence 3B80 Load Characteristic Sets the operation of the load characteristic estimation. P. 9-78 Estimation Inertia Ratio Update Selects whether to estimate load characteristics and update a P.

  • Page 666: Setting Load Characteristic Estimation Function

    11 Adjustment Functions 11-8-2 Setting Load Characteristic Estimation Function Turn OFF the Servo before you set the load characteristic estimation function. Set Update Selections (3B80-01 to 3B80-04 hex) depending on the load. If compensation for friction and unbalanced loads is not required, set only Inertia Ratio Update Selection (01 hex) to 1.

  • Page 667: Adaptive Notch Filter

    11 Adjustment Functions 11-9 Adaptive Notch Filter The Adaptive Notch Filter reduces resonance frequency vibration by estimating the resonance fre- quency from the vibration component that appears in the motor speed during actual operation and automatically setting the frequency of the notch filter, which removes the resonance component from the internal torque command.

  • Page 668: Operating Procedure

    11 Adjustment Functions Precautions for Correct Use • The adaptive notch filter may not operate properly under the following conditions. Item Conditions that interfere with the adaptive filter Resonance • If the resonance frequency is 300 Hz or lower frequency •...

  • Page 669: Notch Filters

    11 Adjustment Functions 11-10 Notch Filters A notch filter reduces a specified frequency component. When the machine rigidity is low, factors such as axis torsion may produce resonance which results in vibration and noise. Thus you may not be able to set a high gain. The notch filter suppresses the resonance peak to reduce vibration and noise, and allows you to set a high gain.

  • Page 670: Objects Requiring Settings

    11 Adjustment Functions 11-10-1 Objects Requiring Settings Index Subindex Refer- Name Description (hex) (hex) ence 3321 1st Notch Filter Sets the 1st resonance suppression notch filter. P. 9-47 Enable Selects whether to enable or disable the 1st notch filter func- P.

  • Page 671: Notch Filter Width And Depth

    11 Adjustment Functions Precautions for Correct Use • Identify the resonance frequency from the FFT function or other functions of the Sysmac Studio, and set the identified frequency in Frequency of the notch filter. • If the adaptive notch filter is set, the objects for the specified notch filter are automatically set. If you want to set the objects for the notch filter manually, disable Adaptive Notch Filter.

  • Page 672: Friction Torque Compensation Function

    11 Adjustment Functions 11-11 Friction Torque Compensation Function You can set the following three types of friction torque compensations to reduce the influence of mechanical frictions. • Unbalanced load compensation: Offsets the constantly applied unbalance torque • Dynamic friction compensation: Compensates friction that changes its direction in accordance with the operating direction.

  • Page 673: Operation Example

    11 Adjustment Functions 11-11-3 Operation Example The friction torque compensation is applied according to the operation as shown in the drawing below. Command velocity Positive direction Time Negative direction Viscous friction compensation Viscous friction compensation Positive Dynamic Friction Compensation Negative Dynamic Unbalanced Load Compensation Friction Compensation Time...
  • Page 674 11 Adjustment Functions Precautions for Correct Use You can use Unbalanced Load Compensation and Dynamic Friction Compensation together or separately. Take note that the following use limit is applied depending on the operation mode switching or servo ON condition. During torque control The friction torque compensation is set to 0 regardless of the object setting.

  • Page 675: Feed-Forward Function

    11 Adjustment Functions 11-12 Feed-forward Function The feed-forward function is used to improve the following performance for the target position and velocity. 11-12-1 Feed-forward Control in TDF Control In the normal TDF control, do not add Velocity offset (60B1 hex) and Torque offset (60B2 hex), because the optimized feed-forward amount is input from the TDF control section.
  • Page 676 11 Adjustment Functions Adjustment of TDF Command Following Gain In the TDF control, the smooth internal commands are generated in the TDF control section so that rapid changes in target position or velocity do not cause overshooting. However, the smoother the internal commands are, the longer the delay of the internal commands gets.

  • Page 677: Feed-Forward Control In Odf Control

    11 Adjustment Functions 11-12-2 Feed-forward Control in ODF Control The feed-forward function that can be used in the ODF control comes in 2 types: velocity feed-forward and torque feed-forward. In the ODF control, the responsiveness can be increased by changing these feed-forward amounts.
  • Page 678 11 Adjustment Functions Operating Method of ODF Torque Feed-forward Set Inertia Ratio (3001-01 hex). Set the inertia ratio as accurate as possible. • If the inertia ratio is calculated when the Servomotor is selected, input the calculated value. • If the inertia ratio is unknown, use the load characteristic estimation or easy tuning function to set the inertia ratio.

  • Page 679: Troubleshooting

    Troubleshooting This section explains the items to check when problems occur, and troubleshooting by the use of error displays or operation state. 12-1 Actions for Problems ......... . 12-2 12-1-1 Preliminary Checks When a Problem Occurs .

  • Page 680: Actions For Problems

    12 Troubleshooting 12-1 Actions for Problems If any problems should occur, take the following actions. 12-1-1 Preliminary Checks When a Problem Occurs This section explains the preliminary checks required to determine the cause of a problem if one occurs. Checking the Power Supply Voltage Check the voltage at the power supply input terminals.

  • Page 681: Precautions When A Problem Occurs

    12 Troubleshooting The following figure shows the 7-segment display when an error exists. ● Error display and warning display The preset character, main code and sub code are displayed in turns. Example) Overvoltage Error: 1200 hex [ER] Error No. Error No. (1 s) Main (1 s) Sub (1 s)

  • Page 682: Replacing The Servomotor Or Servo Drive

    12 Troubleshooting 12-1-3 Replacing the Servomotor or Servo Drive Use the following procedure to replace the Servomotor or Servo Drive. Replacing the Servomotor Replace the Servomotor. Perform the Motor Setup. • Turn ON the power supply to the Servo Drive. The Motor Replacement Detected (Error No. 95.05) occurs.
  • Page 683 12 Troubleshooting Clearing Motor Replacement Detected Start the Sysmac Studio and go online with the Servo Drive via EtherCAT or USB communica- tions. In the Sysmac Studio, right-click the target Servo Drive under Configurations and Setup, and select Motor and Encoder. Click the Reset Motor Replacement Detection error button in the Encoder Properties pane.

  • Page 684: Warnings

    12 Troubleshooting 12-2 Warnings This function outputs a warning signal to enable you to check a state such as an overload before an error occurs. With Warning Customization (4020 hex), you can select whether or not to detect warnings and whether or not to hold the warning state.
  • Page 685 12 Troubleshooting Subindex Refer- Index (hex) Name Description (hex) ence 4020 Warning Hold Selects whether to hold or not the warning state. P. 9-83 Selection Bit 0: 0: Not hold the warning enabled in Warning Mask 1 Selec- tion. The warning is automatically cleared when the cause of the warning is eliminated.

  • Page 686: Warning List

    12 Troubleshooting 12-2-2 Warning List General Warnings Error No. Warning Mask 1 Selection (4020-01 hex) Warning name Warning condition Main Warning Level Change 1 (hex) (hex) Selection (4020-05 hex) corresponding bit Overload Warning The load ratio of Servo Drive or Bit 0 motor (4150-81 hex) exceeded the level set in Overload - Warning...
  • Page 687 12 Troubleshooting EtherCAT Communications Warning Error No. Warning Mask 3 Selection (4020-03 hex), Main Warning name Warning condition Warning Level Change 3 (hex) (hex) Selection (4020-07 hex) corresponding bit Data Setting Warning The object set value is out of the Bit 0 range.

  • Page 688: Errors

    12 Troubleshooting 12-3 Errors If the Servo Drive detects an abnormality, it outputs an error (/ERR), turns OFF the power drive circuit, and displays the error number (main and sub) on the front panel. Precautions for Correct Use • Refer to 12-5-1 Troubleshooting Using Error Displays on page 12-16 for information on trou- bleshooting.
  • Page 689 12 Troubleshooting Error No. Attribute Can be Deceleration Error name Main (hex) (hex) reset operation FPGA WDT Error System Error Self-diagnosis Error Encoder Self-diagnosis Error Non-volatile Memory Data Error Non-volatile Memory Hardware Error Drive Prohibition Input Error Drive Prohibition Detected Absolute Encoder Counter Overflow Error Encoder Memory Error 1-rotation Counter Error...
  • Page 690 12 Troubleshooting Error No. Attribute Can be Deceleration Error name Main (hex) (hex) reset operation Mailbox Setting Error PDO WDT Setting Error SM Event Mode Setting Error DC Setting Error Synchronization Cycle Setting Error RxPDO Setting Error TxPDO Setting Error RxPDO Mapping Error TxPDO Mapping Error Node Address Updated...

  • Page 691: Deceleration Stop Operation At Errors

    12 Troubleshooting 12-3-2 Deceleration Stop Operation at Errors The deceleration stop function controls the motor and decelerates it to stop if an error that causes the deceleration stop occurs. Related Objects Index Subindex Refer- Name Description (hex) (hex) ence 605E Fault reaction option Sets the state during deceleration and after P.

  • Page 692: Information

    12 Troubleshooting 12-4 Information Information is an event other than errors of which you are notified. You can change information to errors by changing its level. 12-4-1 Related Objects Index Subindex Refer- Name Description (hex) (hex) ence 4030 Information Customi- Sets the information.

  • Page 693: Troubleshooting

    12 Troubleshooting 12-5 Troubleshooting If an error occurs in the Servo Drive or operation, identify the cause of the error and take appropriate measures as shown below. • For the error occurrence, check its frequency, timing, and the environment in which the error occurred.

  • Page 694: Troubleshooting Using Error Displays

    12 Troubleshooting 12-5-1 Troubleshooting Using Error Displays When an error or warning occurs, the error number is displayed on the 7-segment LED display the front of the Servo Drive. Error List Error No. Name Cause Measures Main (hex) (hex) Overvoltage The main circuit power The P-N voltage Input the correct voltage.
  • Page 695 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Main Power The main circuit power Incorrect wiring of the If the power supply cables are not Supply supply voltage fell below main circuit power sup- wired to the main circuit power sup- Undervolt- the operation guaran- ply terminals (L1 , L2 , L3), connect...
  • Page 696 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Overcurrent The current flowing to There is a short circuit, Correct the connection of the U, V, Error the motor exceeded the ground fault, or contact or W motor cable. protection level.
  • Page 697 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Overload The load ratio of Servo Operation was contin- Take the following actions accord- Error Drive or Servomotor ued for a long time with ing to conditions. exceeded 100%. high load. •...
  • Page 698 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Regenera- Error of regeneration A short-circuit between Confirm connections with peripheral tion Circuit circuit of Servo Drive B2 and N2/N3. devices and carry out wirings cor- Error was detected. rectly. A failure of regenera- Replace the Servo Drive.
  • Page 699 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Encoder The communication Noise into the encoder • Carry out correct wiring after Error error was detected or the integrated cable. check of specified connection for between the encoder the integrated cable and a shield and the Servo Drive.
  • Page 700 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Excessive The feedback motor The velocity command Do not give the excessive velocity Speed Error speed is greater than or value is too large. command. Check whether the elec- equal to the value set in tronic gear ratio is set correctly.
  • Page 701 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Software The Position actual Incorrect setting of Soft- Correct the setting of Software Limit value detected the posi- ware Position Limit Position Limit. Exceeded tion that exceeded the When the Software Set the command value to be within value set in the Soft- Position Limit - Stop...
  • Page 702 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Non-volatile An error occurred on the False detection due to a After you cycled the power supply, if Memory non-volatile memory. data read error that was this error occurs continuously Hardware caused by excessive although the error is reset, the...
  • Page 703 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Absolute The encoder detected a A temporary error Use the product continuously if this Encoder multi-rotation counter occurred in the encoder event does not occur after improv- Multi-rotation error. multi-rotation detection ing the operating environment.
  • Page 704 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Safety Safety process data The set safety slave Check whether the connected Parameter communications were model is incorrect. safety slave model corresponds the Error not established with the safety slave model that is set from Safety CPU Unit the setting tool.
  • Page 705 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Safety Func- Setting of SS1 function SS1 time for velocity SS1 time for velocity zero is set tion Setting is incorrect zero is set longer than shorter than SS1 time to STO. SS1 time to STO.
  • Page 706 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) SOPT Input Improper installation of The setting of Safety When you set 2 to Safety Origin Monitoring SOPT input device and Origin Position Offset Position Determination Method Error the malfunction were (4F00-04 hex) is inap- (4F00-01 hex), set a value appropri- detected.
  • Page 707 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Monitoring Detects Monitoring Limit Safety Present Pulse Correct user programs so that Limit Exceed- Exceedance Error of Position exceeded Safety Present Position, Safety SOS function. SOS position zero Present Pulse Position and ance Error window.
  • Page 708 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) SBC Relay Improper wiring of termi- Wrong wiring between a Wire between SBC RFB terminals Diagnosis nals between SBC RFB safety relay and SBC and Safety relay correctly. Error and an error of safety RFB terminal relay for SBC were Safety Relay OFF...
  • Page 709 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Overload Overcurrent was Ground fault of SBC+ Check the external wiring. Detected at detected at the SBC output to SBC CM input. SBC Output output terminal. The wiring of SBC- out- put contacts SBC PS input.
  • Page 710 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Internal Cir- Internal circuit error was Memory error or signal Take measures against noise and cuit Error at detected at SOPT input abnormality due to tran- cycle the power supply. If the error SOPT Input terminal.
  • Page 711 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Sync Man- PDO communications An EtherCAT communi- Connect the EtherCAT communica- ager WDT were interrupted for the cations cable is discon- tions cable securely. Error allowable period or lon- nected, loose, or ger.
  • Page 712 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Mailbox Set- An incorrect mailbox setting of Sync Manager was Check the mailbox setting, and then ting Error detected. download it to the EtherCAT master again. PDO WDT An incorrect PDO WDT setting was detected. Check the PDO WDT setting, and Setting Error then download it to the EtherCAT...
  • Page 713 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) RxPDO Map- An incorrect RxPDO was set, such as out of the Correct the RxPDO setting, and ping Error allowable range of Index, Subindex, or size. then download it to the EtherCAT master again.
  • Page 714 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Command A mistake was made in When bit 9 (Remote) of Check the Servo Drive specifica- Error using a command. the Statusword was set tions and use the command cor- to 1 (remote), and the rectly.
  • Page 715 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Overload The load ratio of Servo Operation was contin- Perform the following corrections Warning Drive or motor (4150-81 ued for a long time with accordingly. hex) exceeded the level high load. •...
  • Page 716 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Fan Rotation The rotation speed of There is a foreign mat- Check whether there is a foreign Warning the fan is 80% or less of ter in the cooling fan matter in the fan.
  • Page 717 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Absolute The multi-rotation An inappropriate value Set an appropriate value in the Encoder counter of the encoder was set in the Encoder Encoder - Operation Selection Counter exceeded the value set - Operation Selection when Using Absolute Encoder Overflow...
  • Page 718 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) The safety input OFF There are detached Reconnect the input wiring of safety (ST) Detected state was detected via wires and the discon- inputs 1 and 2 and safety input unit. the safety input signal or nection on of safety If the cable is disconnected, replace...

  • Page 719: Troubleshooting Using Al Status Codes

    12 Troubleshooting 12-5-2 Troubleshooting Using AL Status Codes The AL status codes notify users of errors related to EtherCAT communications. This section gives errors that 1S-series Servo Drives notify to the host controllers with AL status codes, as well as their causes and remedies. AL Status Code List AL status Name...
  • Page 720 12 Troubleshooting AL status Name Cause Measures code (hex) 001E TxPDO Set- A TxPDO setting error The TxPDO setting of Eth- Correct the TxPDO setting accord- ting Error was detected. erCAT master is incorrect. ing to the definition of ESI of Servo Drive, and then download it to the Servo Drive failure EtherCAT master again.
  • Page 721 10 ms or lower. 0050 ESC Error An error occurred in the Error access from the Please contact the manufacturer of EtherCAT slave communi- non-OMRON EtherCAT EtherCAT master. cations controller. master 0051 Error of the EtherCAT If this event occurs repeatedly after...

  • Page 722: Troubleshooting Using The Operation State

    12 Troubleshooting 12-5-3 Troubleshooting Using the Operation State Symptom Probable cause Check items Measures The 7-segment dis- The control power is not sup- Check to see if the power sup- Supply the correct power sup- play does not light. plied. ply input is within the allowed ply voltage.
  • Page 723 12 Troubleshooting Symptom Probable cause Check items Measures The Servo locks but The host controller does not For a position command, check Enter position and speed data. the Servomotor does give a command. to see if the speed and position Start the Servomotor.
  • Page 724 12 Troubleshooting Symptom Probable cause Check items Measures The Servomotor The value set in Motor Rota- Check the value of Motor Change the value of Motor rotates in the reverse tion Direction Selection Rotation Direction Selection. Rotation Direction Selection. direction from the (3000-01 hex) is incorrect.
  • Page 725 12 Troubleshooting Symptom Probable cause Check items Measures The Servomotor is The ambient temperature is too Check to see if the ambient • Lower the ambient tempera- overheating. high. temperature around the Servo- ture around the Servomotor motor is over 40°C. to 40°C or less.
  • Page 726 12 Troubleshooting Symptom Probable cause Check items Measures The Servomotor or Vibration occurs due to Check to see if the Servomo- Retighten the mounting screws. the load generates improper mechanical installa- tor’s mounting screws are abnormal noise or tion. loose. vibration.
  • Page 727 12 Troubleshooting Symptom Probable cause Check items Measures The Servomotor or 1st Torque Command Filter Review the set value of the Set a small value for the torque the load generates (3233 hex) or 2nd Torque torque command filter. command filter to eliminate the abnormal noise or Command Filter (3234 hex) vibration.
  • Page 728 12 Troubleshooting Symptom Probable cause Check items Measures Vibration is occurring Inductive noise is occurring. Check to see if the drive control Shorten the control signal lines. at the same fre- signal lines are too long. quency as the power Check to see if the control sig- •...

  • Page 729: Maintenance And Inspection

    Maintenance and Inspection This section explains maintenance and inspection of the Servomotors and Servo Drives. 13-1 Periodic Maintenance ......... 13-2 13-2 Servo Drive Lifetime .

  • Page 730: Periodic Maintenance

    13 Maintenance and Inspection 13-1 Periodic Maintenance Caution After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting operation. Equipment damage may result. Do not repair the Servo Drive by disassembling it. Electric shock or injury may result.

  • Page 731: Servo Drive Lifetime

    13 Maintenance and Inspection 13-2 Servo Drive Lifetime • The lifetime of Servo Drive depends on application conditions. When the ambient temperature is 40°C and the average output is 70% of the rated output, the design life expectancy is ten years. •...

  • Page 732: Servomotor Lifetime

    13 Maintenance and Inspection 13-3 Servomotor Lifetime The lifetimes for the different motor parts are listed below. Name Lifetime Bearing 20,000 hours Decelerator 20,000 hours Oil seal 5,000 hours (models with oil seal) Encoder 25,000 hours Brake ON/OFF 1,000,000 times *1.

  • Page 733: Appendices

    Appendices The appendices provide explanation for the profile that is used to control the Servo Drive, lists of objects, and Sysmac error status codes. A-1 CiA 402 Drive Profile ......... . . A-2 A-1-1 Controlling the State Machine of the Servo Drive .

  • Page 734: Cia 402 Drive Profile

    Appendices A-1 CiA 402 Drive Profile This section describes the profile that is used to control the Servo Drive. A-1-1 Controlling the State Machine of the Servo Drive The state of 1S-series Servo Drives Advance Type with built-in EtherCAT communications supporting safety functions is called “PDS state.”...
  • Page 735 Appendices State Descriptions Status Description Not ready to switch on The control circuit power supply is turned ON and initialization is in progress. Switch on disabled Initialization is 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.

  • Page 736: A-1-2 Modes Of Operation

    Appendices State Coding State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following table. Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status rtso Not ready to switch on Dis- abled Switch on disabled...

  • Page 737: A-1-3 Modes Of Operation And Applied/Adjustment Functions

    Appendices A-1-3 Modes of Operation and Applied/Adjustment Functions The relationships between the modes of operation of 1S-series Servo Drives with built-in EtherCAT communications supporting safety functions and the applied/adjustment functions are shown below. Modes of operation Function Notch filter Supported Supported Supported Damping filter...
  • Page 738 Appendices Setting Operation Warning 0 (nma) The current operation None mode is retained. 1 (pp), 3 (pv), 6 (hm), 8 (csp), 9 (csv), or 10 (cst) Changed to the specified None mode. 2, 4, 5, or 7 The current operation Command Warning mode is retained.

  • Page 739: A-1-5 Homing Mode Specifications

    Appendices A-1-5 Homing Mode Specifications This section describes the specifications of the Homing mode of the 1S-series Servo Drives Advance Type with built-in EtherCAT communications supporting safety functions. Homing Mode Configuration The configuration of the Homing mode is as follows: Controlword (6040 hex) Statusword (6041 hex) Homing method (6098 hex)
  • Page 740 Appendices Index Subindex Default Name Access Size Unit Setting range (hex) (hex) setting 609A Homing accelera- Command 1 to 2,147,483,647 125,000 tion unit/s 607C Home offset INT32 Command unit -2,147,483,648 to 2,147,483,647 60FC Position demand INT32 Encoder unit internal value 6062 Position demand INT32...
  • Page 741 Appendices Homing Operation This section describes the operation of the supported homing methods.  Homing Methods 8 and 12: Homing by Home Proximity Input and Home Sig- These Homing methods use the Home Proximity Input that is enabled only in some parts of the drive range, and stop the motor when the home signal is detected.
  • Page 742 Appendices Precautions for Correct Use • If the home signal exists near the point where the Home Proximity Input turns ON or OFF, the first home signal after the Home Proximity Input is turned ON or OFF may not be detected. Set the Home Proximity Input so that the home signal occurs away from the point where the home Proximity Input turns ON /OFF.
  • Page 743 Appendices  Homing Method 33 and 34: Homing with Home Signal In these homing methods, only the Home signal is used. The operation start direction of the homing operation is the negative direction when the homing method is 33, and the positive direction when the homing method is 34. Home signal ←...

  • Page 744: Coe Objects

    Definitions of objects that can be used by all servers for des- ignated communications. 2000 to 2FFF Manufacturer Specific Area 1 Objects with common definitions for all OMRON products. 3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S-series Servo Drives (servo parameters).

  • Page 745: Object Description Format

    Appendices A-2-3 Object Description Format In this manual, objects are described in the following format. Data Index Subindex Object Setting Default Complete Modes of Unit attri- Size Access (hex) (hex) name range setting access operation bute <Index> <Subindex> <Object <Range> <Unit>...

  • Page 746: A-2-4 Communication Objects

    Appendices A-2-4 Communication Objects Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1000 Device Type 000A0192 4 bytes (U32) possible • Gives the CoE device profile number. ...
  • Page 747 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1009 Manufacturer 20 bytes Hardware Ver- (VS) possible sion • Gives the version of the Servo Drive hardware. Sub- Data Com-...
  • Page 748 Appendices • Subindex 03 hex Restore Default Application Parameters can restore the servo parameters to their default values by the writing of 64616F6C hex (load). The restored servo parameters are stored in the non-volatile memory. • A value of 00000001 hex (command valid) is given when reading. •...
  • Page 749 Appendices Description 0 to 15 Minor revision number 16 to 31 Major revision number • Subindex 04 hex Serial Number gives the product serial number. Sub- Data Com- Index Setting Default set- Modes of index Object name Unit attri- Size Access plete (hex)
  • Page 750 Appendices Value Description The slave will clear all messages. 1 to 5 An abort code is returned. The written value can be read. to 2D hex An abort code is returned. to FF hex • Subindex 04 hex New Messages Available gives whether there are new messages to be read. Value Description No new message to be read.

  • Page 751: Pdo Mapping Objects

    Appendices A-2-5 PDO Mapping Objects Indexes 1600 to 17FF hex are used for receive PDO mapping and indexes 1A00 to 1BFF hex are used for transmit PDO mapping. Subindexes after subindex 01 hex provide information about the mapped application object. Index Bit length index...
  • Page 752 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1600 1st receive Possible PDO Mapping Number of 00 to 0A 03 hex 1 byte objects in this (U8) 1st Output 60400010...
  • Page 753 Appendices • You can map the following objects to the receive PDO mapping. Subindex Bit length Index (hex) Object name (hex) (hex) 3112 ODF Velocity Feed-forward - Gain ODF Velocity Feed-forward - LPF Cutoff Frequency 3113 ODF Torque Feed-forward - Gain ODF Torque Feed-forward - LPF Cutoff Frequency 3213 1st Position Control Gain - Proportional Gain...
  • Page 754 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1610 17th receive Possible PDO Mapping Number of 00 to 13 13 hex 1 byte objects in this (U8) 1st Output E7000108...
  • Page 755 Appendices • This is receive PDO Mapping required when the safety function is used via EtherCAT communica- tions. • Users set objects assigned into PDO mapping. They can set subindex from 0A hex to 11 hex and eight objects or less. •...
  • Page 756 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1702 259th receive Possible PDO Mapping Number of 07 hex 1 byte objects in this (U8) 1st Output Object 60400010 4 bytes...
  • Page 757 Appendices • The touch probe function and torque limit are available. • The following objects are mapped. Controlword (6040 hex), Target position (607A hex), Target velocity (60FF hex), Modes of oper- ation (6060 hex), Touch probe function (60B8 hex), Positive torque limit value (60E0 hex), and Negative torque limit value (60E1 hex) Sub- Data...
  • Page 758 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1705 262th receive Possible PDO Mapping Number of 08 hex 1 byte objects in this (U8) 1st Output 6040 0010 4 bytes...
  • Page 759 Appendices Sub- Data Com- Index Setting Default set- Modes of index Object name Unit attri- Size Access plete (hex) range ting operation (hex) bute access 1A00 1st transmit Possible PDO Mapping Number of 00 to 0A 07 hex 1 byte objects in this (U8) 1st Output...
  • Page 760 Appendices • You can map the following objects to the transmit PDO mapping. Subindex Bit length Index (hex) Object name (hex) (hex) 10F3 Diagnosis History - New Messages Available 2002 Sysmac Error Status 3000 Basic Functions - Function Status 3010 Position Command - Reference Position for csp 3211 Position Detection - Present Position Time Stamp...
  • Page 761 Appendices Sub- Data Com- Index Setting Default set- Modes of index Object name Unit attri- Size Access plete (hex) range ting operation (hex) bute access 1A10 17th transmit Possible PDO Mapping Number of 00 to 13 13 hex 1 byte objects in this (U8) 1st Output...
  • Page 762 Appendices • This is transmit PDO Mapping required when the safety function is used via EtherCAT communica- tions. • Users set objects to be assigned. They can set subindex from 0A hex to 10 hex and seven objects or less PDO mapping. •...
  • Page 763 Appendices Sub- Data Com- Index Setting Default set- Modes of index Object name Unit attri- Size Access plete (hex) range ting operation (hex) bute access 1B02 259th transmit Possible PDO Mapping Number of 09 hex 1 byte objects in this (U8) 1st Output 603F0010...
  • Page 764 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1B03 260th transmit Possible PDO Mapping Number of 0A hex 1 byte objects in this (U8) 1st Output 603F 0010 4 bytes...
  • Page 765 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1B04 261th transmit Possible PDO Mapping Number of 0A hex 1 byte objects in this (U8) 1st Output 603F 0010 4 bytes...

  • Page 766: A-2-6 Sync Manager Communication Objects

    Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1BFF 512th transmit Possible PDO Mapping Number of 01 hex 1 byte objects in this (U8) 1st Output 2002 0108 4 bytes...
  • Page 767 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1C12 Sync Manager Possible 2 PDO Assign- ment Number of 00 to 03 01 hex 1 byte assigned PDOs (U8) 1st PDO Map-...
  • Page 768 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1C32 Sync Manager Possible 2 Synchroniza- tion Number of 0C hex 1 byte Synchroniza- (U8) tion Parame- ters Synchroniza- 0000 to...
  • Page 769 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1C33 Sync Manager Possible 3 Synchroniza- tion Number of 0C hex 1 byte Synchroniza- (U8) tion Parame- ters Synchroniza- 0000 to...

  • Page 770: A-2-7 Manufacturer Specific Objects

    Appendices A-2-7 Manufacturer Specific Objects For details on servo parameters, refer to Section 9 Details on Servo Parameters. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 2002 Sysmac Error...
  • Page 771 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 2004 Sysmac Minor Possible Fault Number of 05 hex 1 byte entries (U8) Minor Fault 1 12 bytes (OS) Minor Fault 2...
  • Page 772 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 2201 Sync Not 0 to 600 2 bytes Not possi- Received Tim- (U16) eout Setting • This object sets a value to detect a Synchronization Interruption Error (Error No. 88.02). •...

  • Page 773: Servo Drive Profile Object

    Appendices A-2-8 Servo Drive Profile Object This section explains the CiA402 drive profile supported by 1S-series Servo Drives Advance Type. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access...
  • Page 774 Appendices  Description of bits specific to operation mode Controlword Modes of operation Bit 9 Bit 8 Bit 6 Bit 5 Bit 4 Profile position mode Change on Halt Abs/rel Change set New set-point (pp) Set-point immediately Profile velocity mode Halt (pv) Homing mode (hm)
  • Page 775 Appendices Name Description 14 to 15 Manufacturer specific These are manufacturer specific bits. These bits are not used by 1S-series Servo Drives. *1. The Voltage enabled bit indicates that the main circuit power supply voltage is applied when it is 1. ...
  • Page 776 Appendices  Description of Set Values Deceleration method Operation after stopping value Deceleration stop (The deceleration Free Operation A stop torque is used.) Free-run Operation B Deceleration stop (The deceleration Free Operation A stop torque is used.) Dynamic brake operation Operation B Deceleration stop (The deceleration Dynamic brake operation...
  • Page 777 Appendices Precautions for Correct Use • If an error occurs while the Servo is OFF, operation will follow Fault reaction option code (605E hex). • If the main power supply turns OFF while the Servo is OFF, operation will follow Shutdown option code (605B hex).
  • Page 778 Appendices Deceleration operation Operation after stopping value Deceleration stop (The deceleration Dynamic brake operation Operation A stop torque is used.) Dynamic brake operation Operation B Dynamic brake operation Free Free-run Dynamic brake operation Dynamic brake operation Dynamic brake operation Free-run Free *1.
  • Page 779 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6062 Position Com- 4 bytes TxPDO Not possi- csp, pp, demand value mand (INT32) unit • This object gives the command position which is generated in the Servo Drive. A - 47 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 780 Appendices Sub- Data Com- Index Default Modes of index Object name Setting range Unit attri- Size Access plete (hex) setting operation (hex) bute access 6063 Position actual Encod 4 bytes TxPDO Not pos- csp, csv, internal value er unit (INT32) sible cst, pp, pv, hm...
  • Page 781 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 606B Velocity Command 4 bytes TxPDO Not pos- csp, pp, demand value unit/s (INT32) sible • This object gives the command velocity which is generated in the Servo Drive. •...
  • Page 782 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6077 Torque actual 0.1% 2 bytes TxPDO Not pos- csp, csv, value (INT16) sible cst, pp, pv, hm •...
  • Page 783 Appendices Sub- Data Com- Index Object Default set- Modes of index Setting range Unit attri- Size Access plete (hex) name ting operation (hex) bute access 607F Max profile 0 to Com- 2,147,483,647 4 bytes RxPDO Not pos- cst, pp, pv velocity 2,147,483,647 mand...
  • Page 784 Appendices  Description of Set Values Description value Not specified Homing by Home Proximity Input and home signal (positive operation start) Homing by Home Proximity Input and home signal (negative operation start) Homing without home signal (positive operation start) Homing without home signal (negative operation start) Homing with home signal (negative operation start) Homing with home signal (positive operation start) Present home preset...
  • Page 785 Appendices Sub- Data Com- Index Object Setting Default Modes of index Unit attri- Size Access plete (hex) name range setting operation (hex) bute access 60B2 Torque off- -5,000 to 0.1% 2 bytes RxPDO Not possi- csp, csv, 5,000 (INT16) • This object sets the offset for Target torque (6071 hex). Sub- Data Com-...
  • Page 786 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 60B9 Touch probe 2 bytes TxPDO Not possi- status (U16) • This object gives the status of the latch function. ...
  • Page 787 Appendices • The set interpolation time period is used to perform linear interpolation for the target position and cal- culate the command position. • If the set value exceeds 100 ms, then 100 ms is used to calculate the command position. Interpolation time period Target position Command position...
  • Page 788 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 60DA Function Set- 0000 0000 00000001 4 bytes Not pos- tings (U32) sible FFFF FFFF • This object selects whether to enable or disable the extended functions which are supported by the Servo Drive.
  • Page 789 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 60E3 Supported hom- Possible ing methods Number of 07 hex 1 byte entries (U8) 1st supported 2 bytes homing method (INT16)
  • Page 790 Appendices  Bit Descriptions Signal name Symbol Value Description Negative Drive Prohibition Input Positive Drive Prohibition Input Home Proximity Input Encoder Phase Z Detection Phase-Z signal not detected during commu- nication cycle Phase-Z signal detected during communication cycle External Latch Input 1 EXT1 External Latch Input 2 EXT2...
  • Page 791 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 60FE Digital out- Possible puts Number of 02 hex 1 byte entries (U8) Physical out- 0000 0001 4 bytes RxPDO puts...
  • Page 792 Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6404 Motor manu- OMRON 20 bytes Not possi- facturer (VS) • This object gives the motor manufacturer name. Sub- Data Com- Index Setting Default Modes of index Object name...

  • Page 793: A-2-9 Safety Function Objects

    Appendices A-2-9 Safety Function Objects This section explains objects defined in the FSoE CiA402 slave connection. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6620 safety controlword Possible Number of entries...
  • Page 794 Appendices  Bit Description of Subindex 01 hex Description Gives the STO status. 0: Normal status 1: STO status Gives the SOS 1st instance status. 0: Normal status 1: SOS status Gives positive direction rotation status. 0: No rotation or rotate to negative direction 1: Rotate to positive direction Gives negative direction rotation status.
  • Page 795 Appendices  Description of Reading and Writing Access Description Read Gives the STO status. 0: Normal status 1: STO status Write Issues the STO command. 0: Activate STO 1: Reset STO Sub- Data Com- Index Setting Default Modes of index Object name Unit attri-...
  • Page 796 Appendices  Description of Reading and Writing Access Description Read Gives the SS1 status. 0: Normal status 1: SS1 status Write Issues the SS1 command. 0: Activate SS1 1: Reset SS1 Sub- Data Com- Index Setting Default Modes of index Object name Unit attri-...
  • Page 797 Appendices • This object is for SRA parameters. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6654 SS1 time for Possible velocity zero Number of entries 08 hex 1 byte (U8)
  • Page 798 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6658 SS1 activate SBC Possible Number of entries 08 hex 1 byte (U8) SS1 activate SBC 00000000 4 bytes (U32)
  • Page 799 Appendices  Description of Reading and Writing Access Description Read Gives the SBC status. 0: Normal status 1: SBC status Write Issues the SBC command. 0: Activate SBC 1: Reset SBC Sub- Data Com- Index Setting Default Modes of index Object name Unit attri-...
  • Page 800 Appendices  Description of Reading and Writing Access Description Read Gives the SOS status. 0: Normal status 1: SOS status Write Issues the SOS command. 0: Activate SOS 1: Reset SOS Sub- Data Com- Index Default Modes of index Object name Setting range Unit attri-...
  • Page 801 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 666C SOS velocity zero Possible window Number of entries 08 hex 1 byte (U8) SOS velocity zero 10 to r/min 4 bytes...
  • Page 802 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6671 SS2 time to SOS Possible Number of entries 08 hex 1 byte (U8) SS2 time to SOS 2 bytes (U16) SS2 time to SOS...
  • Page 803 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6690 SLS command Not pos- sible Number of entries 08 hex 1 byte (U8) SLS command1 0 to 1 1 bit RxPDO,...
  • Page 804 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6693 SLS velocity limit Possible Number of entries 08 hex 1 byte (U8) SLS velocity limit 1 to r/min 4 bytes...
  • Page 805 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 66A0 SLP command Not pos- sible Number of entries 08 hex 1 byte (U8) SLP command1 0 to 1 1 bit RxPDO,...
  • Page 806 Appendices • This object is for SRA parameters. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 66A4 SLP position Possible lower limit Number of entries 08 hex 1 byte (U8)
  • Page 807 Appendices  Description of Reading and Writing Access Description Read Gives negative direction rotation status. 0: Not rotate to negative direction 1: Rotate to negative direction Write Issues the SDI negative direction command. 0: Activate SDI 1: Reset SDI Sub- Data Com- Index...
  • Page 808 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access E700 FSoE Master Possible Frame Ele- ments Axis Number of 03 hex 1 byte entries (U8) FSoE Master 00 to FF 00 hex...

  • Page 809: Object List

    Appendices A-3 Object List • This section describes the profile that is used to control the Servo Drive. • Some objects are updated by cycling the power supply. After you change these objects, turn OFF the power supply, and then turn ON it again. After you turn OFF the power supply, confirm that the power supply indicator is not lit.
  • Page 810 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 10F3 Diagnosis History Maximum Messages 1 byte (U8) Newest Message 1 byte (U8) Newest Acknowledged 00 to FF hex 00 hex 1 byte Message (U8)
  • Page 811 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1600 1st receive PDO Map- ping Number of objects in this 00 to 0A hex 03 hex 1 byte (U8) 1st Output Object to be 60400010 hex 4 bytes mapped...
  • Page 812 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1610 17th receive PDO Map- ping Number of objects in this 00 to 13 hex 13 hex 1 byte (U8) 1st Output Object to be E7000108 hex 4 bytes mapped...
  • Page 813 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1702 2nd Output Object to be 607A 0020 hex 4 bytes mapped (U32) 3rd Output Object to be 60FF0020 hex 4 bytes mapped (U32) 4th Output Object to be...
  • Page 814 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1705 4th Output Object to be 60600008 hex 4 bytes mapped (U32) 5th Output Object to be 60B8 0010 hex 4 bytes mapped (U32) 6th Output Object to be...
  • Page 815 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1A10 13th Input Object to be 00000001 hex 4 bytes mapped (U32) 14th Input Object to be 00000001 hex 4 bytes mapped (U32) 15th Input Object to be...
  • Page 816 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1B03 1st Input Object to be 603F 0010 hex 4 bytes mapped (U32) 2nd Input Object to be 60410010 hex 4 bytes mapped (U32) 3rd Input Object to be...
  • Page 817 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1C00 Communication Type 01 hex 1 byte Sync Manager 0 (U8) Communication Type 02 hex 1 byte Sync Manager 1 (U8) Communication Type 03 hex 1 byte...
  • Page 818 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1C33 Shift Time 4 bytes (U32) Synchronization Types 0026 hex 2 bytes supported (U16) Minimum Cycle Time 125,000 4 bytes (U32) Calc and Copy Time 125,000 4 bytes...
  • Page 819 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3000 Motor Stop Cause 4 bytes (INT32) Modes of Operation Dis- 1 byte play (Mirror object of (INT8) 6061 hex) Supported Functions 00000001 hex 4 bytes (Mirror object of 60D9...
  • Page 820 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3010 Position Offset (Mirror -2,147,483,648 Command unit 4 bytes object of 60B0 hex) (INT32) 2,147,483,647 3011 Position Command Filter FIR Filter Enable 0 to 1 4 bytes (INT32)
  • Page 821 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3020 Target Velocity (Mirror -2,147,483,648 Command unit/s 4 bytes object of 60FF hex) (INT32) 2,147,483,647 Velocity Offset (Mirror -2,147,483,648 Command unit/s 4 bytes object of 60B1 hex) (INT32)
  • Page 822 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3112 LPF Cutoff Frequency 10 to 50,000 0.1 Hz 50,000 4 bytes RxPDO Command (INT32) 3113 ODF Torque Feed-forward Gain 0 to 1,000 0.1% 4 bytes (INT32)
  • Page 823 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3213 Proportional Gain Com- 0 to 5,000 0.1 Hz 4 bytes RxPDO mand (INT32) 3214 2nd Position Control Gain Proportional Gain 0 to 5,000 0.1 Hz 4 bytes...
  • Page 824 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3233 1st Torque Command Filter Enable 0 to 1 4 bytes (INT32) Cutoff Frequency 10 to 50,000 0.1 Hz 1,536 4 bytes (INT32) Cutoff Frequency Com- 10 to 50,000...
  • Page 825 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3322 Frequency 500 to 50,000 0.1Hz 50,000 4 bytes (INT32) Q-value 50 to 1,000 0.01 4 bytes (INT32) Depth 0 to 60 4 bytes (INT32) Enable Display...
  • Page 826 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3330 Status 4 bytes (INT32) 3A00 Homing Zero Position Range 0 to Command unit 1,000 4 bytes 2,147,483,647 (INT32) Homing Method (Mirror 0 to 37 1 byte object of 6098 hex)
  • Page 827 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3B20 Stop Selection Shutdown Option Code -7 to 0 2 bytes (Mirror object of 605B (INT16) hex) Disable Operation -6 to 0 2 bytes Option Code (Mirror (INT16)
  • Page 828 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3B50 Following Error Window 0 to Command unit 10,500,000 4 bytes (Mirror object of 6065 4,294,967,295 (U32) hex) 3B51 Positioning Completion Notification Position Window (Mirror 1 to...
  • Page 829 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4020 Warning Customization Warning Mask 1 Selec- 0 hex 4 bytes tion (INT32) Warning Mask 3 Selec- 0 hex 4 bytes tion (INT32) Warning Hold Selection...
  • Page 830 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4130 Safety Controlword 2nd 1 byte Byte (Mirror object of (U8) 6620-02 hex) Safety Statusword 1st 1 byte Byte (Mirror object of (U8) 6621-01 hex) Safety Statusword 2nd...
  • Page 831 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4140 Safety Relay On Count 4 bytes Clear (INT32) Clear Status 4 bytes (INT32) 4150 Overload Warning Notification 0 to 100 4 bytes Level (INT32)
  • Page 832 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4510 Absolute Encoder 0 to 32,767 rotation 1,500 4 bytes Counter Overflow Warn- (INT32) ing Level Serial Number 16 bytes (VS) Resolution per Rotation 4 bytes (INT32)
  • Page 833 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4604 Count Clear Execution 4 bytes Status (INT32) 4605 Control Output Change Count Error Output 4 bytes (U32) General Output 1 4 bytes (INT32) General Output 2...
  • Page 834 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4633 Logic Selection 0 to 1 4 bytes (INT32) Signal Status 4 bytes (INT32) 4634 Home Proximity Input Port Selection 0 to 8 4 bytes (INT32) Logic Selection...
  • Page 835 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 463B Signal Status 4 bytes (INT32) 463C Monitor Input 5 Port Selection 0 to 8 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status...
  • Page 836 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4654 Velocity Attainment Detection Output Port Selection 0 to 7 hex 0 hex 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status...
  • Page 837 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 465C Remote Output 1 Port Selection 0 to 7 hex 2 hex 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status 4 bytes...
  • Page 838 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4F00 Safety Origin Position Setting Safety Origin Position 0 to 2 1 byte Determination Method (U8) Test Pulse Diagnosis 0 to 3 1 byte (U8) SOPT input terminal set-...
  • Page 839 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4F16 Error Detection Activate 0 to 1 4 bytes In SLS Deactivate (SLS (INT32) Error Detection Activate 0 to 1 4 bytes In SLS Deactivate (SLS (INT32) Error Detection Activate...
  • Page 840 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 607C Home offset -2,147,483,648 Command unit 4 bytes (INT32) 2,147,483,647 607D Software position limit Min position limit -2,147,483,648 Command unit -62,500 4 bytes (INT32) 2,147,483,647...
  • Page 841 -2,147,483,648 Command unit/s 4 bytes RxPDO (INT32) 2,147,483,647 6402 Motor Type 2 bytes (U16) 6404 Motor manufacturer OMRON 20 bytes (VS) 6502 Supported drive modes 0000 03A5 hex 4 bytes (U32) 6620 safety controlword safety controlword 1st 1 byte Byte...
  • Page 842 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 6650 SS1 command SS1 command1 0 to 1 1 bit RxPDO, (BOOL) TxPDO SS1 command2 0 to 1 1 bit RxPDO, (BOOL) TxPDO SS1 command3...
  • Page 843 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 6654 SS1 time for velocity 2 bytes zero 4 (U16) SS1 time for velocity 2 bytes zero 5 (U16) SS1 time for velocity 2 bytes zero 6 (U16)
  • Page 844 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 666A SOS position zero win- 128 to Encoder unit 131,072 4 bytes dow5 2,147,483,647 (U32) SOS position zero win- 128 to Encoder unit 131,072 4 bytes...
  • Page 845 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 6672 SS2 time for velocity zero SS2 time for velocity 2 bytes zero 1 (U16) SS2 time for velocity 2 bytes zero 2 (U16) SS2 time for velocity...
  • Page 846 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 6693 SLS velocity limit 4 1 to 20,000 r/min 4 bytes (U32) SLS velocity limit 5 1 to 20,000 r/min 4 bytes (U32) SLS velocity limit 6 1 to 20,000...
  • Page 847 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 66A2 SLP position upper limit Encoder unit 62,500 4 bytes (INT32) 66A4 SLP position lower limit SLP position lower limit 1 Encoder unit -62,500 4 bytes...

  • Page 848: Sysmac Error Status Codes

    AL status code is 0051 hex √ P. A-134 • Error access from the non-OMRON EtherCAT master when the AL status code is 0050 hex 08390000 Power Module Error An error was detected in the •...
  • Page 849 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 083C0000 Main Circuit Tem- A temperature monitoring • Broken wiring of the therm- √ perature Monitoring circuit failure was detected istor, temperature monitor- P. A-136 Circuit Failure on the main circuit. ing circuit failure 083D0000 Fan Error...
  • Page 850 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 08490000 Overcurrent Error The current flowing to the • There is a short-circuit, motor exceeded the protec- ground fault, or contact fail- tion level. ure on the U, V, or W motor cable •...
  • Page 851 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 08720000 Internal Circuit Error Internal circuit error was • Failure of SOPT input circuit at SOPT Input detected at SOPT input ter- of Servo Drive minal. • Memory error or signal error √...
  • Page 852 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 28080000 Main Circuit Power The phase loss of the main • Incorrect wiring, for exam- Supply Phase Loss circuit power supply was ple the single-phase power Error detected supply is input to a 3-phase input type Servo Drive •...
  • Page 853 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 35850000 Node Address The node address is • The node address is Updated changed to a value of the ID changed from a set value in √ P. A-157 switches.
  • Page 854 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 38820000 Regeneration Over- The Regeneration Load • The regeneration process- load Error Ratio (4310-81 hex) ing is set inappropriately exceeded the regeneration • The Regeneration Resistor overload ratio. is selected inappropriately •...
  • Page 855 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 38890000 Safety Frame Error Safety process data com- • An incorrect frame was munications were not estab- received in safety process lished with the Safety CPU data communications √...
  • Page 856 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 68210000 Control Right Communications between • The USB cable or EtherCAT Release Error the Sysmac Studio and cable was disconnected Servo Drive were inter- during the connection with rupted while a specific func- the Sysmac Studio tion was used from the...
  • Page 857 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 68380000 Safety Function A problem on use of safety • SLP function: Safety origin Error functions is detected. position is not determined. • SLP function: Discrepancy Distance is incorrectly set. •...
  • Page 858 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 683C0000 Overload Detected Overcurrent was detected • Ground fault of the test out- at Test Output at the test output terminals. put to IOG input √ P. A-181 •...
  • Page 859 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 68420000 Monitoring Limit A monitoring error was (1) Each position and velocity Exceedance Error detected in safety monitor- exceeded a monitoring ing functions. range/limit for safety monitor- ing functions. •...
  • Page 860 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 78230000 Command Error A mistake was made in • When bit 9 (Remote) of the using a command. Statusword was set to 1 (remote), and the Servo Drive was in Operation enabled state (Servo ON), the Servo Drive received a command to change the...
  • Page 861 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 84B90000 Synchronization Synchronization interrup- • Incorrect EtherCAT syn- Interruption Error tion did not occur within the chronization setting of the specified period. host controller √ P. A-192 • Failure of the EtherCAT slave communications con- troller or false detection 84BA0000...
  • Page 862 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 08770000 Safety Relay Life- A safety relay for SBC • Use numbers of safety relay time Warning reached the lifetime count- for SBC surpassed Safety √ P. A-197 ing.
  • Page 863 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 84B00000 EtherCAT Communi- An EtherCAT communica- • An EtherCAT communica- cations Warning tions error occurred more tions cable has a contact than one time. failure, or is connected √...

  • Page 864: A-4-2 Error Descriptions

    Appendices A-4-2 Error Descriptions This section describes errors. Error Table The items that are used to describe individual errors (events) are described in the following copy of an error table. Event name Gives the name of the error (event). Event code Gives the code of the error (event).
  • Page 865 Appendices Error Descriptions Event name Inrush Current Prevention Circuit Error Event code 04B50000 hex Meaning An error of inrush current prevention circuit was detected. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset System log Error Level...
  • Page 866 0051 hex tions controller is faulty. Replace Cause and correction the Servo Drive. Error access from the Please contact the manufacturer of non-OMRON EtherCAT master EtherCAT master. when the AL status code is 0050 Attached None information Precautions/ AL status code: 0050 hex or 0051 hex, Error No.: 8804 hex...
  • Page 867 Appendices Event name Power Module Error Event code 0839 0000 hex Description An error was detected in the power module. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category attributes...
  • Page 868 Appendices Event name Self-diagnosis Error Event code 083B0000 hex Description An error was detected by the self-diagnosis of the safety function. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category...
  • Page 869 Appendices Event name Fan Error Event code 083D 0000 hex Description The rotation speed of the fan is 40% or less of the rating and the cooling performance decreases. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log...
  • Page 870 Appendices Event name Regeneration Processing Error Event code 083F0000 hex Description The regeneration processing was stopped to protect the Regeneration Resistor. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category...
  • Page 871 Appendices Event name Overvoltage Error Event code 0841 0000 hex Meaning The main circuit power supply voltage (P-N voltage) exceeded the operation guarantee range. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 872 Appendices Event name 1-rotation Counter Error Event code 08430000 hex Description The encoder detected a one-rotation counter error. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category attributes slave power)
  • Page 873 Appendices Event name Absolute Position Detection Error Event code 0846 0000 hex Description The encoder detected a multi-rotation counter error. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category attributes...
  • Page 874 Appendices Main Power Supply Undervoltage (insufficient volt- 08480000 hex Event name Event code age between P and N) Meaning The main circuit power supply voltage fell below the operation guarantee range during Servo ON. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details...
  • Page 875 Appendices Event name Overcurrent Error Event code 0849 0000 hex Meaning The current flowing to the motor exceeded the protection level. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling...
  • Page 876 Appendices Precautions/ AL status code: -, Error No.: 3700 hex Remarks Event name Motor Temperature Error Event code 086D0000 hex Description The encoder detected the temperature that exceeded the protection level of motor. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing...
  • Page 877 Appendices Event name Encoder Error Event code 086E0000 hex Description The communication error was detected between the encoder and the Servo Drive. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling...
  • Page 878 Appendices Event name Encoder power supply Error Event code 086F0000 hex Description Encoder power supply error was detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category attributes slave power)
  • Page 879 Appendices Event name Internal Circuit Error at SF Input Event code 08710000 hex Description Internal circuit error at SF input terminal was detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 880 Appendices Event name Internal Circuit Error at Test Output Event code 08730000 hex Description Internal circuit errors were detected at test output terminal. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 881 Appendices Event name Overspeed Error Event code 08750000 hex Description The encoder detected the overspeed. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category attributes slave power) Effects User program Continues.
  • Page 882 Appendices Event name System Error Event code 18380000 hex Description A hardware error due to the self-diagnosis and a fatal software error were detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 883 Appendices Event name Motor Non-conformity Event code 246D 0000 hex Description The Servo Drive and motor combination is not correct. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling...
  • Page 884 Appendices Event name Main Circuit Power Supply Phase Loss Error Event code 28080000 hex Description The phase loss of the main circuit power supply was detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level...
  • Page 885 Appendices Event name Runaway Detected Event code 280D0000 hex Description The motor rotated in the direction opposite to the command. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after resetting Log category attributes...
  • Page 886 Appendices Event name Synchronization Cycle Setting Error Event code 357E0000 hex Description When the DC mode was established, the cycle time was set to the inoperable value. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Error...
  • Page 887 Appendices Event name RxPDO Setting Error Event code 3580 0000 hex Meaning An RxPDO setting error was detected. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Error Minor fault Error reset System log Level Recovery Log category...
  • Page 888 Appendices Event name RxPDO Mapping Error Event code 35820000 hex Meaning An incorrect RxPDO was set. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Error Minor fault Error reset System log Level Recovery Log category attributes Effects...
  • Page 889 Appendices Event name PDO WDT Setting Error Event code 3584 0000 hex Meaning An incorrect PDO WDT setting was detected. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Error Minor fault Error reset System log Level Recovery...
  • Page 890 Appendices Event name SM Event Mode Setting Error Event code 35860000 hex Meaning The unsupported SM Event Mode was set. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Error Minor fault Error reset System log Level Recovery...
  • Page 891 Appendices Event name General Input Allocation Duplicate Error Event code 3878 0000 hex Description More than one function input is allocated to one general input. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Minor fault Error reset System log Error...
  • Page 892 Appendices Event name Pulse Output Setting Error Event code 387B0000 hex The dividing numerator exceeded the dividing denominator when the Encoder Dividing Pulse Output - Description Dividing Denominator was set to a value other than 0. EtherCAT Master Function Mod- Slave Detection At power ON...
  • Page 893 Appendices Event name Electronic Gear Setting Error Event code 387F 0000 hex Description The electronic gear ratio exceeded the allowable range. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 894 Appendices Event name Overload Error Event code 38810000 hex Meaning The Load Ratio of Servo Drive or motor (4105-81 hex) exceeded 100%. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 895 Appendices Event name Regeneration Overload Error Event code 3882 0000 hex Meaning The Regeneration Load Ratio (4310-81 hex) exceeded the regeneration overload ratio. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 896 Appendices Event name Excessive Position Deviation Error Event code 38830000 hex Meaning The position deviation is greater than or equal to the value set in the Following error window. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset...
  • Page 897 Appendices Event name Excessive Speed Deviation Error Event code 3884 0000 hex The speed deviation is greater than or equal to the value set in the Excessive Velocity Deviation Detection Meaning Level. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing...
  • Page 898 Appendices Event name Excessive Speed Error Event code 38850000 hex Meaning The feedback motor speed is greater than or equal to the value set in the Excessive Speed Detection Level. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset...
  • Page 899 Appendices Event name Following Error Counter Overflow Event code 3886 0000 hex Meaning The following error value exceeded the range from -2147483648 to 2147483647. EtherCAT Master Function Mod- Slave Detection During Servo Source Source details timing Minor fault Error reset System log Error Level...
  • Page 900 Appendices Event name Safety Communications Setting Error Event code 38880000 hex Safety process data communications were not established with the Safety CPU Unit because of an incor- Meaning rect communications setting. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing FSoE com- timing...
  • Page 901 Appendices Event name Safety Frame Error Event code 3889 0000 hex Safety process data communications were not established with the Safety CPU Unit because an incorrect Meaning frame was received. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing FSoE com- timing munications...
  • Page 902 Appendices Event name Safety Function Setting Error Event code 38980000 hex Description Incorrect safety function setting was detected. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing FSoE com- timing munications Minor fault Error reset System log Error Level Recovery...
  • Page 903 Appendices Attached information 1: Cause details 1: STO parameter 2: SS1 parameter 3: SS2 parameter Attached 4: SOS parameter information 5: SLS parameter 6: SLP parameter 7: SDI parameter 8: SBC parameter Precautions/ AL status code: -, Error No.: 7100 hex Remarks *1.
  • Page 904 Appendices Event name FPGA WDT Error Event code 48080000 hex Description An FPGA error was detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category attributes slave power) Effects...
  • Page 905 Appendices Event name Drive Prohibition Detected Event code 6820 0000 hex The operation was stopped according to the user setting because the motor ran in the prohibited direction Description when the Drive Prohibition was enabled. EtherCAT Master Function Mod- Slave Detection Continuously Source...
  • Page 906 Appendices Event name Control Right Release Error Event code 68210000 hex Communications between the Sysmac Studio and Servo Drive were interrupted while a specific function Description was used from the Sysmac Studio. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault...
  • Page 907 Appendices Event name Software Limit Exceeded Event code 6823 0000 hex The Position actual value detected the position that exceeded the value set in the Software Position Limit, Description and stopped the operation according to the user setting. EtherCAT Master Function Mod- Slave Detection Continuously...
  • Page 908 Appendices Event name SOPT Input Monitoring Error Event code 68370000 hex Description Improper installation of SOPT input device and the malfunction were detected. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur timing ing FSoE com- munications Minor fault Error reset...
  • Page 909 Appendices Event name Safety Function Error Event code 68380000 hex Description A problem on use of safety functions is detected. EtherCAT Master Function Mod- Slave When during Detection Source Source details FSoE communi- timing cations Minor fault Error reset System log Error Level Recovery...
  • Page 910 Appendices Attached information 1: Cause details 1 to 8: Safety function error is detected by SLS function. Attached 11 to 18: Safety function error is detected by SLP function. information 21: Safety function error is detected by excessive position over allowable window. 22: Safety function error is detected by excessive velocity over allowable limit.
  • Page 911 Appendices Event name SBC Relay Diagnosis Error Event code 683A0000 hex Description Improper wiring of terminals between SBC RFB and an error of safety relay for SBC were detected. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur...
  • Page 912 Appendices Event name External Test Signal Failure at SOPT Input Event code 683B0000 hex Description An error was detected in test pulse diagnosis for SOPT input. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur timing ing FSoE com-...
  • Page 913 Appendices Event name Overload Detected at Test Output Event code 683C0000 hex Description Overcurrent was detected at the test output terminals. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur timing ing FSoE com- munications Minor fault Error reset...
  • Page 914 Appendices Event name Stuck-at-high Detected at Test Output Event code 683D0000 hex Description Stuck ON was detected at test output terminals. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur timing ing FSoE com- munications Minor fault Error reset...
  • Page 915 Appendices Event name Overload Detected at SBC Output Event code 683E0000 hex Description Overcurrent was detected at the SBC output terminal. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after resetting Log category...
  • Page 916 Appendices Event name Stuck-at-high Detected at SBC Output Event code 683F0000 hex Description Stuck ON was detected at the SBC output terminals. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after resetting...
  • Page 917 Appendices Event name IOV Power Supply Voltage Error Event code 68400000 hex Description Voltage error of IOV power supply was detected. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur timing ing FSoE com- munications Minor fault Error reset...
  • Page 918 Appendices Event name Monitoring Limit Exceedance Error Event code 68420000 hex Description A monitoring error was detected in safety monitoring functions. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after resetting Log category...
  • Page 919 Appendices Attached information 1: Cause details 1 to 8: Excessive limit value error was detected with SOS function. Attached 11 to 18: Excessive limit value error was detected with SLS function. information 21 to 28: Excessive limit value error was detected with SLP function. 31: Excessive limit value error was detected with SDI function.
  • Page 920 Appendices Event name Brake Interlock Error Event code 78210000 hex Description The Brake Interlock Output (BKIR) was output by the Timeout at Servo OFF. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 921 Appendices Event name Command Error Event code 7823 0000 hex Meaning A mistake was made in using a command. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error Minor fault Error reset System log Level Recovery Log category attributes Effects User program Continues.
  • Page 922 Appendices Event name EtherCAT Illegal State Change Error Event code 84B2 0000 hex Description An undefined communications state change command was received. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after resetting...
  • Page 923 Appendices Event name Sync Manager WDT Error Event code 84B50000 hex Description PDO communications were interrupted for the allowable period or longer. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery (after resetting...
  • Page 924 Appendices Event name SII Verification Error Event code 84B7 0000 hex Description An error occurred in SII data of the EtherCAT slave communications controller. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Minor fault Error reset System log Error Level...
  • Page 925 Appendices Event name Bootstrap State Transition Request Error Event code 84BA 0000 hex Description The state transition to unsupported Bootstrap was requested. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error Minor fault Error reset System log Level Recovery Log category...
  • Page 926 Appendices Event name Safety Communications Timeout Event code 88120000 hex Meaning A communications timeout occurred in safety process data communications with the Safety CPU Unit. EtherCAT Master Function Mod- Slave When establish- ing FSoE com- Detection Source Source details munications/dur timing ing FSoE com- munications...
  • Page 927 Appendices Event name Capacitor Lifetime Warning Event code 081C 0000 hex Meaning The capacitor built into the Servo Drive reached the service life of the manufacturer’s guarantee. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Observation Level Recovery...
  • Page 928 Appendices Event name Encoder Lifetime Warning Event code 08470000 hex Description The encoder lifetime is close to the end. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Observation Level Recovery Log category attributes Effects User program Continues.
  • Page 929 Appendices Event name Absolute Encoder Counter Overflow Warning Event code 084E0000 hex The multi-rotation counter of the encoder exceeded the value set in Encoder - Absolute Encoder Counter Description Overflow Warning Level (4510-02 hex). EtherCAT Master Function Mod- Slave Detection Continuously Source Source details...
  • Page 930 Appendices Event name Lifetime Information Corruption Warning Event code 18390000 hex Description An error was detected in the saved lifetime information. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Error System log Observation Level Recovery Log category attributes Effects...
  • Page 931 Appendices Event name Overload Warning Event code 387A0000 hex The Load Ratio of Servo Drive or motor (4150-81 hex) exceeded the level set in the Overload - Warning Description Notification Level (4150-01 hex). EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing...
  • Page 932 Appendices Event name Regeneration Overload Warning Event code 387D0000 hex Description The Regeneration Load Ratio (4310-81 hex) exceeded 85% of the regeneration overload ratio. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Observation Level Recovery Log category attributes...
  • Page 933 Appendices Event name Motor Vibration Warning Event code 387E0000 hex The motor vibration, which was higher than or equal to the level set in the Vibration Detection - Detection Description Level (3B70-01 hex), was detected. EtherCAT Master Function Mod- Slave Detection During Servo Source...
  • Page 934 Appendices Event name Command Warning Event code 78220000 hex Meaning A command could not be executed. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Observation Level Recovery Log category attributes Effects User program Continues. Operation Not affected.
  • Page 935 Appendices Event name EtherCAT Communications Warning Event code 84B00000 hex Description An EtherCAT communications error occurred more than one time. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Observation Level Recovery Log category attributes Effects User program Continues.
  • Page 936 Appendices Event name Memory All Cleared Event code 98220000 hex Meaning The Unit setting was cleared. EtherCAT Master Function Mod- Slave Detection Operation by Source Source details timing user Error Information System log Level Recovery Log category attributes Effects User program Continues. Operation Not affected.
  • Page 937 Appendices Event name Event Log Cleared Event code 9824 0000 hex Meaning The event log was cleared. EtherCAT Master Function Mod- Slave Detection Operation by Source Source details timing user Error Information System log Level Recovery Log category attributes Effects User program Continues.

  • Page 938: Use Case Of Safety Function

    Appendices A-5 Use Case of Safety Function A-5-1 Function to Stop Servomotor Use case for stop function is described with SS1 function. Application Image When a safety light curtain detects a worker and an object, a standard controller decelerates/stops a Servomotor and a Servo Drive cuts off the output with SS1 function.
  • Page 939 Appendices Safety light Safety Standard Controller Servo Drive Motor curtain Controller/Sensor A worker A safety light curtain entered in detected the worker. the safety light curtain. Releasing of information about SS1 command with standard controller. SS1 command Received SS1 EtherCAT command.
  • Page 940 Appendices Wiring Wire the safety light curtain and the emergency stop button switch to the digital input unit.  NX-SID800 OSSD1 (Green) 24 VDC (Brown) GND (Blue) OSSD2 (White) Operation Chart Safety light curtain Normal Detection status status SS1 command (Command) Activate SS1 Reset at Safety CPU Unit...
  • Page 941 Appendices Configuration of EtherCAT Network Edit EtherCAT network configuration. Edit the device configuration of coupler unit. PDO Mapping Confirm that object 1610 hex (17th receive PDO Mapping) and 1A10 hex (17th transmit PDO Mapping) are assigned to PDO mapping list of a Servo Drive. A - 209 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 942 Appendices Select of a safety controller with multi-view explorer. Develop the Servo Drive of Safety I/O and double-click SRA parameter. SS1 function is set with Safety Function Assignment Settings. Clear the check in the Enable box for non-use of safety functions. Setting of SS1 Function Click button for SS1 function selected at a screen of the Safety Functions Assignment...
  • Page 943 Appendices Safety Input Terminal Setting Select and open a screen of NX-SID800 setting to set input terminals. Safety I/O Map Setting Select to display I/O map. Edit variables. A - 211 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 944 Appendices Safety Program Open Exposed Variables and add variables with BOOL-type into Input to Safety CPU Unit. Select to display an edit screen of safety program. When a safety light curtain detects workers or objects enter to a specified area, a program to give a command for Activate SS1 to a Servo Drive is designed.
  • Page 945 Appendices Standard I/O Map Setting A function selected at a screen of the Safety Functions Assignment Settings is displayed in Mirror Safety statusword of Servo Drive. Variables are created to bits where SS1 function was assigned. Variables are created to Safety Master Connection Status of Safety CPU Unit and variables defined in Exposed Variables of Safety CPU.
  • Page 946 Appendices Standard Program  Sample Program If StartPg is TRUE, check that the Servo Drive is ready. Lock1 StartPg MC_Axis000.DrvStatus.Ready If the Servo Drive is ready, the Servo is turned ON. MC_Power Pwr_Status MC_Axis000 Axis Axis Lock1 Enable Status Busy Pwr_Bsy Error Pwr_Err...
  • Page 947 Appendices Check of Operation Program Confirm that a designed program operates properly. Open a data trace screen for a standard controller. Click menu button to select Add safety related trace target. Select an axis to be traced and a safety function in option dialogue Safety Related Trace Target Selection and click Extract button, or add the trace targets separately and click OK button.
  • Page 948 Appendices Execute the data trace. Check parameters for the set safety functions and observe the axis variables for trace target to confirm on whether safety functions are operated normally or not. A - 216 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

  • Page 949: A-5-2 Monitoring Function

    Appendices A-5-2 Monitoring Function Monitoring function is described with SLS function. Application Image When you shift the key selector switch from an operation mode to a maintenance mode, a standard controller lets a Servomotor operate with low-speed operation and a Servo Drive monitors the motor velocity with SLS function.
  • Page 950 Appendices Key selector Safety Standard Controller Servo Drive Motor switch Controller/Sensor Detect operation Switch an mode of key operation selector switch. mode with key selector switch. Release of information about SLS command with standard controller. SLS command Received EtherCAT command. Get Data EtherCAT (SLS Command)
  • Page 951 Appendices Wiring Wire a key selector switch to a Safety Digital Input Unit.  NX-SIH400 Operation Chart Normal Normal Key selector switch Maintenance status status status SLS command (Command) Reset SLS Activate SLS Reset SLS at Safety CPU Unit Waiting for SLS time for velocity in limits Ex.
  • Page 952 Appendices Configuration of EtherCAT Network Edit configuration of EtherCAT Network Edit the device configuration of coupler unit. PDO Mapping Confirm that object 1610 hex (17th receive PDO Mapping) and 1A10 hex (17th transmit PDO Mapping) are assigned to PDO mapping list of a Servo Drive. A - 220 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 953 Appendices Select of a safety controller with multi-view explorer. Develop the Servo Drive of Safety I/O and double-click SRA parameter. SLS function is set with Safety Function Assignment Settings. Setting of SLS Function Click button for SLS function selected at a screen of the Safety Functions Assignment Settings or click SLS function setting button to select instance numbers for the set SLS function.
  • Page 954 Appendices Setting Safety Input Terminals Select and open a screen of NX-SIH400 setting to set input terminals. Safety I/O Map Setting Select to display I/O map. Edit variables. A - 222 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 955 Appendices Safety Program Open Exposed Variables and add variables with BOOL-type into Input to Safety CPU Unit. Select to display an edit screen of safety program. Design a program that issues a command for Activate SLS when a key selector switch goes into main- tenance mode.
  • Page 956 Appendices Standard I/O Map Setting A function selected at a screen of the Safety Functions Assignment Settings is displayed in Mirror Safety statusword of Servo Drive. Variables are created to bits where SLS function was assigned. Variables are created to Safety Master Connection Status of Safety CPU Unit and variables defined in Exposed Variables of Safety CPU.
  • Page 957 Appendices Standard Program Select to display a screen for editing program. Design a program that decelerates the motor’s velocity when SLS command is activated.  Sample Program If StartPg is TRUE, check that the Servo Drive is ready. Lock1 StartPg MC_Axis000.DrvStatus.Ready If the Servo Drive is ready, the Servo is turned ON.
  • Page 958 Appendices The MC_SetOverride (Set Override Factors) instruction is executed during execution of the MC_MoveVelocity (Velocity Control) instruction. SET_OV MC_SetOverride Set_Ov_End MC_Axis000 Axis Axis Vel_Act Enable Enabled Set_Ov_Velfct VelFactor Busy Set_Ov_Bsy AccFactor Error Set_Ov_Err JerkFactor ErrorID Set_Ov_ErrID  Details about Inline ST IF(E002_SLS_command_1=TRUE)THEN Set_Ov_Velfct:=LREAL#100.0;...
  • Page 959 Appendices In option dialogue of safety related trace target, select an axis and a safety function and click Add items to the list to click OK button. Execute the data trace. Check parameters for the set safety functions and observe the axis variables for trace target to confirm on whether safety functions are operated normally or not.

  • Page 960: A-5-3 Function Block For 1S-Series Servo Drives Advance Type

    Appendices A-5-3 Function block for 1S-series Servo Drives Advance Type This section describes the function blocks for the 1S-series Servo Drives Advance Type. You can real- ize SS1 function and SS2 function easily by using these function blocks. For the latest information, see the references of those by Sysmac Studio.
  • Page 961 Appendices Variable Data type Valid range Default Description S_STO_State SAFEBOOL TRUE or FALSE FALSE This is the STO mode responding of the con- nected 1SA. Set the device variables corresponding to STO Active. FALSE: Operation mode (not the safety mode) TRUE: Safety mode (STO state) •...
  • Page 962 Appendices  Function • The value of the input variable "S_SS1_In" is linked with the output variable "S_SS1_Command". • The value of the input variable "S_STO_In" is linked with the output variable "S_STO_Command". • When the input variables "S_STO_In" and "S_STO_State" are TRUE and the input variable "S_SS1_In"...
  • Page 963 Appendices OC_SF_SS2 This FB controls the requests of safety function SS2 and SOS to 1SA. Instruction Name Graphic expression OC_SF_SS2 SS2 Activate OC_SF_SS2 Activate Ready BOOL BOOL S_SS2_In S_SS2_Command SAFEBOOL SAFEBOOL S_SOS_In S_SOS_Command SAFEBOOL SAFEBOOL S_SOS_State SAFEBOOL *1. Set the corresponding device variables to the following variables. Variable name Device variables or constants Activate...
  • Page 964 Appendices • Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE The ready flag. FALSE: Indicates that the FB is not active and the program is not executed. This is useful in DEBUG Mode or to activate/deactivate addi- tional FBs, as well as for further processing in the functional program.
  • Page 965 Appendices  Sample program and timing chart A sample program and timing chart are given below. When an emergency stop switch (ESTOP1) is pushed, 1SA executes SOS function and stops immediately. When the light of safety light curtain 1 (SLC1) or safety light curtain 2 (SLC2) is intercepted, 1SA executes SS2 function and shifts to SOS state.
  • Page 966 Appendices OC_SF_ResetSafetyError This FB resets the error detected by monitoring the safety function for 1SA. Please use this FB in com- bination with 1SA series. When the input variable "Reset" changes from FALSE to TRUE, and it changes from TRUE to FALSE after the time set in input variable "ResetPulseWidth"...
  • Page 967 Appendices • Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE The ready flag. FALSE: Indicates that the FB is not active and the program is not executed. This is useful in DEBUG Mode or to activate/deactivate addi- tional FBs, as well as for further processing in the functional program.
  • Page 968 Appendices  Sample program and timing chart A sample program and timing chart are given below. When error reset signal (ErrorReset) changes from FALSE to TRUE, and it changes from TRUE to FALSE after the 350ms elapses, 1SA error is reset by ErrorAckCommand. (In) Activate (Out)

  • Page 969: Response Time In Ethercat Process Data Communications

    Appendices A-6 Response Time in EtherCAT Process Data Communications The input response time and output response time of each slave unit are required to calculate the system I/O response time in the EtherCAT process data communications. The specifications of this product are given below. Refer to the manuals for your master unit when you calculate the system I/O response time.

  • Page 970: Version Information

    Appendices A-7 Version Information This section describes the relationship between the unit versions of 1S-series Servo Drives Advance Type and the Sysmac Studio versions, and the functions that were added or changed for each unit ver- sion. A-7-1 Relationship between Unit Versions and Sysmac Studio Ver- sions This section also describes how the unit versions of 1S-series Servo Drives Advance Type correspond to Sysmac Studio versions.

  • Page 971: Index

    Index I - 1 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 972 Appendices Index Numerics 7-segment LED Display ..........10-5 Free-Run Mode ............5-16 Function ..............A-228 Absolute encoder ..........2-5, 3-32 Accessories ..............31 Home Proximity Input (DEC) ......3-17, 7-3, 7-7 AL Status Code List ............ 12-41 ID switch ............1-6, 1-10, 5-2 Brake Interlock Connector (CN12) indicators ...............
  • Page 973 Appendices Reactor ............2-20, 2-56, 3-75 Velocity Attainment Detection Output (TGON) ..7-8, 7-12 Remote output ..............3-19 Velocity Conformity Output (VCMP) ......7-8, 7-13 Remote Output (R-OUT1 to R-OUT3) ....7-8, 7-14 Velocity control ............6-2, 6-7 RxPDO ................5-7 Velocity Limiting Output (VLMT) ......7-8, 7-13 Safe brake control connector (CN15) ......1-12 Warning List ..............12-8 Safety I/O Signal...
  • Page 974 Appendices I - 4 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)
  • Page 976 The Netherlands Hoffman Estates, IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2020 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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