Omron R88D-1SN ECT Series Manuals

Manuals and User Guides for Omron R88D-1SN ECT Series. We have 3 Omron R88D-1SN ECT Series manuals available for free PDF download: User Manual, Startup Manual

Omron R88D-1SN ECT Series User Manual (974 pages)

AC Servomotors/Servo Drives

Brand: Omron | Category: Controller | Size: 46.81 MB

Introduction
3
Manual Structure
4
Manual Configuration
6
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
18
Safety Precautions
20
Items to Check after Unpacking
31
Related Manuals
42
Terminology
45
Revision History
47
Features and System Configuration
49
Outline
50
Features of 1S-Series Servo Drives
50
Ethercat
51
Object Dictionary
52
System Configuration
53
Names and Functions
54
Servo Drive Part Names
54
Servo Drive Functions
62
Servomotor Part Names
65
Servomotor Functions
67
Shield Clamp Part Names
68
System Block Diagram
69
Applicable Standards
77
EU Directives
77
UL and Cul Standards
78
Korean Radio Regulations (KC)
79
Semi F47
79
Australian EMC Labeling Requirements (RCM)
80
EAC Requirements
80
Unit Versions
81
Confirmation Method
81
Unit Versions and Sysmac Studio Versions
81
Procedures to Start Operation
82
Overall Procedure
82
Procedure Details
84
Models and External Dimensions
89
Servo System Configuration
90
How to Read Model Numbers
92
Servo Drive
92
Servomotor
93
Encoder Cable
94
Motor Power Cable Without Brake Wire
95
Motor Power Cable with Brake Wire
96
Decelerator
97
Model Tables
99
Servo Drive Model Table
99
Servomotor Model Tables
100
Servo Drive and Servomotor Combination Tables
105
Decelerator Model Tables
107
Servomotor and Decelerator Combination Tables
111
Cable and Connector Model Tables
113
External Regeneration Resistor and External Regeneration Resistance Unit Model Tables
121
External Dynamic Brake Resistor Model Table
122
Reactor Model Table
122
Noise Filter Model Table
123
External and Mounting Dimensions
124
Servo Drive Dimensions
124
Servomotor Dimensions
131
Cable Outlet Direction
187
Cable Wiring Dimension for a Case of Motor Installing
188
Decelerator Dimensions
190
Dimensions of External Regeneration Resistors and External Regeneration Resistance Units
207
Dimensions of External Dynamic Brake Resistors
208
Reactor Dimensions
209
Noise Filter Dimensions
218
Specifications
221
Servo Drive Specifications
223
General Specifications
223
Characteristics
225
Ethercat Communications Specifications
233
Main Circuit and Motor Connections
234
Control I/O Connector (CN1) Specifications
247
Control Input Circuits
250
Control Input Details
250
Control Output Circuits
251
Control Output Details
252
Encoder Pulse Output Specifications
252
Safety I/O Specifications
253
Brake Interlock Connector (CN12) Specifications
255
Encoder Connector (CN2) Specifications
255
Ethercat Communications Connector (RJ45) Specifications
256
USB Connector (CN7) Specifications
256
Power on Sequence
257
Overload Characteristics (Electronic Thermal Function)
258
Servomotor Specifications
263
General Specifications
263
Encoder Specifications
264
Characteristics
265
Decelerator Specifications
290
Cable and Connector Specifications
297
Encoder Cable Specifications
297
Motor Power Cable Specifications
304
Combination of Power Cable and Extension Cable
337
Resistance to Bending of Flexible Cable
338
Connector Specifications
340
Ethercat Communications Cable Specifications
344
Specifications of External Regeneration Resistors and External Regeneration Resistance Units
347
General Specifications
347
Regeneration Resistance Units
347
Characteristics
348
External Regeneration Resistance Unit Specifications
350
External Dynamic Brake Resistor
352
General Specifications
352
Characteristics
352
Reactor Specifications
353
General Specifications
353
Characteristics
353
Terminal Block Specifications
354
Noise Filter Specifications
355
General Specifications
355
Characteristics
356
Terminal Block Specifications
357
Configuration and Wiring
359
Installation Conditions
360
Servo Drive Installation Conditions
360
Servomotor Installation Conditions
365
Decelerator Installation Conditions
369
External Regeneration Resistor and External Regeneration Resistance Unit Installation Conditions
372
Footprint-Type Noise Filter Installation Conditions
373
External Dynamic Brake Resistor Installation Condition
374
Wiring
375
Peripheral Equipment Connection Examples
376
Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp to Servo Drive
392
Connector Attachment Procedure
398
Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40
402
Terminal Block Wiring Procedure for Footprint-Type Noise Filter
404
Wiring Conforming to EMC Directives
405
Peripheral Equipment Connection Examples
406
Selecting Connection Component
420
Regenerative Energy Absorption
430
Calculating the Regenerative Energy
430
Servo Drive Regeneration Absorption Capacity
433
Regenerative Energy Absorption by an External Regeneration Resistance Device
434
Connecting an External Regeneration Resistor
435
Adjustment for Large Load Inertia
436
Machine Accuracy for Servomotor
437
Ethercat Communications
439
Display Area and Settings
440
Node Address Setting
440
Status Indicators
441
Structure of the CAN Application Protocol over Ethercat
443
Ethercat State Machine
444
Process Data Objects (Pdos)
445
PDO Mapping Settings
445
Sync Manager PDO Assignment Settings
446
Fixed PDO Mapping
446
Variable PDO Mapping
449
Sync Manager PDO Mapping Assignment Settings
450
Service Data Objects (Sdos)
451
Synchronization Mode and Communications Cycle
452
Distributed Clock (DC) Mode
452
Free-Run Mode
452
Emergency Messages
453
Sysmac Device Features
454
Cable Redundancy Function
458
Objects Requiring Settings
458
Description of Operation
458
Procedure of Checking Operation
459
Slave Communications Statuses When Cable Redundancy Function Is Used
461
Relation between the Network Configuration Information and the Actual Configuration
462
Basic Control Functions
465
Outline of Control Functions
466
Basic Control and Control Methods
466
Control Method
467
Control Blocks
469
Block Diagram for Position Control
469
Block Diagram for Velocity Control
471
Block Diagram for Torque Control
473
Cyclic Synchronous Position Mode
474
Cyclic Synchronous Velocity Mode
476
Cyclic Synchronous Torque Mode
478
Profile Position Mode
480
Profile Velocity Mode
485
Homing Mode
488
Connecting with OMRON Controllers
489
Applied Functions
493
General-Purpose Input Signals
495
Objects Requiring Settings
496
Default Setting
498
Function Input Details
499
General-Purpose Output Signals
500
Objects Requiring Settings
500
Default Setting
502
Function Output Details
503
Drive Prohibition Functions
507
Objects Requiring Settings
507
Description of Operation
508
Software Position Limit Functions
509
Operating Conditions
509
Objects Requiring Settings
509
Description of Operation
510
Backlash Compensation
512
Operating Conditions
512
Objects Requiring Settings
512
Description of Operation
513
Brake Interlock
514
Objects Requiring Settings
514
Description of Operation
516
Operation Timing
517
Electronic Gear Function
521
Objects Requiring Settings
521
Operation Example
522
Torque Limit Switching
523
Operating Conditions
523
Objects Requiring Settings
523
Torque Limit Switching Method
524
Soft Start
525
Objects Requiring Settings
525
Soft Start Acceleration/Deceleration Time
525
Velocity Command First-Order Lag Filter
526
Gain Switching Function
527
Objects Requiring Settings
527
Mode Selection
529
Gain Switching in Position Control
530
Touch Probe Function (Latch Function)
531
Related Objects
531
Trigger Signal Settings
533
Operation Sequence
534
Encoder Dividing Pulse Output Function
535
Objects Requiring Settings
536
Dividing Ratio
536
Output Reverse Selection
537
Z-Phase Output
537
Dynamic Brake
538
Operating Conditions
538
Objects Requiring Settings
538
Description of Operation
539
Communications Error Period Command Correction Function
542
Operating Conditions
542
Operation Example
542
Safety Function
545
Safe Torque off Function
546
STO Function Via Safety Input Signals
548
I/O Signal Specifications
548
Operation Example
550
Connection Example
551
STO Function Via Ethercat Communications
554
Connection and Setting
554
Operation Example
556
Connection Example
558
Details on Servo Parameters
561
Object Description Format
564
3001 Hex: Machine
572
3002 Hex: Optimized Parameters
573
3011 Hex: Position Command Filter
577
3012 Hex: Damping Control
578
3020 Hex: Velocity Command
582
3021 Hex: Velocity Command Filter
583
3030 Hex: Torque Command
584
3031 Hex: Velocity Limit in Torque Control
584
3040 Hex: Profile Command
585
Control Method Objects
588
3112 Hex: ODF Velocity Feed-Forward
588
3113 Hex: ODF Torque Feed-Forward
589
3120 Hex: TDF Position Control
590
3121 Hex: TDF Velocity Control
591
Control Loop Objects
593
3210 Hex: Internal Position Command
593
3213 Hex: 1St Position Control Gain
595
3214 Hex: 2Nd Position Control Gain
596
3220 Hex: Internal Velocity Command
596
3221 Hex: Velocity Detection
597
3222 Hex: Gain Switching in Velocity Control
598
3223 Hex: 1St Velocity Control Gain
598
3224 Hex: 2Nd Velocity Control Gain
599
3230 Hex: Internal Torque Command
600
3231 Hex: Torque Detection
600
3232 Hex: Filter Switching in Torque Control
600
3233 Hex: 1St Torque Command Filter
601
3234 Hex: 2Nd Torque Command Filter
602
Torque Output Setting Objects
603
3310 Hex: Torque Compensation
603
3320 Hex: Adaptive Notch Filter
605
3330 Hex: Torque Limit
614
Homing Objects
616
Applied Function Objects
620
3B10 Hex: Drive Prohibition
620
3B11 Hex: Software Position Limit
621
3B50 Hex: Position Detection Function
633
3B51 Hex: Positioning Completion Notification
633
3B52 Hex: Positioning Completion Notification 2
634
3B60 Hex: Speed Detection Function
635
3B70 Hex: Vibration Detection
636
3B71 Hex: Runaway Detection
637
3B80 Hex: Load Characteristic Estimation
638
Error- and Warning-Related Objects
641
4000 Hex: Error Full Code
641
4021 Hex: Warning Output 1 Setting
645
4022 Hex: Warning Output 2 Setting
646
4030 Hex: Information Customization
647
Monitoring-Related Objects
648
4110 Hex: Monitor Data Via PDO
648
4120 Hex: Ethercat Communications Error Count
649
4130 Hex: Safety Status Monitor
649
4150 Hex: Overload
655
Display-Related Objects
657
Power Device-Related Objects
658
4320 Hex: Main Circuit Power Supply
659
External Device-Related Objects
661
4412 Hex: Motor Advanced Setting
662
Encoder-Related Objects
664
4601 Hex: Function Input
668
4602 Hex: Function Output
670
4604 Hex: Control Input Change Count
671
4610 Hex: Brake Interlock Output
673
4620 Hex: Encoder Dividing Pulse Output
674
General-Purpose Input Setting Objects
676
Setting
676
4630 Hex: Positive Drive Prohibition Input
677
4631 Hex: Negative Drive Prohibition Input
677
4633 Hex: External Latch Input 2
678
4634 Hex: Home Proximity Input
678
4635 Hex: Positive Torque Limit Input
678
4636 Hex: Negative Torque Limit Input
679
4637 Hex: Error Stop Input
679
4638 Hex: Monitor Input 1
679
4639 Hex: Monitor Input 2
680
Hex: Monitor Input 3
680
Hex: Monitor Input 4
680
Hex: Monitor Input 5
681
Hex: Monitor Input 6
681
Hex: Monitor Input 7
681
Hex: Monitor Input 8
682
General-Purpose Output Setting Objects
683
Setting
683
4650 Hex: Error Output
684
4651 Hex: Servo Ready Output
684
4652 Hex: Positioning Completion Output 1
684
4653 Hex: Positioning Completion Output 2
685
4654 Hex: Velocity Attainment Detection Output
685
4655 Hex: Torque Limit Output
685
4656 Hex: Zero Speed Detection Output
686
4657 Hex: Velocity Conformity Output
686
4658 Hex: Warning Output 1
686
4659 Hex: Warning Output 2
687
Hex: Velocity Limiting Output
687
Hex: Error Clear Attribute Output
687
Hex: Remote Output 3
688
Hex: Zone Notification Output 1
689
4660 Hex: Zone Notification Output 2
689
4661 Hex: Position Command Status Output
689
4662 Hex: Distribution Completed Output
690
4663 Hex: External Brake Interlock Output
690
Operational Procedure
692
Preparing for Operation
693
Items to Check before Turning on the Power Supply
693
Turning on the Power Supply
694
Checking the Displays
695
Absolute Encoder Setup
697
Setting up an Absolute Encoder from the Sysmac Studio
697
Test Run
698
Preparations for Test Run
698
Test Run Via USB Communications from the Sysmac Studio
699
Adjustment Functions
701
Outline of Adjustment Functions
703
Adjustment Methods
703
Adjustment Procedure
704
Easy Tuning
706
Objects that Are Set
706
Executing Easy Tuning
708
Advanced Tuning
709
Objects that Are Set
709
Executing Advanced Tuning
710
Manual Tuning
711
Objects that Are Set
711
Executing Manual Tuning
711
Data Trace
712
Fft
713
Damping Control
714
Objects Requiring Settings
714
Operating Procedure
716
Setting Frequency with Sysmac Studio
717
Load Characteristic Estimation
718
Objects Requiring Settings
719
Setting Load Characteristic Estimation Function
720
Adaptive Notch Filter
721
Objects Requiring Settings
721
Operating Procedure
722
Notch Filters
723
Objects Requiring Settings
724
Notch Filter Width and Depth
725
Friction Torque Compensation Function
726
Operating Conditions
726
Objects Requiring Settings
726
Operation Example
727
Feed-Forward Function
729
Feed-Forward Control in TDF Control
729
Feed-Forward Control in ODF Control
731
Troubleshooting
733
Actions for Problems
734
Preliminary Checks When a Problem Occurs
734
Precautions When a Problem Occurs
735
Replacing the Servomotor or Servo Drive
736
Warnings
738
Related Objects
738
Warning List
740
Errors
742
Error List
742
Deceleration Stop Operation at Errors
745
Information
746
Related Objects
746
Information List
746
Troubleshooting
747
Troubleshooting Using Error Displays
748
Troubleshooting Using al Status Codes
770
Troubleshooting Using the Operation State
774
Maintenance and Inspection
781
Periodic Maintenance
782
Servo Drive Lifetime
783
Servomotor Lifetime
784
Method for Broken Ring Maintenance and Inspection
785
Appendices
787
Cia 402 Drive Profile
788
A-1-1 Controlling the State Machine of the Servo Drive
788
A-1-2 Modes of Operation
790
A-1-3 Modes of Operation and Applied/Adjustment Functions
791
A-1-4 Changing the Mode of Operation
791
A-1-5 Homing Mode Specifications
793
Coe Objects
798
A-2-1 Object Dictionary Area
798
A-2-2 Data Type
798
Object Description Format
799
A-2-4 Communication Objects
800
A-2-5 PDO Mapping Objects
806
A-2-6 Sync Manager Communication Objects
821
A-2-7 Manufacturer Specific Objects
824
Servo Drive Profile Object
827
A-2-9 Safety Function Objects
850
Object List
854
Sysmac Error Status Codes
886
A-4-1 Error List
886
A-4-2 Error Descriptions
899
Response Time in Ethercat Process Data Communications
964
A-5-1 Input Response Time
964
A-5-2 Output Response Time
964
Version Information
965
A-6-1 Relationship between Unit Versions and Sysmac Studio Versions
965
A-6-2 Functions that Were Added or Changed for each Unit Version
967

Omron R88D-1SN ECT Series Startup Manual (61 pages)

AC Servo System

Brand: Omron | Category: Servo Drives | Size: 6.83 MB

Introduction
3
Intended Audience
3
Applicable Products
3
Special Information
3
Terms and Conditions Agreement
4
Precautions
6
Trademarks
6
Software Licenses and Copyrights
6
Related Manuals
7
Revision History
9
Table of Contents
10
Servo System Configuration and Peripheral Products
11
Outline
11
Servo System Constructed in this Guide
12
System Configuration
13
Before You Begin
15
Performing Setup
16
Installation & Wiring
16
System Configuration with NJ and NX Safety Controller
25
Sysmac Studio Project Creation
26
Motor, ABS Encoder and I/O Setup
30
Gain Tuning
34
Easy Tuning
34
Advanced Auto-Tuning
38
Fsoe STO Activation
45
Annex
51
Add a Drive and Axis OFFLINE
51
Test Run and Data Trace
55
Manual Tuning
57

Omron R88D-1SN ECT Series Startup Manual (52 pages)

Multi-axis Setup and Tuning

Brand: Omron | Category: Controller | Size: 3.72 MB

Introduction
3
Intended Audience
3
Applicable Products
3
Special Information
3
Terms and Conditions Agreement
4
Precautions
6
Trademarks
6
Software Licenses and Copyrights
6
Related Manuals
7
Revision History
9
Table of Contents
10
Servo System Configuration and Peripheral Products
11
Outline
11
Servo System Constructed in this Guide
12
Before You Begin
14
Installing the Sysmac Studio
14
Assembling the Hardware
15
Wiring the Devices
16
Performing Setup
20
Two Axis Servo System Operation
20
System Setup Procedures
22
Creating Project with Auto Connection
22
Creating the Ethercat Network Configuration
24
Creating Motion Axes
26
Program Making and Transfer to the CPU Unit
32
Drives and Motors Parameters Setup
34
Easy Tuning (Multiple Drives)
38
Annex
44
Settings When Control Input Signals Are Not Wired
44
Program Making with Structured Text
51

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