Omron R88M-1M Series User Manual
  1. Manuals
  2. Brands
  3. Omron Manuals
  4. Controller
  5. R88M-1M Series
  6. User manual

Omron R88M-1M Series User Manual

Ac servomotors/servo drives
Hide thumbs Also See for R88M-1M Series:
1
2
3
4
5
6
7
Table Of Contents
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
Table of Contents

Advertisement

Quick Links

AC Servomotors/Servo Drives
1S-series with Built-in
EtherCAT
Communications
®
User's Manual
R88M-1L/-1M (AC Servomotors)
R88D-1SN-ECT (AC Servo Drives)
I586-E1-13

Advertisement

Table of Contents
loading

Related Manuals for Omron R88M-1M Series

Summary of Contents for Omron R88M-1M Series

  • Page 1 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications ® User’s Manual R88M-1L/-1M (AC Servomotors) R88D-1SN-ECT (AC Servo Drives) I586-E1-13...
  • 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. 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 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • Page 8: Table Of Contents

    CONTENTS CONTENTS Introduction ......................1 Manual Structure ...................... 2 Manual Configuration ....................4 Sections in this Manual ................... 5 Terms and Conditions Agreement ................ 16 Safety Precautions ....................18 Items to Check After Unpacking ................29 Related Manuals ..................... 40 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 Encoder Cable.......................... 2-6 2-2-4 Motor Power Cable without Brake Wire ................... 2-7 2-2-5 Motor Power Cable with Brake Wire ..................2-8 2-2-6 Decelerator..........................2-9 Model Tables ........................2-11 2-3-1 Servo Drive Model Table ......................2-11 2-3-2...
  • Page 10 CONTENTS 3-4-4 Resistance to Bending of Flexible Cable ................3-118 3-4-5 Connector Specifications ...................... 3-120 3-4-6 EtherCAT Communications Cable Specifications ..............3-124 Specifications of External Regeneration Resistors and External Regeneration Resistance Units......................3-127 3-5-1 General Specifications ......................3-127 3-5-2 Characteristics ........................3-128 3-5-3 External Regeneration Resistance Unit Specifications............
  • 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 Backlash Compensation....................7-20 7-5-1 Operating Conditions ......................7-20 7-5-2 Objects Requiring Settings ..................... 7-20 7-5-3 Description of Operation ......................7-21 Brake Interlock........................7-22 7-6-1 Objects Requiring Settings ..................... 7-22 7-6-2 Description of Operation ......................7-24 7-6-3 Operation Timing ........................7-25 Electronic Gear Function....................
  • Page 13 CONTENTS Common Control Objects ....................9-6 9-2-1 3000 hex: Basic Functions ....................... 9-6 9-2-2 3001 hex: Machine ......................... 9-12 9-2-3 3002 hex: Optimized Parameters................... 9-13 9-2-4 3010 hex: Position Command ....................9-15 9-2-5 3011 hex: Position Command Filter..................9-17 9-2-6 3012 hex: Damping Control....................
  • Page 14 CONTENTS Error- and Warning-related Objects................. 9-81 9-8-1 4000 hex: Error Full Code....................... 9-81 9-8-2 4020 hex: Warning Customization ..................9-82 9-8-3 4021 hex: Warning Output 1 Setting..................9-85 9-8-4 4022 hex: Warning Output 2 Setting..................9-86 9-8-5 4030 hex: Information Customization ..................9-87 Monitoring-related Objects....................
  • Page 15 CONTENTS 9-16-12 465A hex: Velocity Limiting Output..................9-127 9-16-13 465B hex: Error Clear Attribute Output................. 9-127 9-16-14 465C hex: Remote Output 1....................9-128 9-16-15 465D hex: Remote Output 2....................9-128 9-16-16 465E hex: Remote Output 3....................9-128 9-16-17 465F hex: Zone Notification Output 1................... 9-129 9-16-18 4660 hex: Zone Notification Output 2...................
  • Page 16 CONTENTS 11-11-2 Objects Requiring Settings ....................11-26 11-11-3 Operation Example ....................... 11-27 11-12 Feed-forward Function....................11-29 11-12-1 Feed-forward Control in TDF Control..................11-29 11-12-2 Feed-forward Control in ODF Control ................... 11-31 Section 12 Troubleshooting 12-1 Actions for Problems ......................12-2 12-1-1 Preliminary Checks When a Problem Occurs.................
  • Page 17 CONTENTS A-4-2 Error Descriptions......................... A-113 Response Time in EtherCAT Process Data Communications........A-178 A-5-1 Input Response Time ......................A-178 A-5-2 Output Response Time......................A-178 Version Information......................A-179 A-6-1 Relationship between Unit Versions and Sysmac Studio Versions ........A-179 A-6-2 Functions That Were Added or Changed for Each Unit Version .......... A-181 Index AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • 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 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 100-VAC or 200-VAC input model Servo Drive and Servomotor to 100 Ω or less, and the 400-VAC input model to 10 Ω or less. Not doing so may cause electric shock.
  • Page 24 Safety Precautions Lock the power cable and extension cable connectors. Not doing so may cause fire. Operation Check WARNING Use the Servomotor, Servo Drive and motor 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 Do not place flammable materials near the Servomotor, Servo Drive, or peripheral equip- ment. Not doing so may cause a fire. If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply. Not doing so may cause a fire.
  • Page 26 Safety Precautions 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. Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the specifications Locations subject to humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases...
  • Page 27 Safety Precautions Precautions for Correct Use General Precaution • Take appropriate and sufficient countermeasures to provide shielding when installing systems in the following locations. Not doing so may result in failure. Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power lines...
  • 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. Wiring • Wire the cables correctly and securely. Runaway motor, injury, or failure may result. • Tighten the mounting screws, terminal block screws, cable screws and shield clamp screws for the Servo Drive, Servomotor, and peripheral equipment to the specified torque.
  • Page 29 Safety Precautions Usage • Tighten the mounting screws, terminal block screws, cable screws and shield clamp screws for the Servo Drive, Servomotor, and peripheral equipment to the specified torque. Failure may result. • Install a stopping device on the machine to ensure safety. The holding brake is not a stopping device to ensure safety.
  • Page 30 Safety Precautions Location of Warning Display The Servo Drive bears a warning label at the following location to provide handling warnings. When you handle the Servo Drive, be sure to observe the instructions provided on this label. Ethe r ECAT L/A L/A IN OUT Location of warning...

  • Page 31: Items To Check After Unpacking

    • Capacity 3 kW or less: 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) • Capacity 5.5 kW or more: Notation: Lot No.
  • 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 Control power Main circuit Main circuit Motor connector Specifications supply connector connector E connector B (CNB) (CNC) (CND) (CNE) 600 W 1 kW 1.5 kW Included *1 *3 2 kW Included 3-phase Included 400 VAC 3 kW 5.5 kW 7.5 kW...
  • 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-1M2K020T-BOS2 Number of phases (Example: 3) Rated voltage (Example: 200 VAC) 200VAC 13.3 A 2.0 kW...
  • 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 Specifications Without key With key and tap Servo- Reduc- motor tion Decelerator model Model on nameplate Decelerator model Model on nameplate rated ratio output R88G- HPG-14A-05-J2AXT R88G- HPG-14A-05-J6AXT HPG14A05200B HPG14A05200BJ R88G- HPG-14A-11-J2AXU R88G- HPG-14A-11-J6AXU 1/11 HPG14A11200B HPG14A11200BJ 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 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 HPG32A112K0BJ R88G-...
  • Page 38 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 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 HPG32A112K0BJ R88G-...
  • Page 39 Items to Check After Unpacking  Decelerator (backlash: 3 arcminutes max.) for 1,500-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 R88G- HPG-50A-05-J2EBCH R88G- HPG-50A-05-J6EBCH HPG50A055K0SB...
  • Page 40 Serial number XXXXXXXXX LOT NO. Date of manufacture XXXX.XX DATE OMRON Corporation MADE IN CHINA (Rubber cap) Nameplate display location (Rubber cap side) Motor Power Cable The following product models come with a shield clamp. The shield clamp is used for mounting to a Servo Drive.
  • Page 41 Items to Check After Unpacking External Regeneration Resistor Unit The following product models come with an instruction manual and a connector. Use the connector when wiring an external regeneration resistance unit to a Servo Drive. Applicable models: R88A-RR550  connector External Dynamic Brake Resistor This product comes with an instruction manual and two connectors to extend a wiring.

  • Page 42: 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 43 Related Manuals Manual name Cat. No. Model numbers Application Description NJ-series CPU W500 NJ501- Learning the basic speci- An introduction to the entire Unit Hardware fications of the NJ-series NJ-series system is provided NJ301- User’s Manual CPU Units, including along with the following infor- NJ101-...
  • Page 44 Related Manuals Manual name Cat. No. Model numbers Application Description NX-series Safety Z930 NX-SL Learning how to use the Describes the hardware, Control Units NX-series Safety Con- setup methods and functions NX-SI trol Units. of the NX-series Safety Con- User's Manual NX-SO...

  • Page 45: Terminology

    Terminology Terminology Abbrevi- Term Description ation Cable Redundancy Function A function to continue communications with Ether- CAT slaves even if a communications cable is bro- ken in the EtherCAT communications path. CAN application protocol over EtherCAT A CAN application protocol service implemented on EtherCAT.
  • Page 46 Terminology Abbrevi- Term Description ation safety control A type of control that uses devices, functions, and data that are designed with special safety measures. Safety over EtherCAT FSoE A system to communicate for the functional safety over EtherCAT. safety process data communications A type of I/O data communications that is used for safety control purposes.

  • Page 47: 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 I586-E1-13 Cat. No. Revision code Revision Date Revised content code June 2016 Original production August 2016 •...
  • Page 48 Revision History AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 49: 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 Drives .

  • Page 50: Outline

    NJ/NX-series Machine Automation Controller and the Sysmac Studio 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.

  • Page 51: Ethercat

    1 Features and System Configuration Safe Torque OFF (STO) Function to Ensure Safety You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment. This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor.

  • Page 52: 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 53: System Configuration

    1 Features and System Configuration System Configuration The system configuration for a 1S-series Servo Drive with Built-in EtherCAT Communications is shown below. Controller (EtherCAT type) Controller (EtherCAT type) Eth er EtherCAT 24 VDC 7 mA Machine Automation Controller NJ/NX-series 1S-series Servo Drive R88D-1SN -ECT IPC Machine Controller...

  • Page 54: 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-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT/ -1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT/-1SN10H-ECT Main circuit connector (CNA) terminal 7-segment LED display Status indicators CN 7 ID switches...
  • Page 55 1 Features and System Configuration Encoder connector (CN2) Brake interlock connector (CN12) Motor connector (CNC) terminal 1 - 7 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 56 1 Features and System Configuration R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN06F-ECT/ -1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/-1SN30F-ECT Main circuit connector A (CNA) Main circuit Control power connector B (CNB) supply connector (CND) 7-segment Status indicators LED display ID switches USB connector Status indicators EtherCAT communications C H AR G E C N 10 EC AT IN connector...
  • Page 57 1 Features and System Configuration Encoder connector (CN2) Brake interlock connector (CN12) Motor connector terminal (CNC) 1 - 9 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 58 1 Features and System Configuration R88D-1SN55H-ECT/-1SN75H-ECT/-1SN55F-ECT/-1SN75F-ECT Main circuit connector A Main circuit (CNA) connector B (CNB) Control power supply connector (CND) 7-segment LED display Status indicators Charge lamp ID switches USB connector Status EtherCAT indicators communications connector (ECAT IN CN10) EtherCAT communications connector...
  • Page 59 1 Features and System Configuration Encoder connector (CN2) Brake interlock Motor connector connector (CN12) (CNC) Main circuit connector E (CNE) terminal terminal Screw for mounting shield clamp (2 places) Bottom view 1 - 11 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 60 1 Features and System Configuration R88D-1SN150H-ECT Main circuit connectorB (CNB) Main circuit terminal Control power block(CNA) supply connector terminal (CND) 7-segment LED display Status indicators Charge lamp USB connector ID switches EtherCAT Status communications indicators connector(ECAT IN CN10) EtherCAT communications connector (ECAT OUT CN11) Control I/O...
  • Page 61 1 Features and System Configuration R88D-1SN150F-ECT Main circuit connectorB (CNB) Control power supply connector terminal (CND) Main circuit terminal block(CNA) 7-segment LED display Status indicators Charge lamp USB connector ID switches EtherCAT Status communications indicators connector(ECAT IN CN10) EtherCAT communications connector (ECAT OUT CN11) Control I/O...

  • Page 62: 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 63 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 64 1 Features and System Configuration Main Circuit Connector B (CNB) Connector for an external regeneration resistor. Applicable models: R88D-1SN150H-ECT/-1SN150F-ECT Control Power Supply Connector (CND) Connector for control power supply input. The connector differs depending on the model. Applicable models: R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN55H-ECT/ -1SN75H-ECT/-1SN150H-ECT/-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/ -1SN20F-ECT/-1SN30F-ECT/-1SN55F-ECT/-1SN75F-ECT/-1SN150F-ECT Motor Connector (CNC)

  • Page 65: Servomotor Part Names

    1 Features and System Configuration 1-3-3 Servomotor Part Names The Servomotor part names are given below. Flange Size of 80 × 80 or less Encoder Connector Power Connector Flange Mating part Shaft 100 VAC 100 W Servomotors (without Brake) Encoder connector Brake connector Power connector...
  • Page 66 1 Features and System Configuration Flange Size of 100 × 100 or more Encoder connector Power/brake connector Flange Shaft Mating part 200 VAC 1.5 kW Servomotors (with Brake) Flange Size of 130 × 130 or more (4 kW or more) Power/brake connector Eye-bolt Encoder connector...

  • Page 67: 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 68: 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 blacket Cable tie Shield clamp plate Cable tie *1. It comes with a cable. *2. Do not cut cable ties. *3.

  • Page 69: System Block Diagram

    1 Features and System Configuration System Block Diagram The block diagram of a 1S-series Servo Drive with Built-in EtherCAT Communications is shown below.  R88D-1SN01L-ECT/-1SN02L-ECT/-1SN01H-ECT/-1SN02H-ECT/ -1SN04H-ECT DC/DC Power supply P/B1 Relay drive Regeneration FUSE control Gate drive Current detection error detection Voltage detection Overcurrent detection HS temperature...
  • Page 70 1 Features and System Configuration  R88D-1SN04L-ECT/-1SN08H-ECT/-1SN10H-ECT DC/DC Power supply P/B1 Relay drive Regeneration FUSE control Gate drive Current detection error detection Overcurrent Voltage detection HS temperature detection Input voltage monitoring monitoring (IPM error) MPU, FPGA Control circuit Display area rotary switch ECAT IN ECAT OUT...
  • Page 71 1 Features and System Configuration  R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT DC/DC +24 V Power supply Relay drive Regeneration control Gate drive Current detection Fuse Overcurrent Voltage detection HS temperature detection monitoring Input voltage monitoring (IPM error) MPU, FPGA Control circuit Display area rotary switch ECAT IN ECAT OUT CN12...
  • Page 72 1 Features and System Configuration  R88D-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/ -1SN30F-ECT DC/DC +24 V power supply Relay drive Regeneration control Gate drive Current detection Fuse Overcurrent Voltage detection HS temperature detection Input voltage monitoring monitoring (IPM error) MPU, FPGA Control circuit Display area rotary switch ECAT IN ECAT OUT...
  • Page 73 1 Features and System Configuration  R88D-1SN55H-ECT/-1SN75H-ECT DC/DC power +24V +24V supply FUSE FUSE Thyristor drive Regeneration Regeneration Gate drive Current detection error control detection Inrush prevention Overcurrent Voltage detection HS temperature error detection detection monitoring Input voltage monitoring (IPM error) MPU, FPGA Control circuit Display area...
  • Page 74 1 Features and System Configuration  R88D-1SN55F-ECT/-1SN75F-ECT DC/DC +24V power +24V supply FUSE FUSE Thyristor drive Regeneration Regeneration Gate drive Current detection error control detection Inrush prevention Overcurrent Voltage detection HS temperature error detection monitoring Input voltage monitoring detection (IPM error) MPU, FPGA Control circuit Display area...
  • Page 75 1 Features and System Configuration  R88D-1SN150H-ECT DC/DC +24V power +24V supply FUSE FUSE Thyristor drive Regeneration Regeneration Gate drive Current detection control error detection Inrush prevention Overcurrent Voltage detection HS temperature error detection detection monitoring Input voltage monitoring (IPM error) MPU, FPGA Control circuit Display area...
  • Page 76 1 Features and System Configuration  R88D-1SN150F-ECT DC/DC +24V power +24V supply FUSE FUSE Thyristor drive Regeneration Regeneration Gate drive Current detection error control detection Inrush prevention Overcurrent Voltage detection HS temperature error detection monitoring Input voltage monitoring detection (IPM error) MPU, FPGA Control circuit Display area...

  • Page 77: Applicable Standards

    1 Features and System Configuration Applicable Standards This section describes applicable standards. 1-5-1 EU Directives The 1S-series Servomotors, Servo Drives, and Footprint-type Noise Filters conform to the following standards. EU Directives Product Applicable standards EMC Directive Servo Drives EN61800-3 second environment, C3 Category (EN 61326-3-1 Functional Safety)

  • Page 78: Ul And Cul Standards

    1 Features and System Configuration Maximum current Servo Drive model rating R88D-1SN10F-ECT 20 A R88D-1SN15F-ECT 20 A R88D-1SN20F-ECT 20 A R88D-1SN30F-ECT 20 A • The Servo Drives with its capacity 5.5 kW or more Connect the IEC60947 breaker or IEC 60269-1 CLASS gG fuse which should have the fusing time shorter than the UL class RK5 fuse or equivalence.

  • Page 79: Korean Radio Regulations (Kc)

    1 Features and System Configuration Servo Drive model Fuse R88D-1SN01H-ECT UL CLASS RK5 15 A R88D-1SN02H-ECT UL CLASS RK5 15 A R88D-1SN04H-ECT UL CLASS RK5 15 A R88D-1SN08H-ECT UL CLASS RK5 15 A R88D-1SN10H-ECT UL CLASS RK5 15 A R88D-1SN15H-ECT UL CLASS RK5 40 A R88D-1SN20H-ECT UL CLASS RK5 40 A...

  • Page 80: Australian Emc Labeling Requirements (Rcm)

    1 Features and System Configuration 1-5-5 Australian EMC Labeling Requirements (RCM) • The 1S-series Servo Drives comply with the Australian EMC Labeling Requirements (RCM). • The 1S-series Servomotors comply with the Australian EMC Labeling Requirements (RCM). 1-5-6 EAC Requirements • The 1S-series Servo Drives comply with the EAC requirements. •...

  • Page 81: Unit Versions

    1 Features and System Configuration Unit Versions The 1S-series Servo Drive 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 is displayed at the location shown below. Display location Display on the product Unit version...

  • Page 82: Procedures To Start Operation

    1 Features and System Configuration Procedures to Start Operation This section explains the procedures to operate a system that incorporates 1S-series Servo Drives. 1-7-1 Overall Procedure Use the following procedures to build a system that incorporates 1S-series 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 83 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 84: 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 85 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 86 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 STEP 5-4 • Write the algorithms for the POUs (programs, func- Programming tion blocks, and functions) in the required languages.
  • Page 87 1 Features and System Configuration STEP 7 Servo Drive Setting, Adjustment, and Operation Check Procedure Description Reference Connect the Servomotor and Servo Drive to the power supply and peripheral equipment. STEP 7-2 Section 4, 4-2 Wiring and connections Satisfy specified installation and wiring conditions, par- ticularly for models that conforms to the EU Directives.
  • Page 88 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 89: 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 90: 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) 24 VDC 7 mA Machine Automation Controller...
  • Page 91 2 Models and External Dimensions Servomotor Servo Drive Power signal Power cable ● Standard cable communications · Without brake wire R88A-CA1 · With brake wire R88A-CA1 ● Flexible cable · Without brake wire R88A-CA1 R88A-CA1A · With brake wire R88A-CA1 Eth er EtherCAT communications...

  • Page 92: 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, and Decelerators. 2-2-1 Servo Drive The Servo Drive model number tells the Servo Drive type, applicable Servomotor, power supply volt- age, etc.

  • Page 93: 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-1M10030S-BOS2 1S-series Servomotor Servomotor type Low inertia Middle inertia Rated output 50 W 2 kW 100 W 3 kW 200 W 4 kW 400 W...

  • Page 94: Encoder Cable

    2 Models and External Dimensions 2-2-3 Encoder Cable The cable model number tells the cable type, applicable Servomotor type, cable length, connector type, etc. R88A-CR1A003CF Cable type R88A-CR1 1S Series Encoder cable Applicable Servomotor type 100 VAC, 200 VAC 3,000 r/min Servomotor 50 W to 750 W 200 VAC 3,000 r/min Servomotor 1 kW or more...

  • Page 95: Motor Power Cable Without Brake Wire

    2 Models and External Dimensions 2-2-4 Motor Power Cable without Brake Wire The cable model number tells the cable type, applicable Servomotor type, cable length, connector type, etc. R88A-CA1A003SFR Cable type R88A-CA1 1S Series Motor Power cable Applicable Servomotor type 100 VAC, 200 VAC 3,000 r/min Servomotor 50 W, 100 W, 200 W, 400 W, 750 W 200 VAC...

  • Page 96: Motor Power Cable With Brake Wire

    2 Models and External Dimensions 2-2-5 Motor Power Cable with Brake Wire The cable model number tells the cable type, applicable Servomotor type, cable length, connector type, etc. R88A-CA1A003BFR Cable type R88A-CA1 1S Series Motor Power cable Applicable Servomotor type 100 VAC, 200 VAC 3,000 r/min Servomotor 50 W, 100 W, 200 W, 400 W, 750 W 200 VAC...

  • Page 97: Decelerator

    2 Models and External Dimensions 2-2-6 Decelerator The Decelerator model number tells the Decelerator series, flange size number, reduction ratio, back- lash, etc. Backlash: 3 Arcminutes Max. R88G-HPG14A05100SBJ Decelerator for Servomotor Backlash: 3 Arcminutes max. Flange size number 40 x 40 60 x 60 90 x 90 120 x 120...
  • Page 98 2 Models and External Dimensions Backlash: 15 Arcminutes Max. R88G-VRXF09B100CJ Decelerator for Servomotor Backlash: 15 Arcminutes max. Reduction ratio : 1/5 : 1/9 : 1/15 : 1/25 Flange size number Applicable Servomotor rated output : 50W, 100 W : 200 W : 400 W : 750 W Backlash...

  • Page 99: 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 100 VAC...

  • Page 100: 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 100 VAC 50 W...
  • Page 101 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 100 VAC 50 W R88M- R88M- R88M- R88M- P. 2-44 1M05030S-B 1M05030S-BS2 1M05030S-BO 1M05030S-BOS2 100 W R88M-...
  • Page 102 2 Models and External Dimensions 2,000-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 1 kW R88M- R88M- R88M- R88M- P. 2-63 1M1K020T 1M1K020T-S2 1M1K020T-O 1M1K020T-OS2...
  • Page 103 2 Models and External Dimensions 1,500-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 4 kW R88M- R88M- R88M- R88M- P. 2-73 1M4K015T 1M4K015T-S2 1M4K015T-O 1M4K015T-OS2...
  • Page 104 2 Models and External Dimensions 1,000-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 900 W R88M- R88M- R88M- R88M- P. 2-87 1M90010T 1M90010T-S2 1M90010T-O 1M90010T-OS2...

  • Page 105: 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 and Servomotors. 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 106 2 Models and External Dimensions 1,500-r/min Servomotors and Servo Drives Main circuit power Servomotor Servomotor Servo Drive supply voltage rated output 3-phase 200 VAC 4 kW R88M-1M4K015T- R88D-1SN55H-ECT 5 kW R88M-1M5K015T- 7.5 kW R88M-1M7K515T- R88D-1SN75H-ECT 11 kW R88M-1M11K015T- R88D-1SN150H-ECT 15 kW R88M-1M15K015T-...

  • Page 107: 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. 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 108 2 Models and External Dimensions Specifications Model Reference Servomotor Reduction rated output ratio 1 kW R88G-HPG32A052K0B P. 2-106 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG50A332K0B 1/45 R88G-HPG50A451K5B 1.5 kW R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG50A332K0B 1/45 R88G-HPG50A451K5B 2 kW R88G-HPG32A052K0B P.
  • Page 109 2 Models and External Dimensions  For 2,000-r/min Servomotors Specifications Model Reference Servomotor Reduction rated output ratio 400 W R88G-HPG32A052K0B P. 2-109 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG32A33600SB 1/45 R88G-HPG32A45400SB 600 W R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG32A33600SB 1/45 R88G-HPG50A451K5B...
  • Page 110 2 Models and External Dimensions  For 1,000-r/min Servomotors Specifications Model Reference Servomotor Reduction rated output ratio 900 W R88G-HPG32A05900TB P. 2-115 1/11 R88G-HPG32A11900TB 1/21 R88G-HPG50A21900TB 1/33 R88G-HPG50A33900TB 2 kW R88G-HPG32A052K0TB 1/11 R88G-HPG50A112K0TB 1/21 R88G-HPG50A212K0TB 1/25 R88G-HPG65A255K0SB 3 kW R88G-HPG50A055K0SB 1/11 R88G-HPG50A115K0SB...

  • Page 111: 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 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 112 2 Models and External Dimensions  Combinations of 1,500-r/min motors and decelerators Reduction ratio Servomotor models 1/11 1/12 1/20 1/25 R88M- R88G-HPG R88G-HPG R88G-HPG R88G-HPG 1M4K015 50A055K0SB 50A115K0SB 65A205K0SB 65A255K0SB R88M- R88G-HPG R88G-HPG R88G-HPG 1M5K15 50A054K5TB 65A127K5SB 65A204K5TB  Combinations of 1,000-r/min motors and decelerators Reduction ratio Servomotor models...

  • Page 113: Cable And Connector Model Tables

    2 Models and External Dimensions 2-3-6 Cable and Connector Model Tables The following tables list the models of cables, shield clamp and connectors. The cables include encoder cables, motor power cables, and brake cables. Encoder Cables (Standard Cable) Applicable Servomotor Model 100 V 3,000-r/min Servomotors of 50 W, 100 W,...
  • Page 114 2 Models and External Dimensions Motor Power Cables (Standard Cable) Model Applicable Servomotor Without brake wire With brake wire 100 V 3,000-r/min Servomotors of 100 W, 200 W, 400 R88A-CA1A003S R88A-CA1A005S W, and 750 W 200 V 10 m R88A-CA1A010S 15 m R88A-CA1A015S 20 m...
  • Page 115 2 Models and External Dimensions *1. The Servomotors of 50 W are exempt from the applicable Servomotors. Use these combinations with cau- tion. Brake Cables (Standard Cable) Applicable Servomotor Model 100 V 3,000-r/min Servomotors of 100 W, 200 W, R88A-CA1A003B R88A-CA1A005B 400 W, and 750 W 200 V...
  • Page 116 2 Models and External Dimensions Motor Power Cables (Flexible Cable) Model Applicable Servomotor Without brake wire With brake wire 100 V 3,000-r/min Servomotors of 100 W, 200 W, 400 R88A-CA1A003SF R88A-CA1A005SF W, and 750 W 200 V 10 m R88A-CA1A010SF 15 m R88A-CA1A015SF 20 m...
  • Page 117 2 Models and External Dimensions Model Applicable Servomotor Without brake wire With brake wire 200 V 200 V R88A-CA1H003SF R88A-CA1H003BF R88A-CA1H005SF R88A-CA1H005BF 400 V 3,000-r/min Servomotors of 4 kW and 4.7 kW 10 m R88A-CA1H010SF R88A-CA1H010BF 1,500-r/min Servomotors of 4 kW and 5 kW 15 m R88A-CA1H015SF R88A-CA1H015BF...
  • Page 118 2 Models and External Dimensions Extension Motor Power Cables Applicable Servomotor Model 200 V 200 V 10 m R88A-CA1HE10BF 20 m R88A-CA1HE20BF 400 V 3,000-r/min Servomotors of 4 kW and 4.7 kW 1,500-r/min Servomotors of 4 kW and 5 kW 400 V 3,000-r/min Servomotors of 4 kW and 5 kW 1,500-r/min Servomotors of 4 kW, 5 kW, and...
  • Page 119 2 Models and External Dimensions Peripheral Connector  Servo Drive side connector Name and application Model Main circuit connector (CNA) R88A-CN102P For R88D-1SN01L-ECT/ -1SN02L-ECT/ -1SN04L-ECT/ -1SN01H-ECT/ -1SN02H-ECT/ -1SN04H-ECT/ -1SN08H-ECT/ -1SN10H-ECT Main circuit connector A (CNA) R88A-CN103P For R88D-1SN15H-ECT/ -1SN20H-ECT/ -1SN30H-ECT/ -1SN06F-ECT/ -1SN10F-ECT/ -1SN15F-ECT/ -1SN20F-ECT/ -1SN30F-ECT R88A-CN106P Main circuit connector A (CNA)
  • Page 120 2 Models and External Dimensions  Servomotor side connector Name and application Model Encoder connector 100 V, 200 V For 3,000 r/min (50 to 750 W) R88A-CNK02R 200 V For 3,000 r/min (1 to 3 kW) R88A-CN104R For 2,000 r/min and 1,000 r/min 400 V For 3,000 r/min (750 W to 3 kW) For 2,000 r/min and 1,000 r/min...

  • Page 121: 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-1SN01L-ECT/ -1SN02L-ECT R88A-RR12015 Regeneration process capacity: 24 W, 15 Ω...

  • Page 122: External Dynamic Brake Resistor Model Table

    2 Models and External Dimensions Applicable Servo Drive Model Specifications R88D-1SN75H-ECT R88A-RR1K604 Regeneration process capacity: 640 W, 4 Ω R88D-1SN55H-ECT R88A-RR1K605R4 Regeneration process capacity: 640 W, 5.4 Ω R88D-1SN20H-ECT/ -1SN30H-ECT R88A-RR1K610 Regeneration process capacity: 640 W, 10 Ω R88D-1SN55F-ECT/ -1SN75F-ECT/ -1SN150F-ECT R88A-RR1K616 Regeneration process capacity: 640 W, 16 Ω...

  • Page 123: Noise Filter Model Table

    2 Models and External Dimensions 2-3-10 Noise Filter Model Table The following table lists the Footprint-type Noise Filter models. For a recommended noise filter for applicable Servomotor at 5.5 kW or more, refer to 4-3 Wiring Con- forming to EMC Directives on page 4-47. Applicable Servo Drive Model R88D-1SN01L-ECT/-1SN01H-ECT/-1SN02H-ECT (Single-phase input)

  • Page 124: 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 100 VAC: R88D-1SN01L-ECT (100 W) Single-phase/3-phase 200 VAC: R88D-1SN01H-ECT/-1SN02H-ECT (100 to 200 W)
  • Page 125 2 Models and External Dimensions Single-phase 100 VAC: R88D-1SN02L-ECT (200 W) Single-phase/3-phase 200 VAC: R88D-1SN04H-ECT (400 W) External Mounting dimensions dimensions 2-M4 2-M4 43±0.5 2 - 37 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 126 2 Models and External Dimensions Single-phase 100 VAC: R88D-1SN04L-ECT (400 W) Single-phase/3-phase 200 VAC: R88D-1SN08H-ECT (750 W) 3-phase 200 VAC: R88D-1SN10H-ECT (1 kW) External Mounting dimensions dimensions 2-M4 outlet 2-M4 50±0.5 intake 2 - 38 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 127 2 Models and External Dimensions Single-phase/3-phase 200 VAC: R88D-1SN15H-ECT (1.5 kW) 3-phase 200 VAC: R88D-1SN20H-ECT/-1SN30H-ECT (2 to 3 kW) 3-phase 400 VAC: R88D-1SN06F-ECT/-1SN10F-ECT/ -1SN15F-ECT/-1SN20F-ECT/-1SN30F-ECT (600 W to 3 kW) External Mounting dimensions dimensions 3-M4 Air outlet 2-M4 39±0.5 78±0.5 outlet intake 2 - 39 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...
  • Page 128 2 Models and External Dimensions 3-phase 200 VAC: R88D-1SN55H-ECT/ -1SN75H-ECT (5.5 to 7.5 kW) 3-phase 400 VAC: R88D-1SN55F-ECT/ -1SN75F-ECT (5.5 to 7.5 kW) External Mounting dimensions dimensions 4-M5 Air outlet 160±0.5 intake 2-M5 Shield Clamp 2 - 40 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 129 2 Models and External Dimensions 3-phase 200 VAC: R88D-1SN150H-ECT (15 kW) External dimensions Mounting dimensions 4-M6 Air outlet 160±0.5 2-M5 Air intake Shield Clamp 2 - 41 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 130 2 Models and External Dimensions 3-phase 400 VAC: R88D-1SN150F-ECT (15 kW) External dimensions Mounting dimensions 4-M6 Air outlet 160±0.5 2-M5 Air intake Shield Clamp 2 - 42 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 131: 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 (100 V and 200 V)  50 W (without Brake) R88M-1M05030S(-O/-S2/-OS2) R88M-1M05030T(-O/-S2/-OS2) Encoder connector Motor connector 5±0.5 21.5±0.1 2-4.5±0.35 dia.
  • Page 132 2 Models and External Dimensions  50 W (with Brake) R88M-1M05030S-B(O/S2/OS2) R88M-1M05030T-B(O/S2/OS2) Encoder connector Brake connector Motor connector 5±0.5 21.5±0.1 2-4.5±0.35 dia. 2.5±0.3 40×40±0.8 25±0.5 Dimensions [mm] Model R88M-1M05030S-B(S2) 103.5±1 R88M-1M05030T-B(S2) R88M-1M05030S-BO(S2) 108.5±1 R88M-1M05030T-BO(S2) 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 133 2 Models and External Dimensions  100 W (without Brake) R88M-1M10030S(-O/-S2/-OS2) R88M-1M10030T(-O/-S2/-OS2) Encoder connector Motor connector 2-4.5±0.35 dia. 5±0.5 21.5±0.1 2.5±0.3 40×40±8 25±0.5 Dimensions [mm] Model R88M-1M10030S(-S2) 90±1 R88M-1M10030T(-S2) R88M-1M10030S-O(S2) 95±1 R88M-1M10030T-O(S2) 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 134 2 Models and External Dimensions  100 W (with Brake) R88M-1M10030S-B(O/S2/OS2) R88M-1M10030T-B(O/S2/OS2) Motor connector Encoder connector Brake connector 2-4.5±0.35 dia. 5±0.5 21.5±0.1 2.5±0.3 40×40±0.8 25±0.5 Dimensions [mm] Model R88M-1M10030S-B(S2) 126±1 R88M-1M10030T-B(S2) R88M-1M10030S-BO(S2) 131±1 R88M-1M10030T-BO(S2) 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 135 2 Models and External Dimensions  200 W/400 W (without Brake) R88M-1M20030S(-O/-S2/-OS2)/R88M-1M20030T(-O/-S2/-OS2) R88M-1M40030S(-O/-S2/-OS2)/R88M-1M40030T(-O/-S2/-OS2) Encoder connector Motor connector 6±0.5 27±0.1 3±0.3 4-4.5±0.35 dia. 30±0.5 60×60±0.95 Dimensions [mm] Model R88M-1M20030S(-S2) 79.5±1 -0.011 dia R88M-1M20030T(-S2) R88M-1M40030S(-S2) 105.5±1 -0.011 dia R88M-1M40030T(-S2) R88M-1M20030S-O(S2) 86.5±1 -0.011 dia R88M-1M20030T-O(S2) R88M-1M40030S-O(S2) 112.5±1...
  • Page 136 2 Models and External Dimensions  200 W/400 W (with Brake) R88M-1M20030S-B(O/S2/OS2)/R88M-1M20030T-B(O/S2/OS2) R88M-1M40030S-B(O/S2/OS2)/R88M-1M40030T-B(O/S2/OS2) Encoder connector Brake connector Motor connector 6±0.5 27±0.1 3±0.3 4-4.5±0.35 dia. 30±0.5 60×60±0.95 Dimensions [mm] Model R88M-1M20030S-B(S2) 107.5±1 -0.011 dia R88M-1M20030T-B(S2) R88M-1M40030S-B(S2) 133.5±1 -0.011 dia R88M-1M40030T-B(S2) R88M-1M20030S-BO(S2) 114.5±1 -0.011 dia R88M-1M20030T-BO(S2)
  • Page 137 2 Models and External Dimensions  750 W (without Brake) R88M-1M75030T(-O/-S2/-OS2) Encoder connector Motor connector 8±0.5 3±0.3 4-6±0.5 dia. 35±0.8 80×80±0.95 Dimensions [mm] Model R88M-1M75030T(-S2) 117.3±1 R88M-1M75030T-O(S2) 124.3±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 138 2 Models and External Dimensions  750 W (with Brake) R88M-1M75030T-B(O/S2/OS2) Encoder connector Brake connector Motor connector 8±0.5 3±0.3 4-6±0.5 dia. 35±0.8 80×80±0.95 Dimensions [mm] Model R88M-1M75030T-B(S2) 153±1 R88M-1M75030T-BO(S2) 160±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 139 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (without Brake) R88M-1L1K030T(-O/-S2/-OS2)/R88M-1L1K530T(-O/-S2/-OS2)/R88M-1L2K030T(-O/-S2/-OS2) Encoder connector Motor connector 50±0.8 10±0.5 3±0.3 4-9±0.5 dia. 55±1 100×100±2 Dimensions [mm] Model R88M-1L1K030T(-O/-S2/-OS2) 168±2 85±1 153±2 97±2 R88M-1L1K530T(-O/-S2/-OS2) 168±2 85±1 153±2 97±2 R88M-1L2K030T(-O/-S2/-OS2) 179±2 96±1 164±2 102±2 Note The standard shaft type is a straight shaft.
  • Page 140 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (with Brake) R88M-1L1K030T-B(O/S2/OS2)/R88M-1L1K530T-B(O/S2/OS2)/ R88M-1L2K030T-B(O/S2/OS2) Encoder connector Motor and brake connector 50±0.8 10±0.5 3±0.3 4-9±0.5 dia. 55±1 100×100±2 Dimensions [mm] Model R88M-1L1K030T-B(O/S2/OS2) 209±3 85±1 194±2 97±2 R88M-1L1K530T-B(O/S2/OS2) 209±3 85±1 194±2 97±2 R88M-1L2K030T-B(O/S2/OS2) 220±3 96±1...
  • Page 141 2 Models and External Dimensions  3 kW (without Brake) R88M-1L3K030T(-O/-S2/-OS2) Encoder connector Motor connector 169±2 112±1 50±0.8 4-9±0.5 dia. 12±0.5 4±0.4 184±2 55±1 130×130±2 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 142 2 Models and External Dimensions  3 kW (with Brake) R88M-1L3K030T-B(O/S2/OS2) Encoder connector Motor and brake connector 215±2 112±1 50±0.8 4-9±0.5 dia. 12±0.5 4±0.4 130×130±2 230±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 143 2 Models and External Dimensions  4 kW/4.7 kW (without Brake) R88M-1L4K030T(-O/-S2/-OS2) R88M-1L4K730T(-O/-S2/-OS2) (L1) Encoder connector Motor connector 60±0.95 4±0.4 12±0.5 130×130±2 65±1 Dimensions [mm] Model R88M-1L4K030T(-O/-S2/-OS2) 208±3 R88M-1L4K730T(-O/-S2/-OS2) 232±3 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 144 2 Models and External Dimensions  4 kW/4.7 kW (with Brake) R88M-1L4K030T-B(O/S2/OS2) R88M-1L4K730T-B(O/S2/OS2) (L1) Encoder connector Motor and brake connector 60±0.95 4±0.4 12±0.5 130×130±2 65±1 Dimensions [mm] Model R88M-1L4K030T-B(O/S2/OS2) 251±3 R88M-1L4K730T-B(O/S2/OS2) 275±3 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 145 2 Models and External Dimensions 3,000-r/min Servomotors (400 V)  750 W/1 kW/1.5 kW/2 kW (without Brake) R88M-1L75030C(-O/-S2/-OS2)/R88M-1L1K030C(-O/-S2/-OS2) R88M-1L1K530C(-O/-S2/-OS2)/R88M-1L2K030C(-O/-S2/-OS2) Encoder connector Motor connector 50±0.8 4-9±0.5 dia. 10±0.5 3±0.3 55±1 100×100±2 Dimensions [mm] Model R88M-1L75030C(-O/-S2/-OS2) 139±2 56±1 124±2 R88M-1L1K030C(-O/-S2/-OS2) 168±2 85±1 153±2 R88M-1L1K530C(-O/-S2/-OS2) 168±2...
  • Page 146 2 Models and External Dimensions  750 W/1 kW/1.5 kW/2 kW (with Brake) R88M-1L75030C-B(O/S2/OS2)/R88M-1L1K030C-B(O/S2/OS2) R88M-1L1K530C-B(O/S2/OS2)/R88M-1L2K030C-B(O/S2/OS2) Motor and brake connector Encoder connector 50±0.8 10±0.5 3±0.3 4-9±0.5 dia. 55±1 100×100±2 Dimensions [mm] Model R88M-1L75030C-B(O/S2/OS2) 180±2 56±1 165±2 R88M-1L1K030C-B(O/S2/OS2) 209±3 85±1 194±2 R88M-1L1K530C-B(O/S2/OS2) 209±3 85±1 194±2...
  • Page 147 2 Models and External Dimensions  3 kW (without Brake) R88M-1L3K030C(-O/-S2/-OS2) Encoder connector Motor connector 169±2 112±1 50±0.8 4-9±0.5 dia. 12±0.5 4±0.4 130×130±2 184±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 148 2 Models and External Dimensions  3 kW (with Brake) R88M-1L3K030C-B(O/S2/OS2) Encoder connector Motor and brake connector 215±2 112±1 50±0.8 12±0.5 4±0.4 4-9±0.5 dia. 230±3 55±1 130×130±2 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 149 2 Models and External Dimensions  4 kW/5 kW (without Brake) R88M-1L4K030C(-O/-S2/-OS2) R88M-1L5K030C(-O/-S2/-OS2) (L1) Encoder connector Motor connector 60±0.95 4±0.4 12±0.5 130×130±2 65±1 Dimensions [mm] Model R88M-1L4K030C(-O/-S2/-OS2) 208±3 R88M-1L5K030C(-O/-S2/-OS2) 232±3 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 150 2 Models and External Dimensions  4 kW/5 kW (with Brake) R88M-1L4K030C-B(O/S2/OS2) R88M-1L5K030C-B(O/S2/OS2) (L1) Encoder connector Motor and brake connector 60±0.95 4±0.4 12±0.5 130×130±2 65±1 Dimensions [mm] Model R88M-1L4K030C-B(O/S2/OS2) 251±3 R88M-1L5K030C-B(O/S2/OS2) 275±3 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 151 2 Models and External Dimensions 2,000-r/min Servomotors (200 V)  1 kW/1.5 kW/2 kW (without Brake) R88M-1M1K020T(-O/-S2/-OS2)/R88M-1M1K520T(-O/-S2/-OS2) R88M-1M2K020T(-O/-S2/-OS2) Encoder connector Motor connector 50±0.8 11.5±0.5 4±0.4 4-9±0.5 dia. 55±1 130×130±2 Dimensions [mm] Model R88M-1M1K020T(-O/-S2/-OS2) 120.5±2 63±1 109±2 118±2 R88M-1M1K520T(-O/-S2/-OS2) 138±2 79±1 125±2 118±2 R88M-1M2K020T(-O/-S2/-OS2)
  • Page 152 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (with Brake) R88M-1M1K020T-B (O/S2/OS2)/R88M-1M1K520T-B(O/S2/OS2) R88M-1M2K020T-B(O/S2/OS2) Encoder connector Motor and brake connector 50±0.8 11.5±0.5 4±0.4 4-9±0.5 dia. 55±1 130×130±2 Dimensions [mm] Model R88M-1M1K020T-B(O/S2/OS2) 162±2 63±1 149±2 118±2 R88M-1M1K520T-B(O/S2/OS2) 179±2 79±1 166±2 118±2 R88M-1M2K020T-B(O/S2/OS2) 201±3...
  • Page 153 2 Models and External Dimensions  3 kW (without Brake) R88M-1M3K020T(-O/-S2/-OS2) Encoder connector Motor connector 176±2 119±1 60±0.95 4-9±0.5 dia. 11.5±0.5 4±0.4 130×130±2 191±2 65±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 154 2 Models and External Dimensions  3 kW (with Brake) R88M-1M3K020T-B(O/S2/OS2) Motor and brake connector Encoder connector 219±2 118±1 60±0.95 4-9±0.5 dia. 11.5±0.5 4±0.4 130×130±2 234±3 65±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 155 2 Models and External Dimensions 2,000-r/min Servomotors (400 V)  400 W/600 W (without Brake) R88M-1M40020C(-O/-S2/-OS2)/R88M-1M60020C(-O/-S2/-OS2) Encoder connector Motor connector 50±0.8 4-9±0.5 dia. 10±0.6 3±0.3 100×100±2 55±1 Dimensions [mm] Model R88M-1M40020C(-O/-S2/-OS2) 134.8±1 52±1 120.5±2 R88M-1M60020C(-O/-S2/-OS2) 151.8±1 69±1 137.5±2 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 156 2 Models and External Dimensions  400 W/600 W (with Brake) R88M-1M40020C-B(O/S2/OS2)/R88M-1M60020C-B(O/S2/OS2) Encoder connector Motor and brake connector 50±0.8 10±0.6 3±0.3 4-9±0.5 dia. 55±1 100×100±2 Dimensions [mm] Model R88M-1M40020C-B(O/S2/OS2) 152.3±1 52±1 138±2 R88M-1M60020C-B(O/S2/OS2) 169.3±1 69±1 155±2 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 157 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (without Brake) R88M-1M1K020C(-O/-S2/-OS2)/R88M-1M1K520C(-O/-S2/-OS2) R88M-1M2K020C(-O/-S2/-OS2) Encoder connector Motor connector 50±0.8 4-9±0.5 dia. 11.5±0.5 4±0.4 55±1 130×130±2 Dimensions [mm] Model R88M-1M1K020C(-O/-S2/-OS2) 120.5±2 63±1 109±2 R88M-1M1K520C(-O/-S2/-OS2) 138±2 79±1 125±2 R88M-1M2K020C(-O/-S2/-OS2) 160±2 98±1 148±2 Note The standard shaft type is a straight shaft.
  • Page 158 2 Models and External Dimensions  1 kW/1.5 kW/2 kW (with Brake) R88M-1M1K020C-B(O/S2/OS2)/R88M-1M1K520C-B(O/S2/OS2) R88M-1M2K020C-B(O/S2/OS2) Encoder connector Motor and brake connector 50±0.8 4-9±0.5 dia. 11.5±0.5 4±0.4 55±1 130×130±2 Dimensions [mm] Model R88M-1M1K020C-B(O/S2/OS2) 162±2 64±1 150±2 R88M-1M1K520C-B(O/S2/OS2) 179±2 81±1 167±2 R88M-1M2K020C-B(O/S2/OS2) 201±3 99±1 189±2 Note The standard shaft type is a straight shaft.
  • Page 159 2 Models and External Dimensions  3 kW (without Brake) R88M-1M3K020C(-O/-S2/-OS2) Motor connector Encoder connector 176±2 119±1 60±0.95 4-9±0.5 dia. 11.5±0.5 4±0.4 130×130±2 191±2 65±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 160 2 Models and External Dimensions  3 kW (with Brake) R88M-1M3K020C-B(O/S2/OS2) Encoder connector Motor and brake connector 219±2 118±1 60±0.95 4-9±0.5 dia. 11.5±0.5 4±0.4 130×130±2 234±3 65±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 161 2 Models and External Dimensions 1,500-r/min Servomotors (200 V)  4 kW (without Brake) R88M-1M4K015T(-O/-S2/-OS2) (102) Encoder connector Motor connector Eye bolt (2-M6) 65±0.95 16±0.8 3±0.3 180×180±2 176±2 70±1 2-M6 (For eye bolt) 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 162 2 Models and External Dimensions  4 kW (with Brake) R88M-1M4K015T-B(O/S2/OS2) (102) Motor and brake connector Encoder connector Eye bolt (2-M6) 65±0.95 2-M6 16±0.8 3±0.3 (For eye bolt) 180×180±2 223±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 163 2 Models and External Dimensions  5 kW (without Brake) R88M-1M5K015T(-O/-S2/-OS2) (174) Encoder connector Eye bolt (2-M6) Motor connector 109±0.95 2-M6 3±0.3 19.5±1 180×180±2 (For eye bolt) 248±3 113±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 164 2 Models and External Dimensions  5 kW (with Brake) R88M-1M5K015T-B(O/S2/OS2) (174) Eye bolt (2-M6) Encoder connector Motor and brake connector 109±0.95 2-M6 19.5±1 3±0.3 180×180±2 (For eye bolt) 295±3 113±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 165 2 Models and External Dimensions  7.5 kW (without Brake) R88M-1M7K515T(-O/-S2/-OS2) (225) Encoder connector Eye bolt (2-M6) Motor connector 109±0.95 3±0.3 19.5±1 180×180±2 295±3 113±1 (306) 2-M6 (For eye bolt) 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 166 2 Models and External Dimensions  7.5 kW (with Brake) R88M-1M7K515T-B(O/S2/OS2) (225) Encoder connector Eye bolt (2-M6) Motor and brake connector 109±0.95 2-M6 3±0.3 19.5±1 180×180±2 (For eye bolt) 113±1 352±3 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 167 2 Models and External Dimensions  11 kW/15 kW (without Brake) R88M-1M11K015T(-O/-S2/-OS2)/R88M-1M15K015T(-O/-S2/-OS2) (L1) Encoder connector Eye bolt (2-M8) Motor connector 112±0.95 2-M8 4±0.5 18.5±1 220×220±3 (For eye bolt) 116±1 (L2) Dimensions [mm] Model R88M-1M11K015T(-O/-S2/-OS2) 319±3 R88M-1M15K015T(-O/-S2/-OS2) 397±3 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 168 2 Models and External Dimensions  11 kW/15 kW (with Brake) R88M-1M11K015T-B(O/S2/OS2)/R88M-1M15K015T-B(O/S2/OS2) (L1) Encoder connector Eye bolt (2-M8) Motor and brake connector 112±0.95 2-M8 18.5±1 4±0.5 220×220±3 (For eye bolt) 116±1 Dimensions [mm] Model R88M-1M11K015T-B(O/S2/OS2) 382±3 R88M-1M15K015T-B(O/S2/OS2) 493±3 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 169 2 Models and External Dimensions 1,500-r/min Servomotors (400 V)  4 kW (without Brake) R88M-1M4K015C(-O/-S2/-OS2) (102) Encoder connector Motor connector Eye bolt (2-M6) 65±0.95 16±0.8 3±0.3 180×180±2 176±2 70±1 2-M6 (For eye bolt) 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 170 2 Models and External Dimensions  4 kW (with Brake) R88M-1M4K015C-B(O/S2/OS2) (102) Motor and brake connector Encoder connector Eye bolt (2-M6) 65±0.95 2-M6 16±0.8 3±0.3 (For eye bolt) 180×180±2 223±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 171 2 Models and External Dimensions  5.5 kW/7.5 kW (without Brake) – R88M-1M5K515C(-O/-S2/-OS2)/R88M-1M7K515C(-O/-S2/-OS2) (L1) Eye bolt (2-M6) Encoder connector Moter connector 109±0.95 2-M6 3±0.3 19.5±1 180×180±2 (For eye bolt) 113±1 Dimensions [mm] Model R88M-1M5K515C(-O/-S2/-OS2) 248±3 R88M-1M7K515C(-O/-S2/-OS2) 295±3 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 172 2 Models and External Dimensions  5.5 kW/7.5 kW (with Brake) R88M-1M5K515C-B(O/S2/OS2)/R88M-1M7K515C-B(O/S2/OS2) (L1) Eye bolt (2-M6) Encoder connector Motor and brake connector 109±0.95 2-M6 19.5±1 3±0.3 180×180±2 (For eye bolt) 113±1 Dimensions [mm] Model R88M-1M5K515C-B(O/S2/OS2) 295±3 R88M-1M7K515C-B(O/S2/OS2) 352±3 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 173 2 Models and External Dimensions  11 kW/15 kW (without Brake) R88M-1M11K015C(-O/-S2/-OS2)/R88M-1M15K015C(-O/-S2/-OS2) (L1) Encoder connector Eye bolt (2-M8) Motor connector 112±0.95 2-M8 4±0.5 18.5±1 220×220±3 (For eye bolt) 116±1 (L2) Dimensions [mm] Model R88M-1M11K015C(-O/-S2/-OS2) 319±3 R88M-1M15K515C(-O/-S2/-OS2) 392±3 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 174 2 Models and External Dimensions  11 kW/15 kW (with Brake) R88M-1M11K015C-B(O/S2/OS2)/R88M-1M15K015C-B(O/S2/OS2) (L1) Encoder connector Eye bolt (2-M8) Motor and brake connector 112±0.95 2-M8 18.5±1 4±0.5 220×220±3 (For eye bolt) 116±1 Dimensions [mm] Model R88M-1M11K015C-B(O/S2/OS2) 382±3 R88M-1M15K515C-B(O/S2/OS2) 493±3 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 175 2 Models and External Dimensions 1,000-r/min Servomotors (200 V)  900 W (without Brake) R88M-1M90010T(-O/-S2/-OS2) Motor connector 125±2 Encoder 79±1 connector 11.5±0.5 65±0.95 4±0.4 4-Ø9±0.5 138±2 70±1 130×130±2 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 176 2 Models and External Dimensions  900 W (with Brake) R88M-1M90010T-B(O/S2/OS2) Motor and brake connector 166±2 Encoder 79±1 connector 11.5±0.5 65±0.95 4±0.4 4-9±0.5 dia. 70±1 130×130±2 179±2 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 177 2 Models and External Dimensions  2 kW (without Brake) R88M-1M2K010T(-O/-S2/-OS2) Moter connector 145±2 Encoder 93±1 connector 16±0.8 ± 75±0.95 3±0.3 4-13.5±0.5 dia. 159±2 80±1 180×180±2 2-M8 (For eye bolt) 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 178 2 Models and External Dimensions  2 kW (with Brake) R88M-1M2K010T-B(O/S2/OS2) Motor and brake connector Encoder 191±2 Eye-bolt (2-M8) connector 92±1 16±0.8 75±0.95 2-M8 3±0.3 4-13.5±0.5 dia. (for eye-bolt) 180×180±2 206±3 80±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 179 2 Models and External Dimensions  3 kW (without Brake) R88M-1M3K010T(-O/-S2/-OS2) Motor connector Encoder 213±2 connector 162±1 Eye-bolt (2-M8) 19.5±1 75±0.95 2-M8 4-13.5±0.5 dia. (for eye-bolt) 3±0.3 180×180±2 228±3 80±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 180 2 Models and External Dimensions  3 kW (with Brake) R88M-1M3K010T-B(O/S2/OS2) Encoder Motor and brake connector connector 260±2 162±1 Eye-bolt (2-M8) 19.5±1 75±0.95 2-M8 4-13.5±0.5 dia. (for eye-bolt) 3±0.3 180×180±2 274±3 80±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 181 2 Models and External Dimensions 1,000-r/min Servomotors (400 V)  900 W (without Brake) R88M-1M90010C(-O/-S2/-OS2) Motor connector Encoder 125±2 connector 79±1 11.5±0.5 65±0.95 4±0.4 4-9±0.5 dia. 130×130±2 70±1 138±2 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 182 2 Models and External Dimensions  900 W (with Brake) R88M-1M90010C-B(O/S2/OS2) Motor and brake connector 167±2 81±1 Encoder connector 11.5±0.5 65±0.95 4±0.4 4-9±0.5 dia. 179±2 70±1 130×130±2 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 183 2 Models and External Dimensions  2 kW (without Brake) R88M-1M2K010C(-O/-S2/-OS2) Encoder Motor connector connector 145±2 93±1 16±0.8 75±0.95 3±0.3 4-13.5±0.5 dia. 159±2 80±1 180×180±2 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 184 2 Models and External Dimensions  2 kW (with Brake) R88M-1M2K010C-B(O/S2/OS2) Motor and brake connector Encoder 191±2 connector 92±1 Eye-bolt (2-M8) 16±0.8 75±0.95 3±0.3 2-M8 4-13.5±0.5 dia. (for eye-bolt) 80±1 180×180±2 206±3 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 185 2 Models and External Dimensions  3 kW (without Brake) R88M-1M3K010C(-O/-S2/-OS2) Motor connector 213±2 Encoder 162±1 connector Eye-bolt (2-M8) 19.5±1 75±0.95 2-M8 4-13.5±0.5 dia. (for eye-bolt) 3±0.3 180×180±2 228±3 80±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 186 2 Models and External Dimensions  3 kW (with Brake) R88M-1M3K010C-B(O/S2/OS2) Motor and brake connector 260±2 Encoder 162±1 connector Eye-bolt (2-M8) 19.5±1 75±0.95 2-M8 4-13.5±0.5 dia. (for eye-bolt) 3±0.3 180×180±2 274±3 80±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 187: Cable Outlet Direction

    2 Models and External Dimensions 2-4-3 Cable Outlet Direction The cable outlet direction of the Servomotor for connector type M23 or M40 can be selected. The below shows the selectable range. The change of the cable outlet direction shall be up to five times. For a pro- cedure of the change of the cable outlet direction, refer to 4-2-4 Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40 on page 4-44.

  • Page 188: Cable Wiring Dimension For A Case Of Motor Installing

    2 Models and External Dimensions 2-4-4 Cable Wiring Dimension for a Case of Motor Installing Cable wiring dimensions are shown below the table when you install a Servomotor for connector type M23 and M40. The dimensions from the rotation center of the connector to the cable surrounding are indicated as A when you wire a cable with the minimum bending radius (ten times as outer dimension of sheath wire).
  • Page 189 2 Models and External Dimensions Motor for Connector Type M40 Dimension [mm] Model R88M-1M7K515T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1M11K015T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1M11K015C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1M15K015T(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) R88M-1M15K015C(-S2/-O/-OS2/-B/-BS2/-BO/-BOS2) 2 - 101 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 190: 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 (50 to 200 W) Dimensions [mm] Servo- Reduc- motor Outline tion Model rated drawing ratio output 50 W 1/21 R88G-HPG14A21100B...
  • Page 191 2 Models and External Dimensions  Outline Drawing 1 Flange side Servomotor side Set bolt (AT) C1×C1 4-Z2 D1 dia. D2 dia. C2×C2 4-Z1-dia. Note Only one set bolt For R88G-HPG11B series, two set bolts are positioned at 90° from each other. Key and tap dimensions Set bolt (AT) 4-Z2...
  • Page 192 2 Models and External Dimensions  For 3,000-r/min Servomotors (400 to 750 W) Dimensions [mm] Servo- motor Outline duc- Model rated drawing tion output ratio 400 W R88G-HPG14A05400B 60 x 60 55.5 1/11 R88G-HPG20A11400B 89 dia. 1/21 R88G-HPG20A21400B 89 dia. 1/33 R88G-HPG32A33400B...
  • Page 193 2 Models and External Dimensions 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. ...
  • Page 194 2 Models and External Dimensions  For 3,000-r/min Servomotors (1 to 5 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 1/33 R88G-HPG50A332K0B...
  • Page 195 2 Models and External Dimensions Dimensions [mm] Servo- motor duc- Model rated tion output ratio 1 kW R88G-HPG32A052K0B M8 × 10 1/11 R88G-HPG32A112K0B M8 × 10 1/21 R88G-HPG32A211K5B M8 × 10 1/33 R88G-HPG50A332K0B M8 × 10 1/45 R88G-HPG50A451K5B M8 × 10 1.5 kW R88G-HPG32A052K0B...
  • Page 196 2 Models and External Dimensions  Outline Drawing 1 Flange side Servomotor side Set bolt (AT) C1×C1 4-Z2 D2 dia. D1 dia. 4-Z1-dia. C2×C2 Key and tap dimensions *3. The tolerance is “h8” for R88G-HPG50. M (Depth L)  Outline Drawing 2 Flange side Servomotor side C1×C1...
  • Page 197 2 Models and External Dimensions  For 2,000-r/min Servomotors (400 W to 1 kW) Dimensions [mm] Servo- motor Outline duc- Model rated drawing tion output ratio 400 W R88G-HPG32A052K0B 135 dia. 12.5 (400 V) 1/11 R88G-HPG32A112K0B 135 dia. 12.5 1/21 R88G-HPG32A211K5B...
  • Page 198 2 Models and External Dimensions  Outline Drawing 1 Flange side Servomotor side Set bolt (AT) C1×C1 4-Z2 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 199 2 Models and External Dimensions  For 2,000-r/min Servomotors (1.5 to 3 kW) Dimensions [mm] Servo- motor Outline duc- Model rated drawing tion output ratio 1.5 kW R88G-HPG32A053K0B 130 x 130 12.5 1/11 R88G-HPG32A112K0SB 130 x 130 12.5 1/21 R88G-HPG50A213K0B 170 dia.
  • Page 200 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. D1 dia. 4-Z1-dia. C2×C2 C1×C1 Key and tap dimensions *3. The tolerance is “h8” for R88G-HPG50 and R88G-HPG65. *4.
  • Page 201 2 Models and External Dimensions  For 1,500-r/min Servomotors (4 kW to 5.5 kW) Dimensions [mm] Servo- motor Outline duc- Model rated drawing tion output ratio 4 kW R88G-HPG50A055 180 x 180 K0SB 1/11 R88G-HPG50A115 180 x 180 K0SB 1/20 R88G-HPG65A205 180 x 180 K0SB...
  • Page 202 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. D1 dia. 4-Z1-dia. C2×C2 C1×C1 *3. The model R88G-HPG65 has the taps for eye bolts. Key and tap dimensions M (Depth L) 2 - 114...
  • Page 203 2 Models and External Dimensions  For 1,000-r/min Servomotors (900 W to 3 kW) Dimensions [mm] Servo- motor Outline duc- Model rated drawing tion output ratio 900 W R88G-HPG32A05900TB 130 x 130 12.5 1/11 R88G-HPG32A11900TB 130 x 130 12.5 1/21 R88G-HPG50A21900TB...
  • Page 204 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. D1 dia. 4-Z1-dia. C2×C2 C1×C1 *3. The tolerance is “h8” for R88G-HPG50 and R88G-HPG65. Key and tap dimensions *4.
  • Page 205 2 Models and External Dimensions Backlash: 15 Arcminutes Max.  For 3,000-r/min Servomotors Dimensions [mm] Model 50 W R88G-VRXF05B100CJ 67.5 R88G-VRXF09B100CJ 67.5 1/15 R88G-VRXF15B100CJ 78.0 1/25 R88G-VRXF25B100CJ 78.0 100 W R88G-VRXF05B100CJ 67.5 R88G-VRXF09B100CJ 67.5 1/15 R88G-VRXF15B100CJ 78.0 1/25 R88G-VRXF25B100CJ 78.0 200 W R88G-VRXF05B200CJ 72.5...
  • Page 206 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 - 118 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 207: 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-RR120 t3.5 R88A-RR300 t2.5 2-4.5 dia. R88A-RR1K6 t1.6 2-R7 4-6 dia.

  • Page 208: Dimensions Of External Dynamic Brake Resistors

    2 Models and External Dimensions R88A-RR550 58.8 2-10.4 t 1.6 2-R3 2-4-7 Dimensions of External Dynamic Brake Resistors The following are the dimensions of External Dynamic Brake Resistors. R88A-DBR300 t2.5 2-4.5 dia. 2 - 120 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 209: Reactor Dimensions

    2 Models and External Dimensions 2-4-8 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. 2 - 121 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 210 2 Models and External Dimensions R88A-PD2004 Terminal block top view 2-terminal M4 screw (16) 4-mounting hole for M4 screw 50 max. 40 max. 2 - 122 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 211 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 - 123 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...
  • Page 212 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. 2 - 124 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 213 2 Models and External Dimensions R88A-PD2037 Terminal block top view 2-terminal M4 screw (26) 4-mounting hole for M6 bolt 60 max. 55 max. 2 - 125 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 214 2 Models and External Dimensions R88A-PD4007 Terminal block top view 2-terminal M4 screw (16) 4-mounting hole for M4 screw 50 max. 40 max. 2 - 126 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 215 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 - 127 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 216 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 - 128 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 217 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 - 129 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 218: Noise Filter Dimensions

    2 Models and External Dimensions 2-4-9 Noise Filter Dimensions The following are the dimensions of Footprint-type Noise Filters. R88A-FI1S103/ -FI1S202 2-M4 2-4.5 dia. 2-R2.25 notch ±0.5 ±1.0 ±0.5 ±0.5 ±2.0 ±10.0 ±1.0 ±2.0 (10) R88A-FI1S105/ -FI1S203 3-M4 2-R2.25 notch 2-4.5 dia. ±0.5 ±1.0 ±0.5...
  • Page 219 2 Models and External Dimensions R88A-FI1S109/ -FI1S208 2-M4 2-4.5 dia. 2-R2.25 notch ±0.5 ±1.0 ±0.5 ±0.5 ±2.0 ±10.0 ±1.0 ±2.0 (12) R88A-FI1S116/ -FI1S216 3-M4 ±0.5 2-R2.25 ±1.0 2-4.5 dia. notch ±0.5 ±0.5 ±2.0 ±10.0 ±20.0 ±1.0 ±2.0 (12) 2 - 131 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...
  • Page 220 2 Models and External Dimensions R88A-FI1S309 3-M4 ±0.5 ±1.0 2-4.5 dia. 2-R2.25 notch ±0.5 ±0.5 ±2.0 ±10.0 ±1.0 ±2.0 (12) 2 - 132 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 221: 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 222 3 Specifications 3-5 Specifications of External Regeneration Resistors and External Regeneration Resistance Units ....... . . 3-127 3-5-1 General Specifications .

  • Page 223: 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 2-17. 3-1-1 General Specifications The specifications of the Servo Drives are shown below. Item Specifications Operating ambient temperature and humidity...
  • Page 224 3 Specifications Precautions for Correct Use Disconnect all connections to the Servo Drive before attempting a megger test (insulation resis- tance measurement) on a Servo Drive. Not doing so may result in the Servo Drive failure. Do not perform a dielectric strength test on the Servo Drive. Internal elements may be dam- aged.

  • Page 225: Characteristics

    3 Specifications 3-1-2 Characteristics The characteristics of the Servo Drives are shown below. 100-VAC Input Models Servo Drive model (R88D-) 1SN01L-ECT 1SN02L-ECT 1SN04L-ECT Item 100 W 200 W 400 W Input Main circuit Power sup- Single-phase 100 to 120 VAC (85 to 132 V) ply voltage Rise time 500 ms max.
  • Page 226 3 Specifications 200-VAC Input Models Servo Drive model (R88D-) 1SN01H-ECT 1SN02H-ECT 1SN04H-ECT 1SN08H-ECT Item 100 W 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 Rise time 500 ms max.
  • Page 227 3 Specifications 1SN10H 1SN15H 1SN20H 1SN30H Servo Drive model (R88D-) -ECT -ECT -ECT -ECT Item 1 kW 1.5 kW 2 kW 3 kW Input Main circuit Power supply 3-phase 200 to Single-phase 3-phase 200 to 240 VAC (170 to voltage 240 VAC (170 and 3-phase 252 V)
  • Page 228 3 Specifications Servo Drive model (R88D-) 1SN55H-ECT 1SN75H-ECT 1SN150H-ECT Item 5.5 kW 7.5 kW 15 kW Input Main circuit Power supply 3-phase 200 to 240 VAC (170 to 252 V) voltage Rise time 500 ms max. Frequency 50/60 Hz (47.5 to 63 Hz) Control circuit Power supply 24 VDC (21.6 to 26.4 V)
  • Page 229 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 1SN06F-ECT 1SN10F-ECT 1SN15F-ECT (R88D-) Item 600 W 1 kW 1.5 kW Input Main circuit Power sup- 3-phase 380 to 480 VAC (323 to 504 V) ply voltage Rise time 500 ms max.
  • Page 230 3 Specifications Servo Drive model 1SN150F 1SN20F-ECT 1SN30F-ECT 1SN55F-ECT 1SN75F-ECT (R88D-) -ECT Item 2 kW 3 kW 5.5 kW 7.5 kW 15 kW Input Main circuit Power 3-phase 380 to 480 VAC (323 to 504 V) supply Rise time 500 ms max. voltage Frequency 50/60 Hz (47.5 to 63 Hz)
  • Page 231 3 Specifications *3. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low Voltage Directive.
  • Page 232 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-1SN01L-ECT R88M-1M05030S-...

  • Page 233: 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 234: 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-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT /-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT/-1SN10H-ECT  Main Circuit Connector (CNA) Specifications Pin No. Symbol Name Specifications Main circuit power sup- R88D-1SNL-ECT ply input Single-phase...
  • Page 235 3 Specifications  Motor Connector (CNC) Specifications Pin No. Symbol Name Specifications Motor connection termi- Phase U These are output terminals to the Servomotor. nals Phase V Phase W R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN06F-ECT/ -1SN10F-ECT /-1SN15F-ECT/-1SN20F-ECT/-1SN30F-ECT  Main Circuit Connector A (CNA) Specifications Symbol Name Specifications External Regeneration...
  • Page 236 3 Specifications  Control Circuit Connector (CND) Specifications Pin No. Symbol Name Specifications +24V Control circuit power sup- 24 VDC (21.6 to 26.4 V) ply input Measured current value: 900 mA Do not connect.  Motor Connector (CNC) Specifications Symbol Name Specifications Motor connection terminals...
  • Page 237 3 Specifications  Main Circuit Connector B (CNB) Specifications Symbol Name Specifications DC reactor connection ter- When the DC reactor is not used: minals • Short-circuit N1 and N2. When the DC reactor is used: • Connect the DC reactor between N1 and N2. P N1 N2 N3 ...
  • Page 238 3 Specifications  Main Circuit Connector E (CNE) Specifications Symbol Name Specifications External Dynamic Brake When the Internal Dynamic Brake Resistor is used: Resistor connection termi- • Open between DB1 and DB2. nals • Short-circuit DB2 and DB3. When the External Dynamic Brake Resistor is used: •...
  • Page 239 3 Specifications  Control Circuit Connector (CND) Specifications Pin No. Symbol Name Specifications +24V Control circuit power sup- 24VDC (21.6 to 26.4 V) ply input +24V Measured current value: 1,200 mA +24V +24V 0V  Motor Connector (CNC) Specifications Symbol Name Specifications Motor connection terminals...
  • Page 240 3 Specifications R88D-1SN150F-ECT  Main Circuit Connector A (CNA) Specifications Symbol Name Specifications ---- Do not connect. Main circuit power supply 3-phase 380 to 480 VAC (3230 to 504 VAC) 50/60 Hz (47.5 to 63 Hz) input P N3 L3 L2 L1 ...
  • Page 241 3 Specifications  Motor Connector (CNC) Specifications Symbol Name Specifications Motor connection terminals These are output terminals to the Servomotor. Phase U Phase V Phase W FG U  Main Circuit Connector E (CNE) Specifications Symbol Name Specifications External Dynamic Brake When the Internal Dynamic Brake Resistor is used: Resistor connection termi- •...
  • Page 242 *1. Connect between any two phases out of the following: L1, L2, and L3. *2. Connect OMRON Power Cables to the motor connection terminals. *3. Use the wire with the same current capacity for the wiring of the motor connection terminals and for that of B1 and B2.
  • Page 243 3 Specifications  Wire Sizes for 200-VAC Input Model: R88D-1SNH-ECT Model (R88D-1SN) Item Unit 01H-ECT 02H-ECT 04H-ECT 08H-ECT 10H-ECT Power supply capacity Main circuit Rated cur- A(rms) 1.8/1.0 2.7/1.5 4.6/2.7 7.3/4.0 power supply rent input (L1, L2, Wire size AWG 22 to AWG 20 to AWG 18 to AWG16 to 14,...
  • Page 244 *3. Connect OMRON Power Cables to the motor connection terminals. For R88A-CA1□□ of the power cable manufactured by OMRON, the wire at rated temperature of 85° is used. In some cases, the wire does not ful- fill its size described in the motor terminal block. It does not affect the operation.
  • Page 245 *1. Connect OMRON Power Cables to the motor connection terminals. For R88A-CA1□□ of the power cable manufactured by OMRON, the wire at rated temperature of 85° is used. In some cases, the wire does not ful- fill its size described in the motor terminal block. It does not affect the operation.
  • Page 246 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 247: 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 External power 12 to 24 VDC COMMON COMMON supply 12 VDC-5% to General Input 1 /ERR+ 24 VDC+5% Error output...
  • Page 248 3 Specifications Control I/O Signal Table Symbol Signal name Symbol Signal name EDM+ P EDM+ Output with EDM- EDM- Output short-circuit protection EDM+ EDM+ Output without Reserved short-circuit protection SF1+ SF1+ Input SF1+ SF1+ Input SF1- SF1- Input SF1- SF1- Input SF2+ SF2+ Input SF2+...
  • Page 249 3 Specifications Control I/O Connector (40 pins) Model Manufacturer OMRON model DFMC1,5/20-ST-3,5-LRBKBDMC-21 PHOENIX CONTACT R88A-CN101C *1. Four short-circuit wires are connected to the connector. Applicable wire: AWG 24 to 16 (0.2 to 1.5 mm ) (Strip length of the wire insulating...

  • Page 250: 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) External power supply 7.5 k COMMON 12 VDC-5% to 24 VDC+5% 2.4 k Photocoupler input Input current specification 10 mA max. (per point) 7.5 k Signal level...

  • Page 251: Control Output Circuits

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

  • Page 252: 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 253: Safety I/O Specifications

    3 Specifications Encoder Pulse Output Circuit Servo Drive External input device Ω R = 120 (Typ.) +Vcc Phase A Phase A − −A Output line driver EIA RS422A compliant Phase B Phase B − −B Phase Z Phase Z − −Z ZGND Applicable line receiver...
  • Page 254 3 Specifications Safety I/O Signal Table Pin No. Symbol Name Function and interface 3 and 23 SF1+ Safety input 1 Inputs 1 and 2 for operating the STO function, which are two inde- pendent circuits. This input turns OFF the power transistor drive 4 and 24 SF1- signals in the Servo Drive to cut off the current output to the motor.

  • Page 255: Brake Interlock Connector (Cn12) Specifications

    BKIR- 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 ) (Strip length of the wire insulating cover: 2 3 4...

  • Page 256: Ethercat Communications Connector (Rj45) Specifications

    3 Specifications  Connectors for CN2 (6 Pins) Name Model Manufacturer OMRON model Receptacle 3E206-0100KV R88A-CN101R Shell kit 3E306-3200-008 3-1-14 EtherCAT Communications Connector (RJ45) Specifications The EtherCAT twisted-pair cable is connected to a shielded connector. • Electrical characteristics: Conform to IEEE 802.3.

  • Page 257: Power On Sequence

    3 Specifications 3-1-16 Power ON Sequence This section gives the time from when the control power supply for the Servo Drive is turned ON until the control I/O and EtherCAT communications are enabled. Communications with the master is started after the EtherCAT communications are enabled. Perform Servo ON and send commands only after the EtherCAT communications are established.

  • Page 258: Overload Characteristics (Electronic Thermal Function)

    3 Specifications 3-1-17 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 259 3 Specifications • 200 W • 400 W R88M-1M20030S R88M-1M40030S 10000 10000 S,BS (rotation) S,BS (rotation) S,BS (lock) S,BS (lock) 1000 OS (rotation) 1000 OS,BOS (rotation) OS (lock) OS,BOS (lock) BOS (rotation) BOS (lock) 100% 150% 200% 250% 300% 350% 400% 100% 150%...
  • Page 260 3 Specifications • 750 W • 900 W, 1 kW R88M-1M75030T R88M-1L1K030T/-1M1K020T/-1M90010T 10000 10000 1L1K030T (rotation) S,BS (rotation) 1L1K030T (lock) S,BS (lock) 1000 1000 1M1K020T (rotation) OS,BOS (rotation) 1M1K020T (lock) OS,BOS (lock) 1M90010T (rotation) 1M90010T (lock) 0.31 s 100% 100% 150% 200% 250%...
  • Page 261 3 Specifications • 4.7 kW, 5 kW • 7.5 kW, 11 kW, 15 kW R88M-1L4K730T/-1M5K015T R88M-1M7K515T/-1M11K015T/-1M15K015T 10000 10000 1L4K730T (rotation) 1M7K515T (rotation) 1M7K515T (lock) 1L4K730T (lock) 1000 1000 1M11K015T (rotation) 1M5K015T (rotation) 1M11K015T (lock) 1M5K015T (lock) 1M15K015T (rotation) 1M15K015T (lock) 100% 150% 200%...
  • Page 262 3 Specifications • 3 kW • 4 kW R88M-1L3K030C/-1M3K020C/-1M3K010C R88M-1L4K030C/-1M4K015C 10000 10000 1L3K030C (rotation) 1L4K030C (rotation) 1L3K030C (lock) 1L4K030C (lock) 1000 1M3K020C (rotation) 1000 1M4K015C (rotation) 1M3K020C (lock) 1M4K015C (lock) 1M3K010C (rotation) 1M3K010C (lock) 100% 100% 150% 200% 250% 300% 350% 400% 150%...

  • Page 263: Servomotor Specifications

    3 Specifications Servomotor Specifications The following 1S-Series AC Servomotors are available. • 3,000-r/min Servomotors • 2,000-r/min Servomotors • 1,500-r/min Servomotors • 1,000-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 264: 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 23 bits Multi-rotation data hold 16 bits Power supply voltage 5 VDC±10% Current consumption 230 mA max. Output signal Serial communications Output interface RS485 compliant...

  • Page 265: Characteristics

    3 Specifications 3-2-3 Characteristics 3,000-r/min Servomotors Model (R88M-) 100 VAC Item Unit 1M05030S 1M10030S 1M20030S 1M40030S Rated output* N·m 0.159 0.318 0.637 1.27 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 6,000 N·m 0.48 0.95 1.91 Momentary maximum torque* A (rms) 1.20 1.50...
  • Page 266 3 Specifications Model (R88M-) 200 VAC Item Unit 1M05030T 1M10030T 1M20030T 1M40030T 1M75030T Rated output* N·m 0.159 0.318 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* 0.56* 1.11* 2.2* 4.5* 8.4* A (rms)
  • Page 267 3 Specifications Model (R88M-) 200 VAC Item Unit 1L1K030T 1L1K530T 1L2K030T 1L3K030T 1,000 1,500 2,000 3,000 Rated output* N·m 3.18 4.77 6.37 9.55 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 5,000 N·m 9.55 14.3 19.1 28.7 Momentary maximum torque* A (rms) 12.5...
  • Page 268 3 Specifications Model (R88M-) 200 VAC Item Unit 1L4K030T 1L4K730T 4,000 4,700 Rated output* N·m 12.7 15.0 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 5,000 N·m 38.2 47.7 Momentary maximum torque* A (rms) 22.8 25.7 Rated current* A (rms) 74.0 84.8...
  • Page 269 3 Specifications Model (R88M-) 400 VAC Item Unit 1L75030C 1L1K030C 1L1K530C 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 270 3 Specifications Model (R88M-) 400 VAC Item Unit 1L2K030C 1L3K030C 1L4K030C 1L5K030C 2,000 3,000 4,000 5,000 Rated output* N·m 6.37 9.55 12.7 15.9 Rated torque* r/min 3,000 Rated rotation speed* Maximum rotation speed r/min 5,000 N·m 19.1 28.7 38.2 47.7 Momentary maximum torque* A (rms) 12.8...
  • Page 271 3 Specifications The allowable radial loads are applied as shown in the following diagram. Radial load Thrust load Center of shaft (LR/2) *6. When the brake is released for a vertical axis, refer to 7-6 Brake Interlock on page 7-22 to set an appropriate value for Brake Interlock Output (4610 hex).
  • Page 272 3 Specifications  Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (100 VAC) The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input. • R88M-1M05030S • R88M-1M10030S • R88M-1M20030S Momentary Momentary Momentary operation range operation range operation range Continuous Continuous Continuous...
  • Page 273 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-1M05030T • R88M-1M10030T • R88M-1M20030T Momentary Momentary Momentary operation range operation range operation range Continuous...
  • Page 274 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-1L75030C • R88M-1L1K030C • R88M-1L1K530C Momentary Momentary Momentary operation range operation range operation range Continuous Continuous...
  • Page 275 3 Specifications 2,000-r/min Servomotors Model (R88M-) 200 VAC Item Unit 1M1K020T 1M1K520T 1M2K020T 1M3K020T 1,000 1,500 2,000 3,000 Rated output* N·m 4.77 7.16 9.55 14.3 Rated torque* r/min 2,000 Rated rotation speed* Maximum rotation speed r/min 3,000 N·m 14.3 21.5 28.7 43.0 Momentary maximum torque*...
  • Page 276 3 Specifications Model (R88M-) 400 VAC Item Unit 1M40020C 1M60020C 1M1K020C 1,000 Rated output* N·m 1.91 2.86 4.77 Rated torque* r/min 2,000 Rated rotation speed* Maximum rotation speed r/min 3,000 N·m 5.73 8.59 14.3 Momentary maximum torque* A (rms) Rated current* A (rms) Momentary maximum current* Rotor inertia...
  • Page 277 3 Specifications Model (R88M-) 400 VAC Item Unit 1M1K520C 1M2K020C 1M3K020C 1,500 2,000 3,000 Rated output* N·m 7.16 9.55 14.3 Rated torque* r/min 2,000 Rated rotation speed* Maximum rotation speed r/min 3,000 N·m 21.5 28.7 43.0 Momentary maximum torque* A (rms) Rated current* A (rms) 13.5...
  • Page 278 3 Specifications The allowable radial loads are applied as shown in the following diagram. Radial load Thrust load Center of shaft (LR/2) *5. When the brake is released for a vertical axis, refer to 7-6 Brake Interlock on page 7-22 to set an appropriate value for Brake Interlock Output (4610 hex).
  • Page 279 3 Specifications  Torque-Rotation Speed Characteristics for 2,000-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-1M1K020T • R88M-1M1K520T • R88M-1M2K020T Momentary Momentary Momentary operation range operation range operation range Continuous...
  • Page 280 3 Specifications  Torque-Rotation Speed Characteristics for 2,000-r/min Servomotors (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input. • R88M-1M40020C • R88M-1M60020C • R88M-1M1K020C Momentary Momentary Momentary operation range operation range operation range Continuous Continuous Continuous...
  • Page 281 3 Specifications 1,500-r/min Servomotors Model (R88M-) 200 VAC Item Unit 1M4K015T 1M5K015T 1M7K515T 1M11K015T 1M15K015T 4,000 5,000 7,500 11,000 15,000 Rated output* N·m 25.5 31.8 47.8 70.0 95.5 Rated torque* r/min 1,500 Rated rotation speed* Maximum rotation speed r/min 3,000 2,000 N·m 75.0...
  • Page 282 3 Specifications Model (R88M-) 400 VAC Item Unit 1M4K015C 1M5K515C 1M7K515C 1M11K015C 1M15K015C 4,000 5,500 7,500 11,000 15,000 Rated output* N·m 25.5 35.0 47.8 70.0 95.5 Rated torque* r/min 1,500 Rated rotation speed* Maximum rotation speed r/min 3,000 2,000 N·m 75.0 95.0 Momentary maximum torque*...
  • Page 283 3 Specifications The allowable radial loads are applied as shown in the following diagram. Radial load Thrust load Center of shaft (LR/2) *5. When the brake is released for a vertical axis, refer to 7-6 Brake Interlock on page 7-22 to set an appropriate value for Brake Interlock Output (4610 hex).
  • Page 284 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 200-VAC input. • R88M-1M4K015T • R88M-1M5K015T • R88M-1M7K515T Momentary Momentary Momentary operation range operation range operation range Continuous Continuous...
  • Page 285 3 Specifications  Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input. • R88M-1M4K015C • R88M-1M5K515C • R88M-1M7K515C Momentary Momentary Momentary operation range operation range operation range Continuous Continuous Continuous...
  • Page 286 3 Specifications 1,000-r/min Servomotors Model (R88M-) 200 VAC Item Unit 1M90010T 1M2K010T 1M3K010T 2,000 3,000 Rated output* N·m 8.59 19.1 28.7 Rated torque* r/min 1,000 Rated rotation speed* Maximum rotation speed r/min 2,000 N·m 19.3 47.7 71.7 Momentary maximum torque* A (rms) 14.4 21.2...
  • Page 287 3 Specifications Model (R88M-) 400 VAC Item Unit 1M90010C 1M2K010C 1M3K010C 2,000 3,000 Rated output* N·m 8.59 19.1 28.7 Rated torque* r/min 1,000 Rated rotation speed* Maximum rotation speed r/min 2,000 N·m 19.3 47.7 71.7 Momentary maximum torque* A (rms) 10.6 Rated current* A (rms)
  • Page 288 3 Specifications The allowable radial loads are applied as shown in the following diagram. Radial load Thrust load Center of shaft (LR/2) *5. When the brake is released for a vertical axis, refer to 7-6 Brake Interlock on page 7-22 to set an appropriate value for Brake Interlock Output (4610 hex).
  • Page 289 3 Specifications  Torque-Rotation Speed Characteristics for 1,000-r/min Servomotors (200/400 VAC) The following graphs show the characteristics with a 3-m standard cable and a single-phase 220-VAC or 3-phase 400-VAC input. • R88M-1M90010T • R88M-1M2K010T • R88M-1M3K010T Momentary Momentary Momentary operation range operation range operation range Continuous...

  • Page 290: Decelerator Specifications

    3 Specifications Decelerator Specifications The following tables list the Decelerator models for 1S-series Servomotors. 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- Rated Effi-...
  • Page 291 3 Specifications Momen- Momen- Rated tary Allow- Allow- tary Servo- rota- Rated Effi- maxi- Decelerator able able Reduc- maxi- Weight motor tion torque ciency inertia radial thrust tion Model rated speed rotation load load ratio torque output speed r/min N·m r/min N·m ×...
  • Page 292 3 Specifications  For 2,000-r/min Servomotors Momen- Momen- Rated tary Allow- Allow- tary Servo- rota- Rated Effi- maxi- Decelerator able able Reduc- maxi- Weight motor tion torque ciency inertia radial thrust tion Model rated speed rotation load load ratio torque output speed r/min...
  • Page 293 3 Specifications  For 1,500-r/min Servomotors Momen- Momen- Rated tary Allow- Allow- tary Servo- rota- Rated Effi- maxi- Decelerator able able Reduc- maxi- Weight motor tion torque ciency inertia radial thrust tion Model rated speed rotation load load ratio torque output speed r/min...
  • Page 294 3 Specifications  For 1,000-r/min Servomotors Momen- Momen- Rated tary Allow- Allow- tary Servo- rota- Rated Effi- maxi- Decelerator able able Reduc- maxi- Weight motor tion torque ciency inertia radial thrust tion Model rated speed rotation load load ratio torque output speed r/min...
  • Page 295 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 296 3 Specifications Radial load Thrust load Center of shaft (T/2) 4. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.) 5. Take care so that the surface temperature of the Decelerator does not exceed 90°C. 3 - 76 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • Page 297: Cable And Connector Specifications

    3 Specifications Cable and Connector Specifications This section describes the specifications of the cables to connect between Servo Drives and Servomo- tors, and the connectors to be used. Select an appropriate cable for the Servomotor. Precautions for Correct Use The regulations for cables differ according to the country in use. (The regulations can also be different in the same country according to the region or where the Servomotors are installed.) Therefore, be sure to check to the respective certificate institution for a cable that conforms to the regulations of each country.
  • Page 298 3 Specifications Encoder Cables (Standard Cable)  R88A-CR1AC Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 50 W, 100 W, 200 W, 400 W, and 750 W Cable types Outer diameter of Model Length [L] Weight sheath R88A-CR1A003C 5.3 dia.
  • Page 299 3 Specifications  R88A-CR1BN Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW to 3 kW, 2,000-r/min Servomotors, and 1,000-r/min Servomotors 400 V: 3,000-r/min Servomotors of 3 kW or less, 2,000-r/min Servomotors, and 1,000-r/min Servomotors Cable types Outer diameter of Model Length [L] Weight...
  • Page 300 3 Specifications  R88A-CR1BV Applicable Servomotors 200 V and 400 V: 3,000-r/min Servomotors of 4 kW or more, and 1,500-r/min Servomotors Cable types Outer diameter of Model Length [L] Weight sheath R88A-CR1B003V 6.0 dia. Approx. 0.3 kg R88A-CR1B005V Approx. 0.4 kg R88A-CR1B010V 10 m Approx.
  • Page 301 3 Specifications Encoder Cables (Flexible Cable)  R88A-CR1ACF Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 50 W, 100 W, 200 W, 400 W, and 750 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CR1A003CF 5.3 dia.
  • Page 302 3 Specifications  R88A-CR1BNF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW to 3 kW, 2,000-r/min Servomotors, and 1,000-r/min Servomotors 400 V: 3,000-r/min Servomotors of 3 kW or less, 2,000-r/min Servomotors, and 1,000-r/min Servomotors Cable types Outer diame- Minimum bending Model Length [L] Weight...
  • Page 303 3 Specifications  R88A-CR1BVF Applicable Servomotors 200 V and 400V: 3,000-r/min Servomotors of 4 kW or more, and 1,500-r/min Servomotors Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CR1B003VF 6.0 dia. 33 mm Approx. 0.3 kg R88A-CR1B005VF Approx.

  • Page 304: Motor Power Cable Specifications

    3 Specifications 3-4-2 Motor Power Cable Specifications These cables are used to connect the Servo Drive and Servomotor. Select an appropriate cable for the Servomotor. Precautions for Correct Use If the cable is used in a moving part, use a flexible cable. Power Cables without Brake Wire (Standard Cable) ...
  • Page 305 3 Specifications  R88A-CA1BS Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW, 2,000-r/min Servomotors of 1 kW, and 1,000-r/min Servomotors of 900 W Cable types Outer diameter of Model Length [L] Weight sheath R88A-CA1B003S 10.8 dia. Approx. 1.0 kg R88A-CA1B005S Approx.
  • Page 306 3 Specifications  R88A-CA1CS Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1.5 kW and 2,000-r/min Servomotors of 1.5 kW 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, and 2 kW 2,000-r/min Servomotors of 400 W, 600 W, 1 kW, 1.5 kW, and 2 kW 1,000-r/min Servomotors of 900 W Cable types Outer diameter of...
  • Page 307 3 Specifications  R88A-CA1ES Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW, 3 kW 2,000-r/min Servomotors of 2 kW, 3 kW 1,000-r/min Servomotors of 2 kW 400 V: 3,000-r/min Servomotors of 3 kW 2,000-r/min Servomotors of 3 kW 1,000-r/min Servomotors of 2 kW, 3 kW Cable types Outer diameter of Model...
  • Page 308 3 Specifications  R88A-CA1FS Applicable Servomotors 200 V: 1,000-r/min Servomotors of 3 kW Cable types Outer diameter of Model Length [L] Weight sheath R88A-CA1F003S 14.5 dia. Approx. 1.9 kg R88A-CA1F005S Approx. 3.0 kg R88A-CA1F010S 10 m Approx. 5.8 kg R88A-CA1F015S 15 m Approx.
  • Page 309 3 Specifications Power Cables without Brake Wire (Flexible Cable)  R88A-CA1ASF Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1A003SF...
  • Page 310 3 Specifications  R88A-CA1BSF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW, 2,000-r/min Servomotors of 1 kW, and 1,000-r/min Servomotors of 900 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1B003SF 10.8 dia. 90 mm Approx.
  • Page 311 3 Specifications  R88A-CA1CSF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1.5 kW 2,000-r/min Servomotors of 1.5 kW 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, and 2 kW 2,000-r/min Servomotors of 400 W, 600 W, 1 kW, 1.5 kW, and 2 kW 1,000-r/min Servomotors of 900 W Cable types Outer diame-...
  • Page 312 3 Specifications  R88A-CA1ESF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW, 3 kW 2,000-r/min Servomotors of 2 kW, 3 kW 1,000-r/min Servomotors of 2 kW 400 V: 3,000-r/min Servomotors of 3 kW 2,000-r/min Servomotors of 3 kW 1,000-r/min Servomotors of 2 kW, 3 kW Cable types Outer diame- Minimum bending...
  • Page 313 3 Specifications  R88A-CA1FSF Applicable Servomotors 200 V: 1,000-r/min Servomotors of 3 kW Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1F003SF 14.5 dia. 100 mm Approx. 1.9 kg R88A-CA1F005SF Approx. 3.0 kg R88A-CA1F010SF 10 m Approx.
  • Page 314 3 Specifications  R88A-CA1HSF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 4 kW, 4.7 kW 1,500-r/min Servomotors of 4 kW, 5 kW 400 V: 3,000-r/min Servomotors of 4 kW, 5 kW 1,500-r/min Servomotors of 4 kW, 5.5 kW, 7.5 kW Cable types Outer diame- Minimum bending...
  • Page 315 3 Specifications  R88A-CA1JSF Applicable Servomotors 400 V: 1,500-r/min Servomotors of 11 kW, 15 kW Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1J003SF 17.3 dia. 173 mm Approx. 2.4 kg R88A-CA1J005SF Approx. 3.3 kg R88A-CA1J010SF 10 m Approx.
  • Page 316 3 Specifications  R88A-CA1KSF Applicable Servomotors 200 V: 1,500-r/min Servomotors of 7.5 kW, 11 kW, 15 kW Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1K003SF 23.2 dia. 232 mm Approx. 4.8 kg R88A-CA1K005SF Approx.
  • Page 317 3 Specifications Power Cables without Brake Wire (Non-load side, Flexible Cable)  R88A-CA1ASFR Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 50 W, 200 W, 400 W, and 750 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius...
  • Page 318 3 Specifications Power Cables with Brake Wire (Standard Cable)  R88A-CA1BB Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW 2,000-r/min Servomotors of 1 kW 1,000-r/min Servomotors of 900 W Cable types Outer diameter of Model Length [L] Weight sheath R88A-CA1B003B 12.5 dia.
  • Page 319 3 Specifications  R88A-CA1CB Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1.5 kW 2,000-r/min Servomotors of 1.5 kW Cable types Outer diameter of Model Length [L] Weight sheath R88A-CA1C003B 12.5 dia. Approx. 1.2 kg R88A-CA1C005B Approx. 1.9 kg R88A-CA1C010B 10 m Approx.
  • Page 320 3 Specifications  R88A-CA1DB Applicable Servomotors 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, and 2 kW 2,000-r/min Servomotors of 400 W, 600 W, 1 kW, 1.5 kW, and 2 kW 1,000-r/min Servomotors of 900 W Cable types Outer diameter of Model Length [L]...
  • Page 321 3 Specifications  R88A-CA1EB Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW, 3 kW 2,000-r/min Servomotors of 2 kW, 3 kW 1,000-r/min Servomotors of 2 kW 400 V: 3,000-r/min Servomotors of 3 kW 2,000-r/min Servomotors of 3 kW 1,000-r/min Servomotors of 2 kW, 3 kW Cable types Outer diameter of Model...
  • Page 322 3 Specifications  R88A-CA1FB Applicable Servomotors 200 V: 1,000-r/min Servomotors of 3 kW Cable types Outer diameter of Model Length [L] Weight sheath R88A-CA1F003B 17.0 dia. Approx. 2.2 kg R88A-CA1F005B Approx. 3.5 kg R88A-CA1F010B 10 m Approx. 6.7 kg R88A-CA1F015B 15 m Approx.
  • Page 323 3 Specifications Power Cables with Brake Wire (Flexible Cable)  R88A-CA1BBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1 kW 2,000-r/min Servomotors of 1 kW 1,000-r/min Servomotors of 900 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1B003BF...
  • Page 324 3 Specifications  R88A-CA1CBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 1.5 kW 2,000-r/min Servomotors of 1.5 kW Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1C003BF 12.5 dia. 90 mm Approx. 1.2 kg R88A-CA1C005BF Approx.
  • Page 325 3 Specifications  R88A-CA1DBF Applicable Servomotors 400 V: 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, and 2 kW 2,000-r/min Servomotors of 400 W, 600 W, 1 kW, 1.5 kW, and 2 kW 1,000-r/min Servomotors of 900 W Cable types Outer diameter Minimum bending Model...
  • Page 326 3 Specifications  R88A-CA1EBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 2 kW, 3 kW 2,000-r/min Servomotors of 2 kW, 3 kW 1,000-r/min Servomotors of 2 kW 400 V: 3,000-r/min Servomotors of 3 kW 2,000-r/min Servomotors of 3 kW 1,000-r/min Servomotors of 2 kW, 3 kW Cable types Outer diameter Minimum bending...
  • Page 327 3 Specifications  R88A-CA1FBF Applicable Servomotors 200 V: 1,000-r/min Servomotors of 3 kW Cable types Outer diameter Minimum bending Model Length [L] Weight of sheath radius R88A-CA1F003BF 17.0 dia. 100 mm Approx. 2.2 kg R88A-CA1F005BF Approx. 3.5 kg R88A-CA1F010BF 10 m Approx.
  • Page 328 3 Specifications  R88A-CA1HBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 4 kW, 4.7 kW 1,500-r/min Servomotors of 4 kW, 5 kW 400 V: 3,000-r/min Servomotors of 4 kW, 5 kW 1,500-r/min Servomotors of 4 kW, 5.5 kW, 7.5 kW Cable types Outer diameter Minimum bending...
  • Page 329 3 Specifications  R88A-CA1JBF Applicable Servomotors 400 V: 1,500-r/min Servomotors of 11 kW, 15 kW Cable types Outer diameter Minimum bending Model Length [L] Weight of sheath radius R88A-CA1J003BF 17.3 dia. 173 mm Approx. 2.4 kg R88A-CA1J005BF Approx. 3.3 kg R88A-CA1J010BF 10 m Approx.
  • Page 330 3 Specifications  R88A-CA1KBF Applicable Servomotors 200 V: 1,500-r/min Servomotors of 7.5 kW, 11 kW, 15 kW Cable types Outer diameter Minimum bending Model Length [L] Weight of sheath radius R88A-CA1K003BF 23.2 dia. 232 mm Approx. 4.8 kg R88A-CA1K005BF Approx. 6.7 kg R88A-CA1K010BF 10 m Approx.
  • Page 331 3 Specifications Extension Cables  R88A-CA1HEBF Applicable Servomotors 200 V: 3,000-r/min Servomotors of 4 kW, 4.7 kW 1,500-r/min Servomotors of 4 kW, 5 kW 400 V: 3,000-r/min Servomotors of 4 kW, 5 kW 1,500-r/min Servomotors of 4 kW, 5 kW, 7.5 kW Cable types Outer diameter Minimum bending...
  • Page 332 3 Specifications  R88A-CA1JEBF Applicable Servomotors 400 V: 1,500-r/min Servomotors of 11 kW, 15 kW Cable types Outer diameter Minimum bending Model Length [L] Weight of sheath radius R88A-CA1JE10BF 10 m 17.3 dia. 173 mm Approx. 6.2 kg R88A-CA1JE20BF 20 m Approx.
  • Page 333 3 Specifications  R88A-CA1KEBF Applicable Servomotors 200 V: 1,500-r/min Servomotors of 7.5 kW, 11 kW, 15 kW Cable types Outer diameter Minimum bending Model Length [L] Weight of sheath radius R88A-CA1KE10BF 10 m 23.2 dia. 232 mm Approx. 12.8 kg R88A-CA1KE20BF 20 m Approx.
  • Page 334 3 Specifications Brake Cables (Standard Cable)  R88A-CA1AB Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W Cable types Outer diameter of Model Length [L] Weight sheath R88A-CA1A003B 5.0 dia. Approx.
  • Page 335 3 Specifications Brake Cables (Flexible Cable)  R88A-CA1ABF Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1A003BF 5.0 dia.
  • Page 336 3 Specifications Brake Cables (Non-load side, Flexible Cable)  R88A-CA1ABFR Applicable Servomotors 100 V and 200 V: 3,000-r/min Servomotors of 50 W, 200 W, 400 W, and 750 W Cable types Outer diame- Minimum bending Model Length [L] Weight ter of sheath radius R88A-CA1A003BFR 5.0 dia.

  • Page 337: Combination Of Power Cable And Extension Cable

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

  • Page 338: Resistance To Bending Of Flexible Cable

    3 Specifications 3-4-4 Resistance to Bending of Flexible Cable If the cable is used in a moving part, use a flexible cable. The flexing life of a Flexible Cable is estimated under the following conditions. Precautions for Correct Use • Because the lifetime data on resistance to bending is intended for reference only, use the cable with a sufficient margin.
  • Page 339 3 Specifications  Power Cables without Brake Wire Bend test conditions Model Minimum bending Estimated life Stroke radius [R] 40 mm 500 mm 10 million times R88A-CA1ASF 40 mm 500 mm 10 million times R88A-CA1ASFR 90 mm 500 to 1,000 mm 20 million times R88A-CA1BSF R88A-CA1CSF...

  • Page 340: Connector Specifications

    1S-series Servomotors of all capacities Connector This is a soldering-type connector. Receptacle 3E206-0100KV (3M) Shell kit 3E306-3200-008 (3M) Receptacle and R88A-CN101R (OMRON) shell kit Applicable cable Applicable wire AWG 18 max. Insulating cover 2.1 mm dia. max. outer diameter Outer diameter of 5.4 to 7.5 mm dia.
  • Page 341 This is a crimping-type connector. For required tools, contact the manufacturers directly. Angle plug JN6FR07SM1 (Japan Aviation Electronics) Connector pin LY10-C1-A1-10000 (Japan Aviation Electronics) Angle plug and con- R88A-CNK02R (OMRON) nector pin Applicable cable Applicable wire AWG 22 max. Insulating cover 1.3 mm dia. max.
  • Page 342 This is a crimping-type connector. For required tools, contact the manufacturers directly. Straight plug JN2VDS10SL1 (Japan Aviation Electronics) Contact JN2V-22-22S-10000 (Japan Aviation Electronics) Straight plug and R88A-CN105R (OMRON) contact Applicable cable Applicable wire AWG 21 max. Outer diameter of 5.7 to 7.3 mm dia.
  • Page 343 This is a crimping-type connector. For required tools, contact the manufacturers directly. Angle plug JN6FR02SM1 (Japan Aviation Electronics) Socket contact LY10-C1-A1-10000 (Japan Aviation Electronics) Angle plug and R88A-CN111B (OMRON) socket contact Applicable cable Applicable wire AWG 22 to 26 Insulating cover 0.8 to 1.3 mm dia.

  • Page 344: 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 345 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 346 IN OUT  Wiring Example of Configuring Ring Topology This example shows how to connect an NJ/NX-series CPU Unit to Servo Drives via an OMRON GX-JC03 EtherCAT Junction Slave by the use of EtherCAT Communications Cables. Connect the NJ/NX-series CPU unit to the IN connector on the EtherCAT Junction Slave. Connect the X2 con- nector (start port of the ring) on the EtherCAT Junction Slave to the ECAT IN connector on the first Servo Drive.

  • Page 347: 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 2-119 for external dimensions.

  • Page 348: Characteristics

    3 Specifications 3-5-2 Characteristics External Regeneration Resistor External Regeneration Resistor Power to Applicable Heat Servo Drive Resis- Heat Wire size absorbed radiation (R88D-1SN Model tance radiation Weight for 120°C specifica- -ECT) value condition tempera- tion ture rise 01L, 02L R88A-RR12015 15 Ω...
  • Page 349 3 Specifications External Regeneration Resistance Unit External Regeneration Resistance Unit Applicable Power to be Servo Resis- absorbed Heat Drive Wire size Model tance for 120°C radiation Weight (R88D-1SN value tempera- specification -ECT) ture rise 150H R88A-RR1K602R5 2.5 Ω 640 W Forced cool- 8.0 kg AWG 16 to 10,...

  • Page 350: External Regeneration Resistance Unit Specifications

    3 Specifications 3-5-3 External Regeneration Resistance Unit Specifications This section describes terminal block specifications of external regeneration resistance unit with Fan. 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)
  • Page 351 3 Specifications /SENS Signal Output Waveform Fan operating Fan not Fan operating operating 5 max. 0.5 max. 3 max. TIME (s) WARNING Design the configuration to cut off the main circuit power supply when the ERR signal (nor- mally close contact) of the control output function is output (open). Not doing so may cause a fire.

  • Page 352: External Dynamic Brake Resistor

    3 Specifications External Dynamic Brake Resistor This section describes the specifications of the External Dynamic Brake Resistor. For the external dimensions, refer to 2-4-7 Dimensions of External Dynamic Brake Resistors on page 2-120. 3-6-1 General Specifications Model Item R88A-DBR300 Dielectric strength Between terminals and case: 2,000 VAC for 1 min (at 50/60 Hz) Insulation resistance Between terminals and case: 20 MΩ...

  • Page 353: 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 2-4-8 Reactor Dimensions on page 2-121 for dimensions. 3-7-1 General Specifications Model Item R88A-PD20/200 VAC R88A-PD40/400 VAC...

  • Page 354: Terminal Block Specifications

    3 Specifications Applicable Servo Drive DC Reactor Rated Inductance Wire size Voltage Model Model Weight current (0% to 20%) 400 VAC R88D- R88A- 3.0 A 27 mH 2.0 kg AWG 16 to 10, 1SN06F-ECT PD4007 1.3 to 5.5 mm R88D- R88A- 4.7 A 14 mH...

  • Page 355: 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, the Book-type and Footprint-type Noise Filters conform to the EMC Direc- tives. (Noise filter manufacturer: Soshin electric Co., Ltd.) Select a noise filter according to the your sys- tem.

  • Page 356: Characteristics

    3 Specifications 3-8-2 Characteristics Wire on power supply Applicable Servo Drive Noise filter side Rated Leakage Strip Voltage Model Model Weight Wire size current current length Single- R88D- R88A- 3 Arms 6.6 mA 0.95 kg AWG 20 to 16, 8 to 9 mm phase 1SN01L-ECT FI1S103...

  • Page 357: Terminal Block Specifications

    3 Specifications Wire on power supply Applicable Servo Drive Noise filter side Rated Leakage Strip Voltage Model Model Weight Wire size current current length 3-phase R88D- R88A- 9 Arms 27 mA 2.9 kg AWG 16 to 14, 8 to 9 mm 400 VAC 1SN06F-ECT FI1S309...
  • Page 358 3 Specifications R88A-FI1S2 R88A-FI1S3 3 - 138 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 359: Configuration And Wiring

    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 360: 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 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 361 4 Configuration and Wiring  Side-by-side Installation Air outlet Air intake Front view Side view Dimen- Distance sion 100 mm min. 100 mm min. 40 mm min. 10 mm min. R88D-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT/ 45 mm min. -1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT/-1SN10H-ECT R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN06F-ECT/ 60 mm min. -1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/-1SN30F-ECT 50 mm min.
  • Page 362 4 Configuration and Wiring Space Conditions around Servo Drives with its capacity 5.5 kW or more  Single-unit Installation Air outlet Air intake Front view Side view  Side-by-side Installation Air outlet Air intake Front view Side view Dimen- Distance sion R88D-1SN55H-ECT/-1SN75H-ECT/-1SN55F-ECT/-1SN75F-ECT 200 mm min.
  • Page 363 4 Configuration and Wiring Dimen- Distance sion 40 mm min. R88D-1SN55H-ECT/-1SN75H-ECT/-1SN55F-ECT/-1SN75F-ECT 130 mm min. R88D-1SN150H-ECT/-1SN150F-ECT 170 mm min. 50 mm min. 450 mm min. • Install the Servo Drive on the vertical metal surface. • To provide electrical conduction, remove any paint from the surface on which you install the Servo Drives.
  • Page 364 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 365: 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 366 4 Configuration and Wiring Connecting to Mechanical Systems • For the allowable axial loads for Servomotors, refer to 3-2-3 Characteristics on page 3-45. If an axial load Ball screw center line 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 367 4 Configuration and Wiring to five times. For a procedure of the change of the cable outlet direction, refer to 4-2-3 Connector Attachment Procedure on page 4-40. Water and Drip Resistance The protective structure rating of the Servomotor is IP67, except for the through-shaft part and connec- tor pins.
  • Page 368 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 369: 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 370 4 Configuration and Wiring  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 371 19.6 Using a Non-OMRON Decelerator (Reference) If you use a non-OMRON decelerator together with a 1S-series Servomotor due to system configura- tion requirement, select the Decelerator so that the loads on the motor shaft i.e., both the radial and thrust loads are within the allowable ranges. For the allowable axial loads for Servomotors, refer to 3-2-3 Characteristics on page 3-45.

  • Page 372: External Regeneration Resistor And External Regeneration Resistance Unit Installation Conditions

    4 Configuration and Wiring 4-1-4 External Regeneration Resistor and External Regeneration Resistance Unit Installation 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 with Fan Installation Condi- tions Obey the following conditions along with the general installation conditions when installing.

  • Page 373: Footprint-Type Noise Filter Installation Conditions

    4 Configuration and Wiring 4-1-5 Footprint-type Noise Filter Installation Conditions Satisfy the space conditions around Servo Drives that are described in 4-1-1 Servo Drive Installation Conditions on page 4-2. Use the attached exclusive screws when you mount the Servo Drive to the Noise Filter. The tightening torque for the exclusive screws is 1.2 N·m±10%.

  • Page 374: External Dynamic Brake Resistor Installation Condition

    4 Configuration and Wiring 4-1-6 External Dynamic Brake Resistor Installation Condition Obey the following conditions when installing. • Clearance with peripheral equipment: 50 mm min. • Wire length: 3 m max. Use attached connectors when extending wirings. Specifications for the connectors are shown below. •...

  • Page 375: Wiring

    4 Configuration and Wiring Wiring This section gives the examples of connection with peripheral equipment and wiring such as connec- tion of the main circuit and Servomotor. 4 - 17 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 376: Peripheral Equipment Connection Examples

    4 Configuration and Wiring 4-2-1 Peripheral Equipment Connection Examples R88D-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT -1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT (Single-phase Input) (*5) Single-phase 100 to 120 VAC, 50/60 Hz: R88D-1SN L-ECT Single-phase 200 to 240 VAC, 50/60 Hz: R88D-1SN H-ECT MCCB (Fuse) Noise filter (*1) E NF (*1) Main circuit power supply Main circuit contactor Ground to...
  • Page 377 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. This connection example is for when the book-type noise filter is used. When you use the footprint-type noise filter, built the system to directly con- nect the noise filter and the Servo Drive.
  • Page 378 4 Configuration and Wiring R88D-1SN01H-ECT/-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT (3-phase Input) (*5) 3-phase 200 to 240 VAC, 50/60 Hz: R88D-1SN H-ECT MCCB (Fuse) Noise filter (*1) Main circuit power supply Main circuit contactor (*1) Ground to 100 Ω or less Surge suppressor (*1) Servo error display 1S-series Servo Drive 1S-series Servomotor Brake cable...
  • Page 379 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. This connection example is for when the book-type noise filter is used. When you use the footprint-type noise filter, built the system to directly con- nect the noise filter and the Servo Drive.
  • Page 380 4 Configuration and Wiring R88D-1SN10H-ECT (3-phase Input) (*4) 3-phase 200 to 240 VAC, 50/60 Hz: R88D-1SN H-ECT MCCB (Fuse) Noise filter (*1) Main circuit power supply Main circuit contactor (*1) Ground to 100 Ω or less Surge suppressor (*1) Servo error display 1S-series Servomotor 1S-series Servo Drive Power cable...
  • Page 381 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-26. This connection example is for when the book-type noise filter is used. When you use the footprint-type noise filter, built the system to directly con- nect the noise filter and the Servo Drive.
  • Page 382 4 Configuration and Wiring R88D-1SN15H-ECT (Single-phase Input) (*4) Single-phase 200 to 240 VAC, 50/60 Hz: R88D-1SN H-ECT MCCB (Fuse) Noise filter (*1) Main circuit power supply Main circuit contactor (*1) Ground to 100 Ω or less Surge suppressor (*1) Servo error display 1S-series Servo Drive 1S-series Servomotor Power cable...
  • Page 383 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. This connection example is for when the book-type noise filter is used. When you use the footprint-type noise filter, built the system to directly con- nect the noise filter and the Servo Drive.
  • Page 384 4 Configuration and Wiring R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT (200 to 240 VAC) R88D-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/ -1SN30F-ECT (380 to 480 VAC Neutral grounding) (*4) 3-phase 200 to 240 VAC, 50/60 Hz: R88D-1SN H-ECT 3-phase 380 to 480 VAC, 50/60 Hz: R88D-1SN F-ECT MCCB (Fuse) Noise filter (*1) Main circuit power supply Main circuit contactor (*1) Ground...
  • Page 385 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. This connection example is for when the book-type noise filter is used. When you use the footprint-type noise filter, built the system to directly con- nect the noise filter and the Servo Drive.
  • Page 386 4 Configuration and Wiring R88D-1SN55H-ECT/-1SN75H-ECT (200 to 240 VAC) R88D-1SN55F-ECT/-1SN75F-ECT (380 to 480 VAC Neutral ground- ing) 3-phase 200 to 240 VAC, 50/60 Hz: R88D-1SN H-ECT (*6) 3-phase 380 to 480 VAC, 50/60 Hz: R88D-1SN F-ECT Breaker or Fuse Noise filter (*1) Main circuit power supply Main circuit contactor (*1)
  • Page 387 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. When a noise filter is used, install the surge absorber on the power supply input (LINE) side. When wiring multiple Servo Drives from the same power supply, use one noise filter for each Servo Drive regardless of whether the Servo Drives are operated at the same time.
  • Page 388 4 Configuration and Wiring R88D-1SN150H-ECT (*5) 3-phase 200 to 240 VAC, 50/60Hz MCCB (Breaker or Fuse) Noise filter (*1) Main circuit power supply Main circuit contactor (*1) Ground to 100 Ω or less (*1) Surge suppressor Servo error display 1S-series Servo Drive CN12 AC Reactor (*6) _BKIR1...
  • Page 389 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. When a noise filter is used, install the surge absorber on the power supply input (LINE) side. When wiring multiple Servo Drives from the same power supply, use one noise filter for each Servo Drive regardless of whether the Servo Drives are operated at the same time.
  • Page 390 4 Configuration and Wiring R88D-1SN150F-ECT (*5) 3-phase 380 to 480 VAC, 50/60 Hz MCCB (Breaker or Fuse) Noise filter (*1) Main circuit power supply (*1) Main circuit contactor Ground to 10 Ω or less Surge suppressor (*1) Servo error display 1S-series Servo Drive CN12 AC Reactor (*6)
  • Page 391 4 Configuration and Wiring *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives on page 4-47. When a noise filter is used, install the surge absorber on the power supply input (LINE) side. When wiring multiple Servo Drives from the same power supply, use one noise filter for each Servo Drive regardless of whether the Servo Drives are operated at the same time.

  • Page 392: Procedure For Wiring Terminal Block And Procedure For Mounting Shield Clamp To Servo Drive

    4 Configuration and Wiring 4-2-2 Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp to Servo Drive This section describes each procedure for wiring a terminal block and for mounting power cables or shield clamp to a Servo Drive. Precautions for Correct Use •...
  • Page 393 4 Configuration and Wiring • R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN06F-ECT/-1SN10F-ECT/ -1SN15F-ECT/-1SN20F-ECT/-1SN30F-ECT STRIP GAUGE STRIP GAUGE Wire Wire Strip length Strip length 8.5±0.5mm 13.7±0.5mm (CND) (CNA/CNB/CNC) 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.
  • Page 394 4 Configuration and Wiring R88D-1SN55H-ECT/ -1SN75H-ECT/ -1SN150H-ECT/ -1SN55F-ECT/ -1SN75F-ECT/ -1SN150F-ECT Remove the terminal block from the Servo Drive before wiring. The Servo Drive may be damaged if the wiring is done with the terminal block in place. The main circuit connector A (CNA) and the motor connector (CNC) for R88D-1SN150H-ECT are wired directly.
  • Page 395 4 Configuration and Wiring • R88D-1SN150H-ECT STRIP GAUGE Wire Wire Strip length Strip length 18-20 mm 10-11 mm (CND) (CNB/CNE) Strip length Wire Wire size 10-25 mm : 18 0.5 mm ± Wire size 35-50 mm : 20 0.5 mm ±...
  • Page 396 4 Configuration and Wiring Connect the wires. • R88D-1SN55-ECT/-1SN75-ECT/-1SN150-ECT Use fingers to push up the lever until it clicks into place. Insert the wire fully into the back of a wire hole while the lever is pushed up. Use fingers to push up the lever until it clicks into place.
  • Page 397 4 Configuration and Wiring Mount the shield clamp bracket. See below figures. Remove a screw and loosen another. Hook U-shape of the shield clamp bracket onto the loosened screw and tighten another screw. After that, tighten the screw of U-shape. Tightening torque: 1.5 N·m M4 x 10 Screw (Removed)

  • Page 398: Connector Attachment Procedure

    4 Configuration and Wiring 4-2-3 Connector Attachment Procedure This section describes the procedure for attaching a connector to a Servomotor. Use the following pro- cedure to fit the connectors. Servomotors with Flange Size of 80×80 or less Align the connector's orientation with the key position, and fit the connector into place. Tighten the screws to fix the connector after it is fitted.
  • Page 399 4 Configuration and Wiring Servomotors with Flange Size of 100×100 or more (Type JL10 Con- nector) Align of the main keys of the plug and receptacle. Receptacle Plug * The arrow mark on the receptacle shell indicates the position of the main key. Arrow mark Main key Press in the plug gently and turn the coupling nut clockwise.
  • Page 400 4 Configuration and Wiring Servomotors with Flange Size of 130×130 or more (Type M23 and M40 Connector)  Procedure for Mounting Connectors Turn the knurling nut of a cable plug to counterclockwise direction. When a printed “open” on the nut is aligned with a mark of the cable plug, the nut stops. If not aligned, the knurling nut cannot be inserted to the motor receptacle firmly.
  • Page 401 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 402: Procedure For Change Of Cable Outlet Direction For Connector Type M23 Or M40

    4 Configuration and Wiring 4-2-4 Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40 This section describes a procedure for change of cable outlet direction for connector Type M23 or M40. 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 403 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 404: Terminal Block Wiring Procedure For Footprint-Type Noise Filter

    4 Configuration and Wiring 4-2-5 Terminal Block Wiring Procedure for Footprint-type Noise Filter  R88A-FI1S1/-FI1S2 Screwdriver Front slot Wire • Insert a screwdriver (tip width 3.5 × 0.5 mm) into a front slot. • Insert the wire fully into the back of a wire hole. •...

  • Page 405: Wiring Conforming To Emc Directives

    4 Configuration and Wiring Wiring Conforming to EMC Directives 1S-series Servo Drives 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 products can conform to EMC Directives. When the products are installed in the equipment, the customer must perform the check to confirm that the overall machine conforms to EMC Directives.

  • Page 406: Peripheral Equipment Connection Examples

    4 Configuration and Wiring 4-3-1 Peripheral Equipment Connection Examples R88D-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT /-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT Ground plate ECAT IN CN10 P/B1 ECAT OUT CN11 (10) I/O slave Single-phase 100 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 407 Co., Ltd. LT-C32G801WS 3-phase 200 VAC Noise filter Soshin Electric 1-phase 100 VAC/200 VAC (20 A) HF2020A-SZC-33DDD Co., Ltd. 3-phase 200 VAC (20 A) HF3020C-SZC-33DDD OMRON R88A-FI1S103 1-phase R88D-1SN01L-ECT 1-phase R88D-1SN01H-ECT 1-phase R88D-1SN02H-ECT R88A-FI1S105 1-phase R88D-1SN02L-ECT 1-phase R88D-1SN04H-ECT R88A-FI1S109 1-phase R88D-1SN04L-ECT...
  • Page 408 4 Configuration and Wiring R88D-1SN10H-ECT Ground plate ECAT IN CN10 P/B1 ECAT OUT CN11 (10) I/O slave 3-phase 200 VAC Controller • Provide single-point grounding of the ground plate for unit frame grounding as shown in the above diagram. • Use a protective earth wire with a minimum thickness of 2.5 mm and arrange the wiring so that the protective earth wire is as short as possible.
  • Page 409 Model Remarks Surge absorber Soshin Electric Co., LT-C32G801WS 3-phase 200 VAC Ltd. Noise filter Soshin Electric Co., HF3020C-SZC-33DDD 3-phase 200 VAC (20 A) Ltd. OMRON R88A-FI1S208 3-phase R88D-1SN10H-ECT Servo Drive OMRON R88D-1SN10H-ECT Servomotor OMRON Ferrite core NEC TOKIN ESD-SR-250 Ferrite core...
  • Page 410 4 Configuration and Wiring R88D-1SN15H-ECT/ -1SN20H-ECT/ -1SN30H-ECT/ -1SN06F-ECT/ -1SN10F-ECT/ -1SN15F-ECT/ -1SN20F-ECT/ -1SN30F-ECT Ground plate ECAT IN CN10 +24V ECAT OUT CN11 (10) 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 411 Noise filter Soshin Electric Co., HF2020A-SZC-33DDD 1-phase 200 VAC (20 A) Ltd. HF3020C-SZC-33DDD 3-phase 200 VAC (20 A) 3-phase 400 VAC (20 A) HF3020C-SZC OMRON R88A-FI1S116 1-phase R88D-1SN15H-ECT R88A-FI1S216 3-phase R88D-1SN15H-ECT 3-phase R88D-1SN20H-ECT 3-phase R88D-1SN30H-ECT R88A-FI1S309 3-phase R88D-1SN06F-ECT 3-phase R88D-1SN10F-ECT...
  • Page 412 4 Configuration and Wiring R88D-1SN55H-ECT/ -1SN75H-ECT/ -1SN55F-ECT/ -1SN75F-ECT Ground plate ECAT IN CN10 +24V ECAT OUT CN11 (10) Shieid clamp 24 V I/O slave 3 phase: 200 VAC Controller 3 phase: 400 VAC Note • Provide single-point grounding of the ground plate for unit frame grounding as shown in the above diagram.
  • Page 413 HF3080C-SZC-33EDE 3-phase R88D-1SN55F-ECT HF3040C-SZA-47DDD 3-phase R88D-1SN75F-ECT *1*2 3-phase R88D-1SN75F-ECT HF3040C-SZL Servo Drive OMRON Servomotor OMRON Ferrite core NEC TOKIN ESD-SR-250 I/O slave Controller *1. Use a noise filter in a range of the ambient temperature from 0 to 50°C. Consult Soshin Electric Co., Ltd.
  • Page 414 4 Configuration and Wiring R88D-1SN150H-ECT/ -1SN150F-ECT Ground plate External regeneration resistor ECAT IN CN10 +24V ECAT OUT CN11 (10) Shield clamp 24 V I/O slave 3 phase: 200 VAC Controller 3 phase: 400 VAC Note • Provide single-point grounding of the ground plate for unit frame grounding as shown in the above diagram.
  • Page 415 3-phase 200 VAC Ltd. LT-C35G102WS 3-phase 400 VAC Noise filter Soshin Electric Co., 3-phase 200 VAC HF3100C-SZC-33EDE Ltd. 3-phase 400 VAC HF3080C-SZC-47EDE Servo Drive OMRON Servomotor OMRON Ferrite core NEC TOKIN ESD-SR-250 I/O slave Controller External regen- OMRON R88A-RR55002R5 3-phase 200 VAC...
  • Page 416 4 Configuration and Wiring Noise Filter for Power Input The following noise filters are recommended for Servo Drives. The noise filter comes in two types: book type and footprint type. Both types conform to the EMC Direc- tives. When a noise filter is used, install the surge absorber on the power supply input (LINE) side. Applicable Servo Drive Book-type Noise Filter Rated...
  • Page 417 Manu- Phase Voltage Model Model Leakage current current facturer Single- 100 V R88D-1SN01L-ECT R88A-FI1S103 3 Arms 6.6 mA (at 200 OMRON phase VAC 60Hz) R88D-1SN02L-ECT R88A-FI1S105 5 Arms R88D-1SN04L-ECT R88A-FI1S109 9 Arms 200 V R88D-1SN01H-ECT R88A-FI1S103 3 Arms R88D-1SN02H-ECT R88D-1SN04H-ECT...
  • Page 418 4 Configuration and Wiring • The power cables must be twisted or tightly bundled. Twist Tight bundle Servo Drive Servo Drive Bundle • Wire the power and signal lines separately.  External Dimensions of Book-type Noise Filter HF2020A-SZC-33DDD/HF3020C-SZC (-33DDD) HF3040C-SZA-33EDD/ HF3040C-SZA-47DDD/ HF3050C-SZB-33EDD 5.5 dia.
  • Page 419 4 Configuration and Wiring HF3080C-SZC-47EDE/ HF3100C-SZC-33EDE 6.5 dia.  Circuit Diagram of Book-type Noise Filter For single-phase LINE LOAD (PE) For 3-phase LINE LOAD (PE) 4 - 61 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 420: 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 421 4 Configuration and Wiring Inrush current (Ao-p) Servo Drive model Main circuit power supply R88D-1SN10F-ECT 32 A R88D-1SN15F-ECT 32 A R88D-1SN20F-ECT 32 A R88D-1SN30F-ECT 32 A R88D-1SN55F-ECT 68 A R88D-1SN75F-ECT 68 A R88D-1SN150F-ECT 68 A *1. If an external regeneration resistor is attached, the inrush currents of the main circuit power supplies in the above table will be increased.
  • Page 422 4 Configuration and Wiring  Selection of Leakage Breaker for Servo Drive at 3 kW or less Servo Drive Servomotor Leakage current Increase per 10 m of model model Input power (3 m cable) cable length (R88D-) (R88D-) 1SN01L-ECT 1M10030S Single-phase 100 V 0.6 mA 0.3 mA...
  • Page 423 4 Configuration and Wiring  Selection of Leakage Breaker for Servo Drives at 5.5 kW or more and Servo- motors at 4 kW or more Leakage current during use of both motor power cable and extension cable is shown. Select a leak- age breaker that has enough margin.
  • Page 424 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 425 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 426 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 427 4 Configuration and Wiring  DC Reactor Connection As shown in the following figure, remove the short-circuit wire between N1 and N2, and connect the DC Reactor between N1 and N2. Servo Drive DC Reactor Remove the short-circuit wire between N1 and N2. ...
  • Page 428 4 Configuration and Wiring UZDA-B-OMR1S5575F Terminal block top view 2-terminal M5 screw (16) 4-mounting hole for M6 bolt 70 max. UZDA-B-OMR1S150H 6-terminal for M8 bolt (25) 75±1 77±2 205±1 101±2 4-mounting hole for M6 bolt (51) 110 max. 4 - 70 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...
  • Page 429 4 Configuration and Wiring UZDA-B-OMR1S150F 6-terminal for M8 bolt (25) 77±2 75±1 205±1 101±2 4-mounting hole 105 max. (51) for M6 bolt Ferrite Core Use a ferrite core to reduce switching noise caused by PWM output of Servo Drive and radiated noise caused by internal oscillator circuit.

  • Page 430: 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 431 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 432 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 433: 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 434: 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 435: Connecting An External Regeneration Resistor

    4 Configuration and Wiring External Regeneration Resistance Unit R88A-RR1K6, R88A-RR550 Power to be absorbed for Heat radiation Model Resistance value 120°C tempera- specification ture rise R88A-RR1K602R5 2.5 Ω 640 W Forced cooling by the fan R88A-RR1K604 4 Ω R88A-RR1K605R4 5.4 Ω R88A-RR1K610 10 Ω...

  • Page 436: 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 437: Machine Accuracy For Servomotor

    4 Configuration and Wiring Machine Accuracy for Servomotor The following table shows the machine accuracy (Total Indicator Reading) for the output shaft and mounting parts of the Servomotor. Φb  R88M-1L Accuracy Item (mm) Runout of output shaft end (a) 0.02 Eccentricity of flange outer diameter to 0.06...
  • Page 438 4 Configuration and Wiring 4 - 80 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 439: 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 or Posi- tion Control Unit (Model: CJ1W-NC8). 5-1 Display Area and Settings ........5-2 5-1-1 Node Address Setting .

  • Page 440: 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 or...

  • Page 441: 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 442 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 443: 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 with built-in EtherCAT communications. Servo Drive Application layer Servo Drive application Object dictionary PDO mapping EtherCAT State...

  • Page 444: 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 445: 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 446: 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 use 1C12 hex for an RxPDO, and 1C13 hex for a TxPDO.
  • Page 447 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 448 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 449: Variable Pdo Mapping

    5 EtherCAT Communications 5-4-4 Variable PDO Mapping 1S-series Servo Drives 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 450: Sync Manager Pdo Mapping Assignment Settings

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

  • Page 451: Service Data Objects (Sdos)

    5 EtherCAT Communications Service Data Objects (SDOs) 1S-series Servo Drives support SDO communications. SDO communications are used for setting objects and monitoring the status of Servo Drives. The host controller performs object setting and sta- tus 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 452: Synchronization Mode And Communications Cycle

    5 EtherCAT Communications Synchronization Mode and Commu- nications Cycle 1S-series Servo Drives 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 to perform highly accurate control in a multi-axis sys- tem.

  • Page 453: Emergency Messages

    5 EtherCAT Communications Emergency Messages When an error or warning occurs in a 1S-series Servo Drive, an emergency message is sent to the master through SDO communications. An emergency message is not sent for a communications 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 454: 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 455 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 456 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 457 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 - 19 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 458: Cable Redundancy Function

    5 EtherCAT Communications Cable Redundancy Function Configuring a ring topology on the EtherCAT system enables communications to continue even if an EtherCAT physical layer link is disconnected in the ring topology. This function is available for the unit version 1.3 or later. Possible causes for the ring disconnection status in which an EtherCAT physical layer link is discon- nected are as follows: •...

  • Page 459: Procedure Of Checking Operation

    5 EtherCAT Communications NJ/NX-series Power supply unit CPU Unit Servo Drive A Servo Drive B Servo Drive C EtherCAT Junction Slave L/A L/A L/A L/A L/A L/A IN OUT IN OUT IN OUT The ring disconnection status may have resulted not because an EtherCAT communications cable is disconnected, but because a communications cable is broken or short-circuited, or because a Servo Drive broke down.
  • Page 460 5 EtherCAT Communications Check that the devices start up in the normal status. • Connect the EtherCAT communications cables correctly, and turn ON the power supply to the EtherCAT master and to the slaves. • Check that there is no problem with the EtherCAT master and the slaves. •...

  • Page 461: Slave Communications Statuses When Cable Redundancy Function Is Used

    5 EtherCAT Communications 5-9-4 Slave Communications Statuses When Cable Redundancy Func- tion Is Used This section takes the following example in which the cable redundancy function is used and a ring topology is configured, and describes communications statuses during normal operation and in the ring disconnection status.

  • Page 462: Relation Between The Network Configuration Information And The Actual Configuration

    5 EtherCAT Communications 5-9-5 Relation between the Network Configuration Information and the Actual Configuration The following table shows the relation between the network configuration information downloaded in an NJ/NX-series CPU Unit supporting the cable redundancy function and the actual configuration. Network Con- EtherCAT Actual Configura-...
  • Page 463 5 EtherCAT Communications The following example shows a case of No. 4. In this example, the communications status changes from the normal status to the ring disconnection status, and then the power supply to Device Y is turned OFF, which turns OFF the power supply to Slave C to E and causes a minor fault. Slave A, B, F, and G continue communications even after the minor fault occurs.
  • Page 464 5 EtherCAT Communications 5 - 26 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 465: Basic Control Functions

    6-8 Homing Mode ..........6-24 6-9 Connecting with OMRON Controllers ......6-25 6 - 1 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • Page 466: 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 can use the following controls to control Servomotors. • Position control • Velocity control • Torque control The following control methods are available for position control and velocity control.

  • Page 467: Control Method

    6 Basic Control Functions 6-1-2 Control Method For the 1S-series Servo Drives, 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 468 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 469: 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 470 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 471: 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 472 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 473: 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 474: 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 475 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 476: 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 477 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 478: 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 479 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 480: 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 481 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 482 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 483 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 484 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 485: 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 1S-series Servo Drive to control the velocity. It executes path generation based on the target velocity, profile acceleration, profile deceleration, and other information. The Profile velocity mode can be used when the communications period is 250 μs or more.
  • Page 486 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 487 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 488: 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 and the Position Control Unit (Model: CJ1W-NC8). In this procedure, the Position Control Unit creates a homing operation pattern and provides the command to the Servo Drive in the Cyclic synchronous position mode (csp) to perform the homing operation.

  • Page 489: 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 The following tables show the setting values required to use the control functions of the controller.
  • Page 490 6 Basic Control Functions Recom- Subindex Index (hex) Name mended Description (hex) setting 4631 Negative Drive Prohi- The Negative Drive Prohibition Input is allo- bition Input cated to General Input 3 (IN3) with negative logic (NC contact). Port Selection Logic Selection 4632 External Latch Input 1 The External Latch Input 1 is allocated to...
  • Page 491 6 Basic Control Functions Recom- Subindex Index (hex) Name mended Description (hex) setting 3001 Machine The gear ratio used by the Servo Drive is 8:1, and command units are set by the Motor Revolutions controller. Shaft Revolutions 3330 Torque Limit If both PCL and NCL are ON, the torque limit is controlled with the values of 60E0 Switching Selection...
  • Page 492 6 Basic Control Functions Precautions for Correct Use To use the interrupt feeding function of the Position Control Unit (CJ1W-NC8), set the Basic Functions – Control Method Selection servo parameter (3000-03 hex) to 0 (ODF con- trol). 6 - 28 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • Page 493: 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 494 7 Applied Functions 7-9 Soft Start ........... . 7-33 7-9-1 Objects Requiring Settings .

  • Page 495: 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 496: 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 497 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 463B Monitor Input 4 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. 463C Monitor Input 5 Sets the input signal allocation and logic.

  • Page 498: 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 499: 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 500: 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 501 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 4651 Servo Ready Output Sets the output signal allocations and logic. P. 9-124 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 502: 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 503: 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 504 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 505 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 506 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 507: 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 508: 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 509: 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 510: 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 511 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 512: 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 513: 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 514: 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. In the unit version 1.2 or later, you can select an output port from the brake output (BKIR) and a Gen- eral Output (OUT 1 to 3).
  • Page 515 7 Applied Functions Index Subindex Refer- Name Description (hex) (hex) ence 60FE Digital outputs P. A-61 Physical outputs Changes the function output status. P. A-61 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 516: 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 517: 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 518 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 519 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 520 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 521: Electronic Gear Function

    In such a case, set the electronic gear ratio of the Servo Drive to 2:1 or higher. When the Servo Drive is connected to an OMRON Position Control Unit (Model: CJ1W-NC8), set the electronic gear ratio to 8:1 or higher on the Servo Drive.

  • Page 522: Operation Example

    7 Applied Functions 7-7-2 Operation Example This example uses a motor with a 23-bit encoder (8,388,608 pulses per rotation). • If you set 3001-05 hex/3001-06 hex to 8,388,608/1,048,576, the operation is the same as the 20-bit Servomotor (1,048,576 pulses per rotation). Servo Drive Servomotor Encoder resolution: 23 bits...

  • Page 523: 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 524: 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 525: 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 526: 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 527: 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 528 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. 9-40 Control control. Mode Selection Selects the condition to switch between 1st P. 9-41 Filter and 2nd Filter. 0: Always 1st Filter 1: Always 2nd Filter 2: Gain switching command input via Ether-...

  • Page 529: 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 530: 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 531: 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 532 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 533: 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 534: 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 535: 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 536: 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 537: 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 538: 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. You can install the external dynamic brake resistor with a Servo Drive at 5.5 kW or more.

  • Page 539: Description Of Operation

    7 Applied Functions Subin- Refer- Index (hex) Name Description dex (hex) ence 3B20 Stop Selection P. 9-63 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 540 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 541 7 Applied Functions Deceleration operation Operation after stopping value Operation Deceleration stop (The deceleration stop Free torque is used.) Operation Free-run Operation Deceleration stop (The deceleration stop Free torque is used.) Operation Dynamic brake operation Operation Deceleration stop (The deceleration stop Dynamic brake operation torque is used.) Operation...

  • Page 542: Communications Error Period Command Correction Function

    7 Applied Functions 7-14 Communications Error Period Com- mand Correction Function If a target position is lost because of a communications error, this function corrects the next target posi- tion on the basis of the previous target position. 7-14-1 Operating Conditions The communications error period command correction function is always enabled under the following conditions.
  • Page 543 7 Applied Functions Without this function, the target positions will not be corrected and become as follows. Velocity of Position Command Communications Communications error occurs error occurs When no communications error occurs When a communications error occurs 7 - 51 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...
  • Page 544 7 Applied Functions 7 - 52 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 545: Safety Function

    Safety Function This function stops the motor based on a signal from a safety controller. This section provides the outline of the function and examples of operation and con- nection. 8-1 Safe Torque OFF Function ........8-2 8-2 STO Function via Safety Input Signals .

  • Page 546: Safe Torque Off Function

    8 Safety Function Safe Torque OFF Function The Safe Torque OFF (STO) function is used to cut off the motor current and stop the motor through the input signals from a safety controller. When the STO function is activated, the Servo Drive turns OFF the Servo Ready Output (READY) and enters the safe state.
  • Page 547 8 Safety Function • The EDM output signal is not a safety output. Do not use the EDM output for any purpose other than the failure monitoring function. • During installation, be sure to perform wiring check. Especially, check the following items. •...

  • Page 548: Sto Function Via Safety Input Signals

    8 Safety Function STO Function via Safety Input Signals This section explains how to use the STO function via the safety input signals. 8-2-1 I/O Signal Specifications 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 549 8 Safety Function External Device Monitoring (EDM) Output Signal This is a monitor output signal that is used to monitor the status of safety input signals from an external device. Connect the EDM output signal to the external device monitoring terminal on a safety device, such as a safety controller or a safety sensor.

  • Page 550: Operation Example

    8 Safety Function 8-2-2 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 a Safe State Servo ON/OFF Servo ON Servo OFF Safety input 1 Normal status...

  • Page 551: Connection Example

    8 Safety Function Precautions for Correct Use • Design programs for the safety controller so that the STO function is not canceled automati- cally even when the emergency stop switch is released. • Design programs for the safety controller so that the STO function is not canceled automati- cally when a Servo Drive failure is detected through the EDM output.
  • Page 552 8 Safety Function Connection with a Safety Controller (Multiple Servo Drives) This example shows how to connect multiple Servo Drives. 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 when you use multiple Servo Drives.
  • Page 553 8 Safety Function Programming Example This is a programming example in which the STO function of the 1S-series Servo Drive is operated from the Safety Controller. SF_EmergencyStop SF_EDM S_EStop In S_EStop Out S_OutControl S_EDM Out S_EDM1 Reset Reset Reset Precautions for Correct Use •...

  • Page 554: Sto Function Via Ethercat Communications

    8 Safety Function STO Function via EtherCAT Commu- nications This section explains how to use the STO function via EtherCAT communications. 8-3-1 Connection and Setting To use the STO function via EtherCAT communications, you need to connect the network and make settings for the EtherCAT master and the Safety CPU Unit.
  • Page 555 8 Safety Function Setting Add Safety PDOs to the 1S-series Servo Drive PDOs in the EtherCAT network configuration. • RxPDO: 273th receive PDO Mapping (1710 hex) • TxPDO: 273th transmit PDO Mapping (1B10 hex) Enable the 1S-series Servo Drive in the setting for the Safety CPU Unit. Use the following data and create safety programs for the Safety CPU Unit.

  • Page 556: Operation Example

    8 Safety Function 8-3-2 Operation Example Operation Timing to a Safe State Servo ON/OFF Servo ON Servo OFF STO command Reset STO Activate STO at Safety CPU Unit Communication time STO command at Servo Drive Activate STO Reset STO Reaction time 7 ms max.
  • Page 557 8 Safety Function Timing of Return from Safe State Servo ON/OFF Servo OFF Servo ON STO command at Servo Drive Activate STO Reset STO Motor power status STO status at Servo Drive 10 ms max. normal status STO status Dynamic brake DB released DB applied PDS state...

  • Page 558: Connection Example

    8 Safety Function 8-3-3 Connection Example This section explains how to use an NX-series Safety CPU Unit. Use the Sysmac Studio for setting and programming. Refer to the NX-series Safety Control Unit User’s Manual (Cat. No. Z930) for details. Connection with Safety CPU Unit Add a Safety CPU Unit and 1S-series Servo Drives to the EtherCAT network configuration.
  • Page 559 8 Safety Function Slave Control Period NX-series Safety CPU Units use the Safety Output Unit's processing time and the slave control period to calculate the safety reaction time and the safety task period respectively. Refer to the NX-series Safety Control Unit User’s Manual (Cat. No. Z930) for details. For 1S-series Servo Drives, use the following values: Safety Input Unit's processing time: 4 ms Slave control period: 3 ms...
  • Page 560 8 Safety Function 8 - 16 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 561: 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 ........9-4 9-2 Common Control Objects .
  • Page 562 9 Details on Servo Parameters 9-4-11 3230 hex: Internal Torque Command ....... 9-40 9-4-12 3231 hex: Torque Detection .
  • Page 563 9 Details on Servo Parameters 9-14 I/O-related Objects ......... . . 9-107 9-14-1 4600 hex: I/O Monitor .

  • Page 564: 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 565 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 566 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 567 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 568 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 569 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 570 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 571 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 572: 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 573: 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 574 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 575 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 576 9 Details on Servo Parameters Subindex 84 hex: Motor Velocity • Gives the command velocity which is generated in the Servo Drive, in units of r/min. 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 •...

  • Page 577: 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 578: 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 579 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 580 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 581 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 582: 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 583: 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 584: 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 585: 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 586 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 587 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). • This object is available for the unit version 1.2 or later. •...

  • Page 588: 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 589: 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 590: 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 591: 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 592 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 593: 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 594 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 595: 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 596: 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 597: 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 598: 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 599: 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 600: 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 601: 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 602: 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 603: 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 604 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 605: 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 606 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 607 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 608 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 609 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 610 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 611 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 612 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 613 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 614: 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 615 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 616: 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 617 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 618 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 619 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 620: 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 621: 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 622 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 623 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 624 9 Details on Servo Parameters Precautions for Correct Use When the error is cleared, a process which makes the command position follow the present position comes into effect. To operate in Cyclic synchronous position mode (csp) after the Servo turns ON, reset the command coordinates in the host controller and then execute the operation.
  • Page 625 9 Details on Servo Parameters Subindex 03 hex: Halt Option Code • Selects the stop method when bit 8 (Halt) in Controlword is set to 1, under the condition that the Modes of operation is set to the Profile position mode (pp), Profile velocity mode (pv), or Homing mode (hm).
  • Page 626 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 627 9 Details on Servo Parameters 9-7-4 3B21 hex: Deceleration Stop Sets the operation during deceleration stop. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex) range setting access (hex) bute tion 3B21 Deceleration Possible Stop...
  • Page 628 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 629 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 630 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 7-39 for details. Sub- Data Modes of Index Setting Default Complete index Object name Unit...
  • Page 631 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 632 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 633: 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 634: 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 635: 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 636: 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 637: 3B71 Hex: Runaway Detection

    9 Details on Servo Parameters 9-7-14 3B71 hex: Runaway Detection Sets the runaway detection function. This object is available for the unit version 1.1 or later. Sub- Data Modes of Index Setting Default Complete index Object name Unit attri- Size Access opera- (hex)

  • Page 638: 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 639 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 640 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 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 641: 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 642 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 643 9 Details on Servo Parameters Subindex 03 hex: Warning Mask 3 Selection • Sets the mask for the warning. • When a bit is set to 1, the detection of the corresponding warning is disabled.  Description of Set Values Description Data Setting Warning Command Warning...
  • Page 644 9 Details on Servo Parameters Subindex 07 hex: Warning Level Change 3 Selection • Changes the warning level. • When a bit is set to 1, the level of the corresponding warning is set as the error.  Description of Set Values Description Data Setting Warning Command Warning...

  • Page 645: 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 646: 4022 Hex: Warning Output 2 Setting

    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 647: 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 648: 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 649: 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 650 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 Subindex 91 hex: Safety Controlword 1st Byte •...
  • Page 651 9 Details on Servo Parameters Subindex A2 hex: Safety Statusword 2nd Byte • Gives the status of the safety function. • Mirror object of 6621-02 hex  Description of Set Values Set value Description Bit 7 Gives the safety connection status Without safety connection With safety connection Subindex B1 hex: FSoE Address...
  • Page 652 9 Details on Servo Parameters Subindex 83 hex: FSoE Slave CRC_0 • Gives the cyclic redundancy code which is sent from the slave. • Mirror object of E600-03 hex Subindex 91 hex: FSoE Master CMD • Gives the command which is sent from the master. •...
  • Page 653 9 Details on Servo Parameters  Description of Set Values Set value Description No error Error detected (STO internal circuit error detection) Subindex A0 hex: STO Command • Gives the STO status. • Mirror object of 6640-00 hex  Description of Set Values Set value Description Normal status...
  • Page 654 9 Details on Servo Parameters Subindex 81 hex: Total Power ON Time • Gives the total power ON time of the Servo Drive (control power supply). • The data is saved in the non-volatile memory approximately every hour. Subindex 82 hex: Total Capacitor Operating Time •...

  • Page 655: 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 656 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 657: 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 658: 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 659: 4320 Hex: Main Circuit Power Supply

    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 660 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 661: External Device-Related Objects

    9 Details on Servo Parameters 9-12 External Device-related Objects These objects are used for the external device-related setting. 9-12-1 4410 hex: Motor Identity Sub- Data Modes Index Setting Default Complete index Object name Unit attri- Size Access of oper- (hex) range setting access...

  • Page 662: 4412 Hex: Motor Advanced Setting

    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 663 9 Details on Servo Parameters Item Description Position Detection - Position Actual Value They are 0 when the power supply is turned ON and follow (3211-81 hex), Position Detection - Position command after Servo ON. Actual Internal Value (3211-82 hex) Velocity Detection - Velocity Actual Value They interlocks with the change of the present position.

  • Page 664: 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 665 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 666 9 Details on Servo Parameters 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. • Set the value to this object while the motor stops and it is in Servo OFF state. Subindex F2 hex: Encoder Communications Error Count Clear •...
  • Page 667 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 668: 4601 Hex: Function Input

    9 Details on Servo Parameters 9-14-2 4601 hex: Function Input Gives each function input status of the Servo Drive. Sub- Data Index Setting Default Complete Modes of index Object name Unit attri- Size Access (hex) range setting access operation (hex) bute 4601 Function Input...
  • Page 669 9 Details on Servo Parameters Signal name Symbol Value Description Monitor Input 1 MON1 Monitor Input 2 MON2 Monitor Input 3 MON3 Positive Torque Limit Input Negative Torque Limit Input Error Stop Input ESTP Brake Interlock Output BKIR Brake held Brake released Safety input 1 Safety input 2...

  • Page 670: 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 671: 4604 Hex: Control Input Change Count

    9 Details on Servo Parameters Signal Symbol Value Description Remote Output 1 R-OUT1 Remote Output 2 R-OUT2 Remote Output 3 R-OUT3 Gain Switching G-SEL Gain 1 Gain 2 BKIR_a Brake held NO Contact Brake Interlock Output Brake released *1. This bit is available for the unit version 1.4 or later. 9-14-4 4604 hex: Control Input Change Count Counts the number of changes in control inputs.
  • Page 672 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 673: 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 674: 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 675 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 676: 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 677: 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 678: 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 679: 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 680: 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 681: 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 682: 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 683: 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 684: 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 685: 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 686: 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 687: 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 688: Hex: Remote Output 3

    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 689: 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 690: 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 691 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 692: 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 693: 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 694: Turning On The Power Supply

    10 Operation Checking the EtherCAT Communications Connectors Do not connect the EtherCAT Communications Cables to the EtherCAT Communications Connectors (ECAT IN and ECAT OUT). 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...

  • Page 695: 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 696 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) Encoder Communications Error: 2101 hex [ER] Error No. Error No. (1 s) Main (1 s) Sub (1 s) ●...

  • Page 697: 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 698: 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 699: 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 700 10 Operation 10 - 10 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

  • Page 701: 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 702 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 703: 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 704: 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 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 705 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 706: 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 707 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 708: 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. 9-17 IIR Filter Enable P.

  • Page 709: 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 710: Executing Advanced Tuning

    11 Adjustment Functions Subindex Index (hex) Name Reference (hex) 3323 3rd Notch Filter P. 9-50 Enable P. 9-50 Frequency P. 9-50 Q-value P. 9-50 Depth P. 9-51 3324 4th Notch Filter P. 9-52 Enable P. 9-52 Frequency P. 9-52 Q-value P.

  • Page 711: 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 712: 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 713: 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 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • Page 714: 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 715 11 Adjustment Functions Index Subindex Refer- Name Description (hex) (hex) ence 3013 Damping Filter 1 Sets the damping filter 1. P. 9-19 1st Frequency Sets the damping frequency for the damping filter. P. 9-19 1st Damping Time Sets the trade-off with torque required for the vibration sup- P.

  • Page 716: 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 717: 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 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...

  • Page 718: 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 719: 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 720: 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 721: 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 722: 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 723: 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 724: 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. 9-46 Enable Selects whether to enable or disable the 1st notch filter func- P.

  • Page 725: 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 726: 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 727: 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 728 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 729: 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 730 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 731: 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 732 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 733: 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 734: 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 735: 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) Encoder Communications Error: 2101 hex [ER] Error No. main Error No.

  • Page 736: 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 737 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 738: 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 739 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 740: 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 motor Bit 0 (4150-81 hex) exceeded the level set in Overload - Warning Notification Level...
  • Page 741 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 742: 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 743 12 Troubleshooting Error No. Attribute Can be Deceleration Error name Main (hex) (hex) reset operation FPGA WDT Error System Error 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 Absolute Encoder Multi-rotation Counter Error...
  • Page 744 12 Troubleshooting *2. The deceleration operation shows the operation (Operation A or Operation B) that is used when Fault reac- tion option code (605E hex) is set to -4 to -7. *3. This error can occur in the unit version 1.2 only. *4.

  • Page 745: 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 746: 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 747: 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 748: 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 749 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 750 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 751 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Regenera- An error of the Regener- • Power supply voltage Cut off the main circuit power sup- tion Circuit ation Circuit was is insufficient at power ply immediately and check whether Error detected at power ON.
  • Page 752 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Servo Drive The internal tempera- The ambient tempera- Improve the ambient temperature Overheat ture of Servo Drive ture of the Servo Drive and the cooling conditions of the exceeded the circuit exceeded the specified Servo Drive.
  • Page 753 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Regenera- The Regeneration Load The regeneration pro- Check the regeneration processing tion Over- Ratio (4310-81 hex) cessing is set inappro- setting, and set the same value as load Error exceeded the regenera- priately.
  • Page 754 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Regenera- The regeneration pro- The Regeneration Check the operation pattern by the tion Process- cessing was stopped to Resistor is selected velocity monitor. Check the load ing Error protect the Regenera- inappropriately.
  • Page 755 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Encoder Illegal data was Noise into the encoder • Separate the motor cable and the Communica- received from the cable encoder cable if they are bundled tions Error encoder the specified together.
  • Page 756 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Pulse Output The speed, which The dividing ratio setting Correct the setting of Encoder Overspeed exceeded the fre- is inappropriate for the Dividing Pulse Output - Dividing Error quency that could be actual usage condition.
  • Page 757 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) FPGA WDT An FPGA error was False detection due to a If this event does not occur after Error detected. data read error that was you cycled the power supply, use caused by excessive the product continuously.
  • Page 758 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Drive Prohibi- Both the Positive Drive An error occurred on the Check and correct an error on the tion Input Prohibition (POT) and switch, wire, power sup- switch, wire, power supply, and wir- Error the Negative Drive Pro- ply, and wiring that was...
  • Page 759 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 760 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Safety Safety process data communications were not Check whether the connected Parameter established with the Safety CPU Unit because an safety slave model matches the Error incorrect parameter was received. safety slave model that is set from the Sysmac Studio, and correct it.
  • Page 761 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Communica- Communications were The power supply to the Reset the error in the host control- tions Syn- not established consec- host controller was ler. This event reports an error that chronization utively because the syn- interrupted during PDO...
  • Page 762 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) ESC Initial- The initialization of Eth- Data was incorrectly If this event does not occur after ization Error erCAT slave communi- written in the non-vola- you cycled the power supply, use cations controller failed.
  • Page 763 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 764 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 765 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 766 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 767 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 768 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Capacitor The capacitor built into The operating time of Send the Servo Drive for repair or Lifetime the Servo Drive reached the capacitor in the replace the Servo Drive with a new Warning the service life.
  • Page 769 12 Troubleshooting Error No. Name Cause Measures Main (hex) (hex) Command A command could not The Switch on com- Send the Switch on command with Warning be executed. mand was received. the main circuit power supply ON. The Enable operation Send the Enable operation com- command was received.

  • Page 770: Troubleshooting Using Al Status Codes

    12 Troubleshooting *1. This error can occur in the unit version 1.2 only. *2. This error can occur in the unit version 1.3 or later. *3. This error can occur in the unit version 1.1 or later. *4. Refer to 10-2-4 Absolute Encoder Setup on page 10-7 for the absolute encoder setup. *5.
  • Page 771 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 772 12 Troubleshooting AL status Name Cause Measures code (hex) 002C Synchroniza- A signal for synchronous Noise Take noise countermeasures if tion Error communications could not excessive noise affects the Ether- be detected. CAT communications cable. Error of the EtherCAT If this event occurs again after you slave communications cycled the power supply, replace controller...
  • Page 773 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 774: 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 775 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 776 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 777 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 778 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 779 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 780 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 781: 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 782: 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 783: 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 784: 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 30,000 hours All 3 kW or more models and 2 kW 1,000-r/min (200/400 V) models Brake ON/OFF 1,000,000 times...

  • Page 785: Method For Broken Ring Maintenance And Inspection

    13 Maintenance and Inspection 13-4 Method for Broken Ring Maintenance and Inspection This section takes the following example of a configuration in which the ring is broken between Servo Drive A and B, and describes how to perform inspection and how to replace the Servo Drive. Servo Drive A Servo Drive B Servo Drive C...
  • Page 786 13 Maintenance and Inspection L/A L/A IN OUT Replace the identified faulty Servo Drive. • Back up the parameters of the Servo Drive. • Turn OFF the control power supply, and replace the Servo Drive. Then, turn ON the control power supply, write the backup of the parameters, and turn OFF the control power supply.

  • Page 787: 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 788: 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 with built-in EtherCAT communications is called “PDS state.” The PDS state is controlled by Controlword (6040 hex).
  • Page 789 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 790: 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 791: 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 and the applied/adjustment functions are shown below. Modes of operation Function Notch filter Supported Supported Supported Damping filter Supported Not supported Not supported...
  • Page 792 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 793: 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 with built-in EtherCAT communications. Homing Mode Configuration The configuration of the Homing mode is as follows: Controlword (6040 hex) Statusword (6041 hex) Homing method (6098 hex) Homing speeds (6099 hex) Homing...
  • Page 794 Appendices Index Subindex Default Name Access Size Unit Setting range (hex) (hex) setting 609A Homing accelera- Command 1 to 2,147,483,647 1,000,000 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 795 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 796 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 797 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 798: 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 799: 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 800: 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 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 1008 Manufacturer 20 bytes Device Name (VS) possible *1. The following table shows the default settings. Specifications Model Single-phase 100...
  • 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 1010 Store Parame- Possible ters Number of 01 hex 1 byte entries (U8) Store Parame- 00000000 00000001 4 bytes ters...
  • Page 803 Appendices Precautions for Correct Use • When you use the STO function via EtherCAT communications, confirm that the security function of EtherCAT master is enabled, and then execute Restore Default Parameters (subindex 01 hex) so that the PDO mapping is not changed. •...
  • Page 804 Appendices • Subindex 03 hex Revision Number gives the device revision number. 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...
  • Page 805 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 806: A-2-5 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 807 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 6040 0010...
  • Page 808 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 809 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1701 258th receive Possible PDO Mapping Number of 04 hex 1 byte objects in this (U8) 1st Output 6040 0010 4 bytes...
  • Page 810 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1703 260th receive Possible PDO Mapping Number of 07 hex 1 byte objects in this (U8) 1st Output 6040 0010 4 bytes...
  • Page 811 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1704 261th receive Possible PDO Mapping Number of 09 hex 1 byte objects in this (U8) 1st Output 60400010 4 bytes...
  • Page 812 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 813 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1710 273th receive Possible PDO Mapping Number of 13 hex 1 byte objects in this (U8) 1st Output E7000108 4 bytes...
  • Page 814 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 815 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 Position Command - Following Error After Interpolation 3211...
  • Page 816 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1B01 258th transmit Possible PDO Mapping Number of 09 hex 1 byte objects in this (U8) 1st Output 603F 0010 4 bytes...
  • Page 817 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 818 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 819 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 820 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1B10 273th transmit Possible PDO Mapping Number of 13 hex 1 byte objects in this (U8) 1st Output E6000108 4 bytes...

  • Page 821: A-2-6 Sync Manager Communication Objects

    Appendices A-2-6 Sync Manager Communication Objects Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1C00...
  • Page 822 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 1C13 Sync Manager Possible 3 PDO Assign- ment Number of 00 to 03 01 hex 1 byte assigned PDOs (U8) 1st PDO Map-...
  • Page 823 Appendices Value Description 0000 hex Free Run 0001 hex Synchronous 0002 hex DC Sync0 0003 hex DC Sync1 • Subindex 02 hex Cycle Time gives the cycle in nanoseconds. • Subindex 03 hex Shift Time sets the delay time from Sync0 to signal output. It is unsupported by the 1S-series Servo Drive.

  • Page 824: A-2-7 Manufacturer Specific Objects

    Appendices Value Description 0000 hex Free Run 0001 hex Synchronous 0002 hex DC Sync0 0003 hex DC Sync1 • Subindex 02 hex Cycle Time gives the sync0 event cycle in nanoseconds. • Subindex 03 hex Shift Time sets the timing of input signal recognition from Sync0. •...
  • Page 825 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 2003 Sysmac Possible Observation Number of 05 hex 1 byte entries (U8) Observation 1 12 bytes (OS) Observation 2 12 bytes...
  • Page 826 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 2100 Error History 0000 0000 00000000 4 bytes Not pos- Clear (U32) sible FFFF FFFF • This object clears the data of Diagnosis History (10F3 hex). •...

  • Page 827: 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. Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 603F Error code...
  • Page 828 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 829 Appendices Name Description 12 to 13 Operation mode specific These bits are specific to the operation mode. 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 830 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 831 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 605C Disable opera- -6 to 0 2 bytes Not possi- tion option code (INT16) • This object sets the operation of the Servo Drive during Disable operation (transition from the Opera- tion enabled state to the Switched on state).
  • Page 832 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 605D Halt option code 1 to 3 2 bytes Not possi- pp, pv, hm (INT16) • This object sets the stop method when bit 8 (Halt) of Controlword (6040 hex) is set to 1 during Hom- ing mode (hm), pp mode, or pv mode.
  • Page 833 Appendices  Description of Set Values Deceleration operation 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 834 Appendices  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) Cyclic synchronous torque mode (cst) • For details about changing the modes of operation, refer to A-1-4 Changing the Mode of Operation on page A-5.
  • Page 835 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 836 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 837 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 838 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 839 Appendices Sub- Data Com- Index Default Modes of index Object name Setting range Unit attri- Size Access plete (hex) setting operation (hex) bute access 6091 Gear ratio Possible Number of 02 hex 1 byte entries (U8) Motor revolu- 0 to 4 bytes csp, csv, tions...
  • Page 840 Appendices Sub- Defaul Data Com- Index Modes of index Object name Setting range Unit t set- attri- Size Access plete (hex) operation (hex) ting bute access 6099 Homing Possible speeds Number of 02 hex 1 byte entries (U8) Speed during 1 to Command 5,000...
  • Page 841 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 60B8 Touch probe 0 to 2 bytes RxPDO Not possi- function 65,535 (U16) • This object sets the latch (touch probe) function. •...
  • Page 842 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 843 Appendices • In the free-run mode only, the setting is updated, and in the synchronous mode, the EtherCAT com- munications are automatically set as the interpolation time period. (Interpolation time index) • Interpolation time period = Interpolation time period value × 10 seconds.
  • Page 844 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 845 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 846 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 847 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 0000 to 0000 0001 4 bytes RxPDO...
  • Page 848 (hex) range setting operation (hex) bute access 6404 Motor manu- OMRON 20 bytes Not possi- facturer (VS) • This object gives the motor manufacturer name. A - 62 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 849 Appendices Sub- Data Com- Index Setting Default Modes of index Object name Unit attri- Size Access plete (hex) range setting operation (hex) bute access 6502 Supported 0000 03A5 4 bytes Not pos- drive modes (U32) sible • This object gives the supported modes of operation. ...

  • Page 850: 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 851 Appendices  Bit Description of Subindex 01 hex Description Gives the STO status. 0: Normal status 1: STO status Gives the error status of the safety function. 0: No error 1: Error detected  Bit Description of Subindex 02 hex Description Gives the safety connection status.
  • Page 852 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 853 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 854: 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 855 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 10F3 Diagnosis Message 3 30 bytes (OS) Diagnosis Message 4 30 bytes (OS) Diagnosis Message 5 30 bytes (OS) Diagnosis Message 6 30 bytes (OS) Diagnosis Message 7...
  • Page 856 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1600 10th Output Object to be 0000 0000 to 00000000 hex 4 bytes mapped FFFF FFFF hex (U32) 1701 258th receive PDO Map- ping Number of objects in this 04 hex...
  • Page 857 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1704 5th Output Object to be 60600008 hex 4 bytes mapped (U32) 6th Output Object to be 60B8 0010 hex 4 bytes mapped (U32) 7th Output Object to be...
  • Page 858 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1A00 6th Input Object to be 0000 0000 to 603F 0010 hex 4 bytes mapped FFFF FFFF hex (U32) 7th Input Object to be 0000 0000 to 60FD0020 hex 4 bytes...
  • Page 859 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1B03 3rd Input Object to be 60640020 hex 4 bytes mapped (U32) 4th Input Object to be 60770010 hex 4 bytes mapped (U32) 5th Input Object to be...
  • Page 860 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1BFF Number of objects in this 01 hex 1 byte (U8) 1st Input Object to be 20020108 hex 4 bytes mapped (U32) 1C00 Sync Manager Commu-...
  • Page 861 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 1C33 Synchronization Type 0000 to 0003 0000 hex 2 bytes (U16) Cycle Time 4 bytes (U32) Shift Time 0000 0000 to 4 bytes FFFF FFFF hex (U32)
  • Page 862 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3000 Function Status 4 bytes TxPDO (INT32) Motor Stop Cause 4 bytes (INT32) Modes of Operation Dis- 1 byte play (Mirror object of (INT8) 6061 hex) Supported Functions...
  • Page 863 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3010 Target Position (Mirror -2,147,483,648 Command unit 4 bytes object of 607A hex) (INT32) 2,147,483,647 Position Offset (Mirror -2,147,483,648 Command unit 4 bytes object of 60B0 hex) (INT32)
  • Page 864 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3020 Motor Velocity Deviation r/min 4 bytes (INT32) 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...
  • Page 865 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3112 ODF Velocity Feed-forward Gain 0 to 1,000 0.1% 4 bytes (INT32) LPF Enable 0 to 1 4 bytes (INT32) LPF Cutoff Frequency 10 to 50,000 0.1 Hz 50,000...
  • Page 866 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3212 Gain Switching in Posi- tion Control Mode Selection 0 to 3 4 bytes (INT32) Delay Time 0 to 10,000 0.1 ms 4 bytes (INT32) Speed...
  • Page 867 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3224 2nd Velocity Control Gain Proportional Gain 0 to 30,000 0.1 Hz 4 bytes 219/146 (INT32) Integral Gain 0 to 16,000 0.1 Hz 4 bytes 55/37...
  • Page 868 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3321 1st Notch Filter Enable 0 to 1 4 bytes (INT32) Frequency 500 to 50,000 0.1 Hz 50,000 4 bytes (INT32) Q-value 50 to 1,000 0.01...
  • Page 869 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3324 4th Notch Filter Enable 0 to 1 4 bytes (INT32) Frequency 500 to 50,000 0.1Hz 50,000 4 bytes (INT32) Q-value 50 to 1,000 0.01 4 bytes...
  • Page 870 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3A00 4th Supported Homing 2 bytes Method (Mirror object of (INT16) 60E3-04 hex) 5th Supported Homing 2 bytes Method (Mirror object of (INT16) 60E3-05 hex) 6th Supported Homing...
  • Page 871 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3B31 Touch Probe 2 Touch Probe 2 Source 1 to 6 2 bytes (Mirror object of 60D0-02 (INT16) hex) Status 4 bytes (INT32) Positive Edge Time 8 bytes...
  • Page 872 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 3B60 Speed Detection Func- tion Velocity Attainment 10 to 20,000 r/min 1,000 4 bytes Detection Level (INT32) Zero Speed Detection 10 to 20,000 r/min 4 bytes Level...
  • Page 873 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4022 Warning Output 2 Set- ting Selection 1 0000 0000 to 0 hex 4 bytes FFFF FFFF hex (INT32) Selection 3 0000 0000 to 0 hex 4 bytes...
  • Page 874 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4131 FSoE Master CMD (Mir- 1 byte ror object of E700-01 (U8) hex) FSoE Master Conn_ID 2 bytes (Mirror object of E700-02 (U16) hex) FSoE Master CRC_0...
  • Page 875 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4320 Main Circuit Power Sup- Momentary Hold Time 1 to 2,000 4 bytes (INT32) Phase Loss Detection 0 to 1 4 bytes Enable (INT32) Capacitor Discharge...
  • Page 876 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4510 Encoder Communica- 0000 0000 to 4 bytes tions Error Count Clear FFFF FFFF hex (U32) Clear Status 4 bytes (U32) 4600 I/O Monitor Physical I/O...
  • Page 877 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4610 Brake Interlock Output Enable 0 to 1 4 bytes (INT32) Timeout at Servo OFF 0 to 10,000 4 bytes (INT32) Threshold Speed at 30 to 3,000 r/min...
  • Page 878 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4635 Positive Torque Limit Input Port Selection 0 to 8 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status 4 bytes (INT32)
  • Page 879 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 463D Monitor Input 6 Port Selection 0 to 8 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status 4 bytes (INT32) 463E...
  • Page 880 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 4655 Torque Limit Output Port Selection 0 to 7 hex 0 hex 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status 4 bytes...
  • Page 881 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 465D Remote Output 2 Port Selection 0 to 7 hex 4 hex 4 bytes (INT32) Logic Selection 0 to 1 4 bytes (INT32) Signal Status 4 bytes...
  • Page 882 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 605B Shutdown option code -7 to 0 2 bytes (INT16) 605C Disable operation option -6 to 0 2 bytes code (INT16) 605D Halt option code 1 to 3...
  • Page 883 Appendices Sub- Data Index index Object name Setting range Unit Default setting attri- Size PDO map (hex) (hex) bute 6098 Homing method 0 to 37 1 byte (INT8) 6099 Homing speeds Speed during search for 1 to Command unit/s 5,000 4 bytes switch 2,147,483,647...
  • Page 884 Target velocity -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 000003A5 hex 4 bytes (U32) 6620 safety controlword safety controlword 1st 1 byte Byte...
  • Page 885 Appendices *1. The data attribute is "R: Updated after the control power is reset or restarted" for the unit version 1.3 or earlier. *2. The setting range is specified from 0 to 10,000 for the unit version 1.0. *3. This object is available for the unit version 1.4 or later. *4.

  • Page 886: Sysmac Error Status Codes

    AL status code is 0051 hex √ P. A-117 • Error access from the non-OMRON EtherCAT master when the AL status code is 0050 hex A - 100 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 887 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 08390000 Power Module Error An error was detected in the • There is a short-circuit, power module. ground fault, or contact fail- ure on the U, V, or W motor cable •...
  • Page 888 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 08430000 1-rotation Counter The encoder detected a • There is excessive noise Error one-rotation counter error. • Failure due to vibration, √ P. A-123 impact, condensation, for- eign matter, etc. 08440000 Overspeed Error The encoder detected the...
  • Page 889 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 084B0000 Encoder Communi- Illegal data was received • Noise into the encoder cations Error from the encoder the speci- cable fied number of times. • Contact failure of the signal √...
  • Page 890 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 280D0000 The motor rotated in the • There is incorrect wiring of Runaway Detected direction opposite to the the motor cable or a broken command. cable. √ P. A-134 •...
  • Page 891 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 38790000 General Output Allo- More than one function out- • More than one function out- √ cation Duplicate put is allocated to one gen- put is allocated to one gen- P.
  • Page 892 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 38840000 Excessive Speed The speed deviation is • The motor operation does Deviation Error greater than or equal to the not follow the command value set in the Excessive because a parameter value Velocity Deviation Detec- is inappropriate...
  • Page 893 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 48080000 FPGA WDT Error An FPGA error was • False detection due to a detected. data read error that was √ P. A-152 caused by excessive noise • Hardware failure 64E30000 Drive Prohibition Both the Positive Drive Pro-...
  • Page 894 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 78210000 Brake Interlock Error The Brake Interlock Output • The Brake Interlock Output (BKIR) was output by the (BKIR) was output because Timeout at Servo OFF. the motor rotation speed did not decrease to or less than the speed set in the Thresh- √...
  • Page 895 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 84B70000 SII Verification Error An error occurred in SII data • Data was incorrectly over- of the EtherCAT slave com- written in the non-volatile munications controller. memory of the EtherCAT slave communications con- √...
  • Page 896 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 081D 0000 Inrush Current Pre- The inrush current preven- • The number of operating vention Relay Life- tion relay built into the times of the inrush current time Warning Servo Drive reached the prevention relay in the √...
  • Page 897 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 387D0000 Regeneration Over- The Regeneration Load • The regeneration process- load Warning Ratio (4150-81 hex) ing is set inappropriately exceeded 85%. • The Regeneration Resistor is selected inappropriately •...
  • Page 898 Appendices Level Event code Refer- Event name Description Assumed cause (hex) ence 98220000 Memory All Cleared The Unit setting was • Clear All Memory was per- √ P. A-176 cleared. formed 98240000 Event Log Cleared The event log was cleared. •...

  • Page 899: 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 900 Appendices Error Descriptions Regeneration Circuit Error Detected during Power 04B30000 hex Event name Event code Meaning An error of the Regeneration Circuit was detected at power ON. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error...
  • Page 901 Appendices Assumed cause Correction Prevention • Power supply voltage is insuffi- Cut off the main circuit power sup- • If you are using the External cient at power ON, or rising ply immediately and check Regeneration Resistor, make slowly. whether charge lamp is turned sure that an appropriate resis- ON/OFF.
  • Page 902 Appendices Inrush Current Prevention Circuit Error Event name 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 Recovery...
  • Page 903 Cause and code is 0051 hex tions controller is faulty. Replace 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 904 Appendices Event name Power Module Error Event code 08390000 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 slave power)
  • Page 905 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 906 Appendices Event name Fan Error Event code 083D0000 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 Error...
  • Page 907 Appendices Event name Regeneration Processing Error Event code 083F 0000 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...
  • Page 908 Appendices Event name Overvoltage Error Event code 08410000 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 909 Appendices Event name Motor Overheat Error Event code 0842 0000 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 Minor fault Error reset System log Error Level Recovery...
  • Page 910 Appendices Event name Overspeed Error Event code 08440000 hex Meaning 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 911 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 912 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 913 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 914 Appendices Event name Encoder Communications Disconnection Error Event code 084A0000 hex Description The communications disconnection 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...
  • Page 915 Appendices Event name Encoder Communications Error Event code 084B0000 hex Description Illegal data was received from the encoder the specified number of times. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error Level Recovery...
  • Page 916 Appendices Event name Non-volatile Memory Hardware Error Event code 084D0000 hex Description An error occurred on the non-volatile memory. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Error Minor fault Error reset System log Level Recovery Log category attributes...
  • Page 917 Appendices Event name System Error Event code 1838 0000 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...
  • Page 918 Appendices Event name Motor Non-conformity Event code 246D0000 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 Log category...
  • Page 919 Appendices Event name Main Circuit Power Supply Phase Loss Error Event code 2808 0000 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...
  • Page 920 Appendices Runaway Detected Event name 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 921 Appendices Event name DC Setting Error Event code 357D 0000 hex Description A mistake was made in the DC Mode operation setting. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Error Minor fault Error reset System log Level...
  • Page 922 Appendices Event name Mailbox Setting Error Event code 357F0000 hex Description An incorrect mailbox setting of Sync Manager 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 923 Appendices Event name TxPDO Setting Error Event code 3581 0000 hex Meaning A TxPDO 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 924 Appendices Event name TxPDO Mapping Error Event code 35830000 hex Meaning An incorrect TxPDO 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 925 Appendices Event name Node Address Updated Event code 3585 0000 hex Description The node address is changed to a value of the ID switches. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing EtherCAT timing communications Minor fault Error reset System log Error...
  • Page 926 Appendices Event name Function Setting Error Event code 38570000 hex Meaning The function that was set does not support the communications period. EtherCAT Master Function Slave When Module Detection establishing Source Source details timing EtherCAT communications Minor fault Error reset System log Error Level...
  • Page 927 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 928 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 929 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 930 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 931 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 932 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 933 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 934 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 935 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 936 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 937 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 938 Appendices Event name FSoE Slave Address Error Event code 388B0000 hex Safety process data communications were not established with the Safety CPU Unit because of an incor- Description rect FSoE slave address. EtherCAT Master Function Mod- Slave When establish- Detection Source Source details ing FSoE com-...
  • Page 939 Appendices Event name Drive Prohibition Input Error Event code 64E30000 hex Description Both the Positive Drive Prohibition (POT) and the Negative Drive Prohibition Input (NOT) turned ON. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error...
  • Page 940 Appendices Event name Drive Prohibition Detected Event code 68200000 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 Source details...
  • Page 941 Appendices Event name Control Right Release Error Event code 6821 0000 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...
  • Page 942 Appendices Event name Error Stop Input Event code 68220000 hex Meaning The Error Stop Input (ESTP) is active. 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 slave errors)
  • Page 943 Appendices Event name Pulse Output Overspeed Error Event code 7820 0000 hex The speed, which exceeded the frequency that could be output by the Encoder Dividing Pulse Output func- Description tion, was detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing...
  • Page 944 Appendices Event name Command Error Event code 78230000 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 945 Appendices Event name EtherCAT State Change Error Event code 84B10000 hex A communications state change command was received for which the current communications state could Description not be changed. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log...
  • Page 946 Appendices Event name Synchronization Error Event code 84B4 0000 hex Description A signal for synchronous communications could not be detected. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log Error (after resetting Level Recovery Log category...
  • Page 947 Appendices Event name ESC Initialization Error Event code 84B60000 hex Description The initialization of EtherCAT slave communications controller failed. EtherCAT Master Function Mod- Slave Detection At power ON Source Source details timing Minor fault Error reset System log Error Level Recovery (after cycling Log category...
  • Page 948 Appendices Event name Synchronization Interruption Error Event code 84B9 0000 hex Description Synchronization interruption did not occur within the specified period. 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 949 Appendices Event name Communications Synchronization Error Event code 8810 0000 hex Communications were not established consecutively because the synchronization with the EtherCAT Mas- Meaning ter could not be achieved. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Minor fault Error reset System log...
  • Page 950 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 951 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 952 Appendices Event name Brake Interlock Output Relay Lifetime Warning Event code 081F0000 hex The brake interlock output (BKIR) relay built into the Servo Drive reached the service life of the manufac- Description turer's guarantee. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details...
  • Page 953 Appendices Event name Encoder Communications Warning Event code 083A0000 hex Description Encoder communications errors occurred in series more frequently than the specified value. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Observation Level Recovery Log category attributes Effects...
  • Page 954 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 955 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 956 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 957 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 958 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 959 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 960 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 961 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 962 Appendices Event name STO Detected Event code 98210000 hex Description The safety input OFF state was detected via the safety input signal or EtherCAT communications. EtherCAT Master Function Mod- Slave Detection Continuously Source Source details timing Error System log Information Level Recovery Log category...
  • Page 963 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 964: Response Time In Ethercat Process Data Communications

    Appendices A-5 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 965: Version Information

    Appendices A-6 Version Information This section describes the relationship between the unit versions of 1S-series Servo Drives and the Sysmac Studio versions, and the functions that were added or changed for each unit version. A-6-1 Relationship between Unit Versions and Sysmac Studio Ver- sions This section also describes how the unit versions of 1S-series Servo Drives correspond to Sysmac Stu- dio versions.
  • Page 966 Appendices • When you initialize the drive by which the brake interlock function for a General Output (OUT 1 to 3) is selected, it is impossible to select the brake interlock function for a Gen- eral Output (OUT 1 to 3) in the lower version of the Sysmac Studio. ...

  • Page 967: A-6-2 Functions That Were Added Or Changed For Each Unit Version

    Appendices A-6-2 Functions That Were Added or Changed for Each Unit Version This section gives the functions that were added or changed for each unit version of 1S-series Servo Drive. Addition/ Function Unit version Reference change EtherCAT com- Cable Redundancy Function Addition Ver.1.3 P.
  • Page 968 Appendices Addition/ Function Unit version Reference change Applied Func- Brake Interlock Addition Ver.1.2 P. 7-22 tions Change Ver.1.4 *1. With the unit version Ver.1.4 or later, the default setting is changed. Refer to 9-14-6 4610 hex: Brake Interlock Output on page 9-113 for details. A - 182 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT®...
  • Page 969 Index I - 1 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 970 Appendices Index Numerics 7-segment LED Display ..........10-5 Free-Run Mode ............5-14 Absolute encoder ......2-5, 2-6, 2-7, 2-8, 3-44 Home Proximity Input (DEC) ......3-30, 7-3, 7-7 Accessories ..............29 AL Status Code List ............ 12-38 ID switch ..........1-6, 1-10, 1-14, 5-2 indicators ...............
  • Page 971 Appendices Reactor ..........2-34, 2-121, 3-133 Warning List ..............12-8 Remote output ..............3-32 Warning Output (WARN1, WARN2) .......7-8, 7-13 Remote Output (R-OUT1 to R-OUT3) ....7-8, 7-14 RxPDO ................5-7 Zero Speed Detection Output (ZSP) ......7-8, 7-12 Zone Notification Output (ZONE1, ZONE2) ...7-8, 7-14 Safety I/O Signal ...........
  • Page 972 Appendices I - 4 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
  • Page 974 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 2016-2020 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.

This manual is also suitable for:

R88m-1l seriesR88d-1sn ect seriesR88d-1sn01l-ectR88d-1sn02l-ectR88d-1sn04l-ectR88d-1sn01h-ect ... Show all

Table of Contents