Omron R88D-KN series User Manual
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Omron R88D-KN series User Manual

G5-series with built-in ethercat communications linear motor type
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AC SERVO DRIVES
G5-series WITH BUILT-IN
EtherCAT COMMUNICATIONS
Linear Motor Type
User's Manual
R88D-KN -ECT-L (AC Servo Drives)
I577-E1-01

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Summary of Contents for Omron R88D-KN series

  • Page 1 AC SERVO DRIVES G5-series WITH BUILT-IN EtherCAT COMMUNICATIONS Linear Motor Type User's Manual R88D-KN -ECT-L (AC Servo Drives) I577-E1-01...
  • Page 2 OMRON. 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.

  • Page 3: Introduction

    Introduction Introduction Thank you for purchasing a G5-series Servo Drive. This manual explains how to install and wire the Servo Drive, set parameters needed to operate the Servo Drive, and remedies to be taken and inspection methods to be used should problems occur. Intended Readers This manual is intended for the following individuals.

  • Page 4: Structure Of This Document

    Structure of This Document Structure of This Document This manual consists of the following sections. Outline Section 1 Features and This section explains the features of the Servo Drive, and name of System each part. Configuration Section 2 Models and This section explains the models of Servo Drives and peripheral External equipment, and provides the external dimensions and mounting...

  • Page 5: Manual Structure

    Manual Structure Manual Structure Page Structure and Symbol Icons The following page structure and symbol icons are used in this manual. Level 1 heading 11 Adjustment Functions 11-8 Disturbance Observer Function Level 2 heading You can use the disturbance force value estimated with the disturbance observer to lower the effect of the disturbance force and reduce vibration.
  • Page 6 Terms and Expressions Used for the Linear Motor In this manual, the term "Linear Motor" is defined as an OMRON product that consists of a Motor Coil Unit (the coil on the primary side) and a Magnet Trac (the magnet on the secondary side).

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Features and System Operation Configuration Models and Adjustment Functions External Dimensions Troubleshooting and Specifications Maintenance System Design Appendicies EtherCAT Index Communications Basic Control Functions Applied Functions Safety Function Details on Servo Parameter Objects G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 8: Table Of Contents

    CONTENTS CONTENTS Introduction ....................... 1 Structure of This Document ..................2 Manual Structure ....................... 3 Sections in this Manual .................... 5 CONTENTS ........................ 6 Read and Understand this Manual ................ 12 Safety Precautions ....................15 Regulations and Standards..................22 Items to Check after Unpacking................24 Revision History ......................

  • Page 9: Contents

    CONTENTS 3-1-2 Characteristics ..........................3-2 3-1-3 EtherCAT Communications Specifications ................. 3-5 3-1-4 EtherCAT Communications Connector Specifications (RJ45) ............ 3-5 3-1-5 Control I/O Specifications (CN1)....................3-6 3-1-6 Control Input Circuits ........................3-9 3-1-7 Control Input Details ........................3-9 3-1-8 Control Output Circuits ......................3-11 3-1-9 Control Output Details ......................
  • Page 10 6-4-3 Controlword (6040 hex) in Profile Position Mode ..............6-14 6-4-4 Statusword (6041 hex) in Profile Position Mode................ 6-14 Homing Mode ......................... 6-15 Connecting with OMRON Controllers .................. 6-16 Section 7 Applied Functions Sequence I/O Signals ......................7-2 7-1-1 Input Signals ..........................7-2 7-1-2 Output Signals..........................
  • Page 11 CONTENTS 7-9-4 Position Gain Switching Time (3119 Hex) ................7-36 7-10 Gain Switching 3 Function ....................7-37 7-10-1 Operating Conditions ........................ 7-37 7-10-2 Objects Requiring Settings ....................... 7-37 7-10-3 Operation Example ........................7-37 7-11 Touch Probe Function (Latch Function)................7-39 7-11-1 Objects Requiring Settings .......................
  • Page 12 CONTENTS 11-3-1 Operationg Conditions ......................11-7 11-3-2 Objects Requiring Settings ....................... 11-8 11-3-3 Setting Realtime Autotuning...................... 11-9 11-3-4 Setting Machine Rigidity......................11-9 11-3-5 Objects to be Changed ......................11-12 11-4 Manual Tuning........................11-14 11-4-1 Preparation for Manual Tuning ....................11-14 11-5 Damping Control........................
  • Page 13 CONTENTS A-1-1 Controlling the State Machine of the Servo Drive............... A-2 A-1-2 Modes of Operation ........................A-4 A-1-3 Communications Cycles and Corresponding Modes of Operation ..........A-5 A-1-4 Modes of Operation and Applied Functions................A-6 A-1-5 Changing the Mode of Operation....................A-7 A-1-6 Homing Mode Specifications ....................

  • Page 14: Read And Understand This Manual

    PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
  • Page 15 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 16 Performance data given in this manual 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 users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

  • Page 17: Safety Precautions

    Safety Precautions Safety Precautions To ensure that the G5-series 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 18 When using 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 representative. DANGER Be sure to ground the frame ground terminals of the Servo Drive and Servomotor to 100 ...
  • Page 19 Safety Precautions DANGER Install a stopping device on the machine to ensure safety. * The holding brake is not a stopping device to ensure safety. Injury may result. Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately.
  • Page 20 Safety Precautions Caution The Servo Drive radiator, Regeneration Resistor, Servomotor, etc., may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components. A burn injury may result. Use the Servomotor and Servo Drive in a specified combination.
  • Page 21 Safety Precautions Installation and Wiring Caution Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive. Fire may result. Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment.
  • Page 22 Safety Precautions Operation and Adjustment Caution If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply. Fire may result. Conduct a test operation after confirming that the equipment is not affected. Equipment damage may result. Before operating the Servo Drive in an actual environment, check if it operates correctly based on the parameters and switches you have set.
  • Page 23 Safety Precautions Location of Warning Label The Servo Drive bears a warning label at the following location to provide handling warnings. When handling the Servo Drive, be sure to observe the instructions provided on this label. Warning label display location (R88D-KN02H-ECT-L) Instructions on Warning Label Disposal...

  • Page 24: Regulations And Standards

    Regulations and Standards Regulations and Standards To export (or provide to nonresident aliens) any part of this product that falls under the category of goods (or technologies) for which an export certificate or license is mandatory according to the Foreign Exchange and Foreign Trade Control Law of Japan, an export certificate or license (or service transaction approval) according to this law is required.
  • Page 25 Regulations and Standards Trademarks • Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products. ® • EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

  • Page 26: Items To Check After Unpacking

    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 27: Revision History

    Revision History Revision History The manual revision code is a number appended to the end of the catalog number found in the bottom left-hand corner of the front or back cover. Example I577-E1-01 Cat. No. Revision code Revision Revision Date Revised content code October 2011...
  • Page 28 Revision History G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 29: Features And System Configuration

    Features and System Configuration This section explains the features of the Servo Drive and name of each part. 1-1 Outline ............1-2 1-1-1 Features of G5-series Servo Drives .

  • Page 30: Outline

    Motor Type is designed to provide optimal functionality and ease of use when used in conjunction with a Machine Automation Controller such as NJ series and the automation software Sysmac Studio. *1 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 31: What Is Ethercat

    Definitions of variables that can be used by all servers for designated communications. 2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all OMRON products. 3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all G5-series Servo Drives (servo parameters).

  • Page 32: System Configuration

    1 Features and System Configuration System Configuration The system configuration for a G5-Series AC Servo Drive with Built-in EtherCAT Communications, Linear Motor Type is shown below. Controller (EtherCAT (EtherCAT) ) EtherCAT NJ-series Machine Automation Controller G5 Series AC Servo Drive R88D-KN -ECT-L Programmable Controller Position Control Unit...

  • Page 33: 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. EtherCAT status indicators Seven-segment display Analog monitor connector (CN5) Rotary switches for node address setting USB connector (CN7)

  • Page 34: Servo Drive Functions

    1 Features and System Configuration 1-3-2 Servo Drive Functions The functions of each part are described below. Display A 2-digit 7-segment display shows the node address, error codes, and other Servo Drive status. Charge Lamp Lights when the main circuit power supply is turned ON. EtherCAT Status Indicators These indicators show the status of EtherCAT communications.

  • Page 35: System Block Diagram

    1 Features and System Configuration System Block Diagram This is the block diagram of the G5-series AC Servo Drive with Built-in EtherCAT Communications, Linear Motor Type.  R88D-KN01L-ECT-L/-KN02L-ECT-L/-KN04L-ECT-L/ R88D-KN01H-ECT-L/-KN02H-ECT-L/-KN04H-ECT-L/-KN08H-ECT-L CN A CN B FUSE FUSE − Voltage detection FUSE − SW power 15 V Relay...
  • Page 36 1 Features and System Configuration  R88D-KN10H-ECT-L/-KN15H-ECT-L/-KN20H-ECT-L CN B CN A FUSE Internal Regeneration Resistor FUSE − Voltage detection FUSE − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V Display and Internal 2.5 V...
  • Page 37 1 Features and System Configuration  R88D-KN30H-ECT-L/-KN50H-ECT-L FUSE Internal Regeneration Resistor FUSE Voltage detection FUSE SW power supply Overcurrent Relay Regeneration Current detection Gate drive main circuit detection drive control control 3.3V Internal 2.5V Display and MPU & ASIC setting circuit 1.5V control area...
  • Page 38 1 Features and System Configuration  R88D-KN75H-ECT-L FUSE Fuse FUSE − Voltage detection FUSE − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V Display and Internal 2.5 V setting circuit MPU &...
  • Page 39 1 Features and System Configuration  R88D-KN150H-ECT-L FUSE Fuse FUSE − Voltage detection FUSE − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V Display and Internal 2.5 V setting circuit MPU &...
  • Page 40 1 Features and System Configuration  R88D-KN06F-ECT-L/-KN10F-ECT-L/-KN15F-ECT-L/-KN20F-ECT-L CN A CN D FUSE Internal Regeneration Resistor FUSE − CN B CN C Voltage detection FUSE 24 V DC-DC − − SW power 15 V Relay Regeneration Overcurrent Current detection Gate drive supply main drive control...
  • Page 41 1 Features and System Configuration  R88D-KN30F-ECT-L/-KN50F-ECT-L FUSE Internal Regeneration Resistor FUSE − Voltage detection FUSE 24 V DC-DC − − SW power 15 V Relay Regeneration Overcurrent Current detection Gate drive supply main drive control detection circuit control 3.3 V Display and Internal 2.5 V...
  • Page 42 1 Features and System Configuration  R88D-KN75F-ECT-L FUSE Fuse FUSE − Voltage detection FUSE 24 V DC-DC − − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V Display and Internal 2.5 V setting circuit...
  • Page 43 1 Features and System Configuration  R88D-KN150F-ECT-L FUSE Fuse FUSE − Voltage detection FUSE 24 V DC-DC − − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V Display and Internal 2.5 V setting circuit...
  • Page 44 1 Features and System Configuration 1-16 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 45: Models And External Dimensions

    Models and External Dimensions This section explains the models of Servo Drive 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 46: Servo System Configuration

    2 Models and External Dimensions Servo System Configuration Support Software Controller ● Automation Software Sysmac Studio NJ-series CPU Unit with EtherCAT Port Machine Automation Controller NJ501-1 00 CJ-series CPU Unit + Position Control Unit with EtherCAT Interface Support Software Support Software ●...
  • Page 47 2 Models and External Dimensions Linear Motor / External Encoder AC Servo Drive Motor power signals EtherCAT communications Feedback Signals USB communications ● G5-series Servo Drive R88D-KN -ECT-L 100 VAC 200 VAC 400 VAC Peripheral Devices ● Reactor 3G3AX-DL External 3G3AX-AL encoder ●...

  • Page 48: 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. 2-2-1 Servo Drive The Servo Drive model number tells the Servo Drive type, applicable Linear Motor, power supply voltage, etc.

  • Page 49: Model Tables

    2 Models and External Dimensions Model Tables This section lists the standard models of Servo Drives, Connectors, and peripheral equipment. 2-3-1 Servo Drive Model Table The table below lists the Servo Drive models. Specifications Model Single-phase 100 VAC 100 W R88D-KN01L-ECT-L 200 W R88D-KN02L-ECT-L...

  • Page 50: Cable And Peripheral Device Model Tables

    2 Models and External Dimensions 2-3-2 Cable and Peripheral Device Model Tables The following tables list the models of EtherCAT communications cables (recommended) and analog monitor cables, as well as the models of peripheral devices such as External Regeneration Resistors and Reactors.
  • Page 51 2 Models and External Dimensions External Regeneration Resistors Specifications Model Regeneration process capacity: 20 W, 50  (with 150C thermal sensor) R88A-RR08050S Regeneration process capacity: 20 W, 100  (with 150C thermal sensor) R88A-RR080100S Regeneration process capacity: 70 W, 47  (with 150C thermal sensor) R88A-RR22047S1 Regeneration process capacity: 70 W, 47 ...

  • Page 52: External And Mounting Dimensions

    2 Models and External Dimensions External and Mounting Dimensions This section describes the external dimensions and the mounting dimensions of Servo Drives and peripheral devices. 2-4-1 Servo Drive Dimensions The dimensional description starts with a Servo Drive of the smallest capacity, which is followed by the next smallest, and so on.
  • Page 53 2 Models and External Dimensions  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 2-M4 Rectangular hole (42)* * Rectangular hole dimensions are reference values. G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 54 2 Models and External Dimensions Single-phase 100 VAC: R88D-KN02L-ECT-L (200 W) Single-phase/3-phase 200 VAC: R88D-KN04H-ECT-L (400 W)  Wall Mounting External dimensions Mounting dimensions 2-M4  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 2-M4 φ5.2 Rectangular hole R2.6 (57)*...
  • Page 55 2 Models and External Dimensions Single-phase 100 VAC: R88D-KN04L-ECT-L (400 W) Single-phase/3-phase 200 VAC: R88D-KN08H-ECT-L (750 W)  Wall Mounting External dimensions Mounting dimensions 2-M4  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 2-M4 φ5.2 Rectangular hole R2.6 (67)*...
  • Page 56 2 Models and External Dimensions Single-phase/3-phase 200 VAC: R88D-KN10H-ECT-L/-KN15H-ECT-L (900 W to 1.5 kW)  Wall Mounting External dimensions Mounting dimensions 2-M4  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 4-M4 φ5.2 φ5.2 Rectangular hole R2.6 R2.6 (88)* * Rectangular hole dimensions are reference values.
  • Page 57 2 Models and External Dimensions 3-phase 200 VAC: R88D-KN20H-ECT-L (2 kW)  Wall Mounting External dimensions Mounting dimensions 17.5 φ5.2 42.5 6-M4 R2.6 R2.6 R2.6 R2.6 17.5 φ5.2 42.5 17.5  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 17.5 φ5.2 30.7...
  • Page 58 2 Models and External Dimensions 3-phase 200 VAC: R88D-KN30H-ECT-L/-KN50H-ECT-L (3 to 5 kW)  Wall Mounting External dimensions Mounting dimensions φ5.2 R2.6 R2.6 6-M4 R2.6 R2.6 φ5.2  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions φ5.2 40.7 R2.6 6-M4 R2.6...
  • Page 59 2 Models and External Dimensions 3-phase 200 VAC: R88D-KN75H-ECT-L (7.5 kW)  Wall Mounting External dimensions φ5.2 φ5.2 R2.6 R2.6 R2.6 R2.6 R2.6 R2.6 Mounting dimensions 10-M4 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 2-15...
  • Page 60 2 Models and External Dimensions  Front Mounting (Using Front Mounting Brackets) External dimensions φ5.2 φ5.2 R2.6 R2.6 R2.6 R2.6 R2.6 R2.6 Mounting dimensions 10-M4 Rectangular hole (235)* * Rectangular hole dimensions are reference values. 2-16 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 61 2 Models and External Dimensions 3-phase 200 VAC: R88D-KN150H-ECT-L (15 kW)  Wall Mounting External dimensions 30.5 φ7 φ7 30.5 R3.5 R3.5 Mounting dimensions 30.5 4-M6 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 2-17...
  • Page 62 2 Models and External Dimensions 3-phase 400 VAC: R88D-KN06F-ECT-L/-KN10F-ECT-L/ -KN15F-ECT-L (600 W to 1.5 kW)  Wall Mounting External dimensions Mounting dimensions 2-M4 14.5  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 4-M4 φ5.2 φ5.2 Rectangular hole R2.6 (94)*...
  • Page 63 2 Models and External Dimensions 3-phase 400 VAC: R88D-KN20F-ECT-L (2 kW)  Wall Mounting External dimensions Mounting dimensions 17.5 Ø5.2 42.5 6-M4 R2.6 R2.6 26.5 Ø5.2 17.5  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 17.5 Ø5.2 42.5 30.7 6-M4...
  • Page 64 2 Models and External Dimensions 3-phase 400 VAC: R88D-KN30F-ECT-L/-KN50F-ECT-L (3 to 5 kW)  Wall Mounting External dimensions Mounting dimensions 6-M4 Ø5.2 R2.6 R2.6 Ø5.2  Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 6-M4 φ5.2 40.7 Rectangular hole R2.6 R2.6...
  • Page 65 2 Models and External Dimensions 3-phase 400 VAC: R88D-KN75F-ECT-L (7.5 kW)  Wall Mounting External dimensions Ø Ø R2.6 R2.6 R2.6 R2.6 R2.6 R2.6 Ø Ø Mounting dimensions 10-M4 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 2-21...
  • Page 66 2 Models and External Dimensions  Front Mounting (Using Front Mounting Brackets) External dimensions Ø Ø R2.6 R2.6 R2.6 R2.6 R2.6 R2.6 Ø Ø Mounting dimensions 10-M4 Rectangular hole (235)* * Rectangular hole dimensions are reference values. 2-22 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 67 2 Models and External Dimensions 3-phase 400 VAC: R88D-KN150F-ECT-L (15 kW)  Wall Mounting External dimensions 30.5 Ø7 Ø7 R3.5 R3.5 30.5 Mounting dimensions 30.5 4-M6 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 2-23...

  • Page 68: External Regeneration Resistor Dimensions

    2 Models and External Dimensions 2-4-2 External Regeneration Resistor Dimensions R88A-RR08050S/-RR080100S Thermal switch output t1.2 R88A-RR22047S/-RR22047S1 Thermal switch output t1.2 R88A-RR50020S 2-24 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 69: Reactor Dimensions

    2 Models and External Dimensions 2-4-3 Reactor Dimensions 3G3AX-DL2002 2-M4 Ground terminal (M4) 4-5.2 × 8 3G3AX-DL2004 2-M4 Ground terminal (M4) 4-5.2 × 8 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 2-25...
  • Page 70 2 Models and External Dimensions 3G3AX-DL2007 2-M4 Ground terminal (M4) 4-5.2 × 8 3G3AX-DL2015 2-M4 Ground terminal (M4) 4-5.2 × 8 2-26 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 71 2 Models and External Dimensions 3G3AX-DL2022 2-M4 Ground terminal (M4) 4-6 × 9 3G3AX-AL2025/-AL2055/-AL4025/-AL4055 Ground terminal (M5) Terminal screw 6- Ø Terminal block Ro R So S To T Ro R So S To Connection Diagram Ø Y±1 50±1 (Cutout) Dimensions [mm] Model 3G3AX-AL2025...
  • Page 72 2 Models and External Dimensions 3G3AX-AL2110/-AL2220/-AL4110/-AL4220 Terminal hole 6- Ø Ro R So S To T R So S To Connection Diagram X±1 Y±1 Ø W= Terminal width (Cutout) Ground terminal (M6) Dimensions [mm] Model 3G3AX-AL2110 3G3AX-AL2220 16.5 3G3AX-AL4110 12.5 3G3AX-AL4220 2-28 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 73: Mounting Bracket Dimensions

    2 Models and External Dimensions 2-4-4 Mounting Bracket Dimensions L-brackets for rack mounting are brackets attached to the top and bottom of a Servo Drive. Note that each bracket has a different shape when you attach these L-brackets. R88A-TK01K Mounting bracket for top side Mounting bracket for bottom side 2-M4 countersunk 2-M4 countersunk...
  • Page 74 2 Models and External Dimensions R88A-TK04K Mounting bracket for top side Mounting bracket for bottom side 2-M4 countersunk 2-M4 countersunk 36± 0.2 36± 0.2 40±0.2 40±0.2 2-30 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 75: Specifications

    Specifications This section provides the general specifications, characteristics, connector specifications, I/O circuits of the Servo Drives, and other peripheral devices. 3-1 Servo Drive Specifications........3-2 3-1-1 General Specifications .

  • Page 76: Servo Drive Specifications

    3 Specifications Servo Drive Specifications Select a Servo Drive that matches the Linear motor to be used. 3-1-1 General Specifications Item Specifications Ambient operating temperature and operating 0 to 55C, 20 to 85% max. (with no condensation) humidity 20 to 65C, 20 to 85% max. (with no condensation) Storage ambient temperature and humidity Operating and storage atmosphere No corrosive gases...
  • Page 77 3 Specifications 200-VAC Input Models R88D-KN01H- R88D-KN02H- R88D-KN04H- R88D-KN08H- R88D-KN10H- R88D-KN15H- Item ECT-L ECT-L ECT-L ECT-L ECT-L ECT-L Input power Main Power 0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3KVA supply circuit supply capacity Power Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz supply voltage Rated...
  • Page 78 3 Specifications 400-VAC Input Models Item R88D-KN06F-ECT-L R88D-KN10F-ECT-L R88D-KN15F-ECT-L R88D-KN20F-ECT-L Input power Main Power supply 1.2 KVA 1.8 KVA 2.3 KVA 3.8 KVA supply circuit capacity Power supply 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz voltage Rated current 2.1 A 2.8 A...

  • Page 79: Ethercat Communications Specifications

    3 Specifications 3-1-3 EtherCAT Communications Specifications Item Specification Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile Physical layer 100BASE-TX (IEEE802.3) RJ45  2 (shielded) Connectors ECAT IN: EtherCAT input ECAT OUT: EtherCAT output Communications media Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided shielding) is recommended.

  • Page 80: Control I/O Specifications (Cn1)

    3 Specifications 3-1-5 Control I/O Specifications (CN1) For the control I/O signal cable, use a shielded twisted-pair cable with 0.18 mm or thicker core wires. The cable length must be 3 m or less. Control I/O Signal Connections and External Signal Processing 12 to 24 VDC +24 VIN 4.7 kΩ...
  • Page 81 3 Specifications Control I/O Signal Tables  CN1 Control Inputs Signal Symbol Function and interface number Name Default 24 VIN Power supply input 12 to 24 VDC. The positive input terminal of the external power supply (12 to 24 VDC) for sequence inputs General-purpose Immediate Stop...
  • Page 82 4 The functions that are allocated by default are given in parentheses. Refer to 7-1 Sequence I/O Signals on page 7-2 for details on the allocations. Connectors for CN1 (Pin 26) Name Model Manufacturer OMRON model number Plug 10126-3000PE Sumitomo 3M R88A-CNW01C Cable Case...

  • Page 83: Control Input Circuits

    3 Specifications 3-1-6 Control Input Circuits External power supply 4.7 kΩ +24VIN 12 VDC ± 5% to 24 VDC ± 5% Photocoupler input 1.0 kΩ Input current 10 mA max. 4.7 kΩ (per input) Signal level Photocoupler input 1.0 kΩ ON level: 10 V or more OFF level: 3 V or less To another input circuit GND common...
  • Page 84 3 Specifications  Positive Drive Prohibition Input (POT) / Negative Drive Prohibition Input (NOT) • These two signals are the inputs to prohibit positive or negative drive (over-travel inputs). • When these terminals are shorted (factory setting), the Servo Drive can drive in the specified movement direction.

  • Page 85: Control Output Circuits

    3 Specifications  Monitor Inputs (MON0, MON1, and MON2) • These are the general-purpose monitor inputs. • The general-purpose monitor inputs do not affect operation and can only be monitored from the host controller. • With the default settings, MON0 is allocated to pin 13. ...

  • Page 86: Control Output Details

    3 Specifications 3-1-9 Control Output Details Control Output Sequence The chart below illustrates the timing of the command inputs after the control power supply is turned ON. Input the Servo ON/OFF operation, position, speed, and force commands in the correct timing, as shown in the chart. Control power supply (L1C, L2) Approx.
  • Page 87 3 Specifications Error Output (/ALM) Pin 3: Error Output (/ALM) Pin 4: Error Output Common (ALMCOM)  Function • This output is turned OFF when the drive detects an error. • This output is OFF when the power supply is turned ON, but turns ON when the drive's initial processing has been completed.
  • Page 88 3 Specifications Motor movement speed [mm/s] Motor speed 3436 hex + 10 3436 hex − 10 Time − (3436 hex − 10) − (3436 hex + 10) Motor Speed Detection Output (TGON)  Force Limiting Signal (TLIMT) • The output turns ON when the output force reaches the limit set in the Positive torque limit value (60E0 hex) or the Negative torque limit value (60E1 hex).
  • Page 89 3 Specifications Speed command after acceleration or Speed Conformity deceleration process Speed command Detection Range (3435 hex) Speed [mm/s] Motor speed Speed Conformity Detection Range (3435 hex) Time Speed Conformity Detection Range (3435 hex)* Speed Conformity Output (VCMP) *1 Because the Speed Conformity Detection Range has a hysteresis of 10 mm/s, the actual detection range is as follows: Threshold for transition from OFF to ON: (3435 hex - 10) mm/s Threshold for transition from ON to OFF: (3435 hex + 10) mm/s...

  • Page 90: External Encoder Specifications

    3 Specifications  Remote Outputs (R-OUT1 and R-OUT2) • Remote Output 1 (R-OUT1) turns ON and OFF according to the ON/OFF status of bit 16 in the Digital outputs (60FE hex). • Remote Output 2 (R-OUT2) turns ON and OFF according to the ON/OFF status of bit 17 in the Digital outputs (60FE hex).

  • Page 91: External Encoder Connector Specifications (Cn4)

    *1 Connect external encoder signals to the serial interface (EXS/EXS) or 90 phase difference inputs according to the encoder type.  Connectors for CN4 (10 Pins) Name Model Manufacturer OMRON model number MUF Connector MUF-PK10K-X J.S.T. Mfg. Co., Ltd. R88A-CNK41L G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 92 3 Specifications Connection of External Encoder Input Signals and Processing of External Signals External encoder E5 V power supply output 5.0 V ±5% E0 V 250 mA max 680 Ω +EXS 120 Ω -EXS Serial signal 680 Ω 20 kΩ +EXA 2 kΩ...
  • Page 93 3 Specifications Example of Connection with External Encoder  90 Phase Difference Input (3323 Hex = 0) Servo Drive side (CN4) External encoder side E5 V 5.0 V ±5% 250 mA max +5 V Power supply area E0 V 20 kΩ 2 kΩ...
  • Page 94 3 Specifications  Serial Communications, Absolute Type External Encoder (3323 Hex = 2) Absolute Linear Scale by Mitutoyo Corporation Servo Drive side (CN4) AT573A/ST770A/ST770AL E5 V +5 V E0 V 2 680 Ω RQ/DT +EXS 120 Ω RQ/DT -EXS Serial signal 680 Ω...

  • Page 95: Analog Monitor Connector Specifications (Cn5)

    3 Specifications 3-1-12 Analog Monitor Connector Specifications (CN5) Monitor Output Signal Table  Monitor Output (CN5) Pin No. Symbol Name Function and interface Analog monitor output 1 Outputs the analog signal for the monitor. Default setting: Motor speed 1 V/(500 mm/s) You can use objects 3416 hex and 3417 hex to change the item and unit.

  • Page 96: Usb Connector Specifications (Cn7)

    3 Specifications 3-1-13 USB Connector Specifications (CN7) Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking error status and error history, and parameter saving and loading can be performed. Pin No. Symbol Name Function and interface...

  • Page 97: Safety Connector Specifications (Cn8)

    Shell Frame ground Connected to the ground terminal inside the Servo Drive.  Connector for CN8 (8 pins) Name Model Manufacturer OMRON model number Industrial Mini I/O 2013595-1 Tyco Electronics AMP KK R88A-CNK81S Connector (D-SHAPE1) Note The recommended cable is a 6-core shielded cable with a wire size of AWG30 to AWG26 and a finished outer diameter of 6.7 mm or less.
  • Page 98 3 Specifications Safety Input Circuits Servo Drive SF1+ 4.7 kΩ External power supply Photocoupler 12 VDC ± 5% to 1.0 kΩ input 24 VDC ± 5% SF1- 4.7 kΩ SF2+ Photocoupler 1.0 kΩ input SF2- Signal level ON level: 10 V min. OFF level: 3 V max.

  • Page 99: Overload Characteristics (Electronic Thermal Function)

    3 Specifications Overload Characteristics (Electronic Thermal Function) An overload protection function (electronic thermal) is built into the Servo Drive to protect the drive and linear motor from overloading. Overload protection will be activated according to the timing characteristic if the feedback value for the force command exceeds the overload level.
  • Page 100 3 Specifications  When Overload Detection Level Setting is 115% Time (s) 1000 3929 hex=0 3929 Hex=1 3929 Hex=2 3929 Hex=3 3929 Hex=4 3929 Hex=5 3929 hex=5, 6 3929 Hex=6 3929 Hex=7 Force (%) If a constant force command is continuously applied after a period of time equivalent to 3 or more times the overload time constant with the force command value set to 0, the overload time t [s] will be: t [s] = -Overload time constant [s] x log (1 - Overload level [%]/Force command [%])

  • Page 101: Cable And Connector Specifications

    3 Specifications Cable and Connector Specifications The specifications of the cables to connect Servo Drives are shown below. The information on the cable types are also provided. 3-3-1 Bend Radius of Robot Cable If the cable is used at a moving part, use a robot cable. For bend radius limit of robot cable, the wire rod with the durability of more than 20 million times of use is used.

  • Page 102: Connector Specifications

    3 Specifications 3-3-2 Connector Specifications This section lists the specifications of the control I/O connector, power cable connector, external encoder connector, and safety I/O signal connector. Control I/O Connector (R88A-CNW01C) This is the connector to be connected to the drive's control I/O connector (CN1). Use this connector when preparing a control cable by yourself.

  • Page 103: Ethercat Communications Cable Specifications

    AWG22 x 2P Kuramo Electric Co. KETH-PSB-OMR *1 It is recommended that you use this cable in combination with the OMRON XS6G-T421-1 connector. Precautions for Correct Use Precautions for Correct Use The maximum length between nodes is 100 m. However, some cables are specified for less than 100 m.
  • Page 104 Panduit Corporation MPS588 Panduit Corporation Japan Branch Osaka Sales Office AWG22 x 2P OMRON Corporation OMRON Corporation XS6G-T421-1 Customer Support *1 It is recommended that you use this connector in combination with the Kuramo Electric Co. KETH-PSB-OMR cable. Precautions for Correct Use Precautions for Correct Use When selecting a connector, confirm that it is applicable to the cable that will be used.
  • Page 105 3 Specifications Wiring This example shows how to connect a CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/F82 Position Control Unit to Servo Drives using EtherCAT Communications Cables. Connect the EtherCAT master to the ECAT IN connector on the first Servo Drive. Connect the ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo Drive. Do not connect the ECAT OUT connector on the last Servo Drive.

  • Page 106: Analog Monitor Cable Specifications

    3 Specifications 3-3-4 Analog Monitor Cable Specifications Analog Monitor Cable (R88A-CMK001S)  Connection Configuration and External Dimensions Symbol Black White Cable: AWG24×3C UL1007 Connector housing: 51004-0600 (Molex Japan) Connector terminal: 50011-8000 (Molex Japan) 1000mm (1m) 3-32 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 107: Control Cable Specifications

    Connector case: EXT1 EXT1 10326-52A0-008 (Sumitomo 3M) EXT2 EXT2 EXT3 EXT3 Terminal Block Connector BATGND BATGND Connector socket: XG4M-2030 (OMRON) BKIRCOM BKIRCOM Strain relief: XG4T-2004 (OMRON) BKIR BKIR ALMCOM ALMCOM Cable Shell AWG28 × 3P + AWG28 × 8C UL2464 * Before you use the Servo Drive, confirm that the signals of Servo Drive connector are set as shown above.
  • Page 108 3 Specifications Connector-Terminal Block Conversion Unit (XW2B-20G) The Unit is used with a Connector Terminal Block Cable (XW2Z-J-B34). They convert the control input signal (CN1) of the G5-series Servo Drive into a terminal block.  Terminal Block Models Model Description XW2B-20G4 M3 screw terminal block XW2B-20G5...
  • Page 109 3 Specifications  XW2B-20G5 Dimensions Flat cable connector (MIL type plug) 112.5 Ø Terminal block Note The pitch of terminals is 8.5 mm. Precautions for Correct Use Precautions for Correct Use • When using crimp terminals, use crimp terminals with the following dimensions. Round terminal Fork terminal 3.7mm...
  • Page 110 3 Specifications  XW2D-20G6 Dimensions (39.1) 17.6 Ø Precautions for Correct Use Precautions for Correct Use • When using crimp terminals, use crimp terminals with the following dimensions. Round terminal Fork terminal 3.2mm Ø 5.8 mm max. 5.8 mm max. 3.2mm Applicable crimp terminals Applicable wires...
  • Page 111 3 Specifications Terminal Block Wiring Example The example is for the XW2B-20G4, XW2B-20G5, and XW2D-20G6. +24V +24V +24V STOP EXT1 EXT3 BKIR EXT2 BKIRCOM ALMCOM 24 VDC 24 VDC Assign the brake interlock output (BKIR) to pin CN1-1. The XB contact is used to turn ON/OFF the electromagnetic brake. G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 3-37...

  • Page 112: External Regeneration Resistor Specifications

    3 Specifications External Regeneration Resistor Specifications Five types of External Regeneration Resistors are available, as shown in the table below. For how to calculate the amount of regeneration, refer to 4-4 Regenerative Energy Absorption on page 4-51. Regeneration Resistance Nominal absorption for Heat radiation Thermal switch...

  • Page 113: Reactor Specifications

    3 Specifications Reactor Specifications A Reactor is connected to the Servo Drive to suppress harmonic currents. Select an appropriate Reactor for your Servo Drive model. Reactor Servo Drive model Rated Model Inductance Weight Reactor Type current R88D-KN01H-ECT-L (For single-phase input) 3G3AX-DL2002 1.6 A 21.4 mH...
  • Page 114 3 Specifications 3-40 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 115: System Design

    System Design This section explains the installation conditions, wiring methods (including wiring conforming to EMC Directives), and regenerative energy calculation methods for the Servo Drive. It also explains the performance of External Regeneration Resistors. 4-1 Installation Conditions ......... . 4-2 4-2 Wiring .

  • Page 116: Installation Conditions

    4 System Design Installation Conditions This section describes the installation conditions for the Servo Drive. Space Conditions around Servo Drives Install the Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drives and convection inside the panel. If the drives are installed side by side, install a fan for air circulation to prevent uneven temperatures inside the panel.
  • Page 117 4 System Design Additional Information Drives of 100 V or 200 V with a capacity of 750 W max. can be installed side by side with a 1-mm clearance (W in above illustration). However, the specifications for operating ambient temperature depends on the drive. Drive A: 0 to 50C Drive B:...

  • Page 118: Wiring

    Confirming to EMC Directives. 24 VDC *2. Recommended relay: MY relay by OMRON (24-V) ALMCOM MY2 relay by OMRON can be used because its rated inductive load is 2 A (24 VDC). 24 VDC OUTM1 *3. Models with a built-in Regeneration Resistor...
  • Page 119 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V) 24 VDC MY2 relay by OMRON can be used for ALMCOM a rated inductive load of 2 A (24 VDC). *3. Models with a built-in Regeneration 24 VDC...
  • Page 120 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V) 24 VDC MY2 relay by OMRON can be used for a ALMCOM rated inductive load of 2 A (24 VDC). *3. Models with a built-in Regeneration 24 VDC...
  • Page 121 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) /ALM 24 VDC MY2 relay by OMRON can be used for a rated inductive load of 2 A (24 VDC). ALMCOM *3. Models with a built-in Regeneration 24 VDC...
  • Page 122 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) /ALM MY2 relay by OMRON can be used for a 24 VDC rated inductive load of 2 A (24 VDC). ALMCOM *3. When using an externally connected...
  • Page 123 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) /ALM 24 VDC MY2 relay by OMRON can be used for ALMCOM a rated inductive load of 2 A (24 VDC). *3. Provide auxiliary contacts to protect the 24 VDC...
  • Page 124 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) /ALM MY2 relay by OMRON can be used for a 24 VDC rated inductive load of 2 A (24 VDC). ALMCOM *3. Models with a built-in Regeneration...
  • Page 125 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) /ALM MY2 relay by OMRON can be used for a 24 VDC rated inductive load of 2 A (24 VDC). ALMCOM *3. Models with a built-in Regeneration...
  • Page 126 *1. A recommended product is listed in 4-3, Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) MY2 relay by OMRON can be used for a rated inductive load of 2 A (24 VDC). /ALM *3. When using an externally connected...
  • Page 127 *1. A recommended product is listed in 4-3, Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) MY2 relay by OMRON can be used for /ALM a rated inductive load of 2 A (24 VDC). 24 VDC *3.

  • Page 128: Main Circuit And Linear Motor Connections

    4 System Design 4-2-2 Main Circuit and Linear Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KN01L-ECT-L/-KN02L-ECT-L/ R88D-KN01H-ECT-L/-KN02H-ECT-L/-KN04H-ECT-L  Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KNL-ECT-L input 100 to 200 W : Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz R88D-KNH-ECT-L...
  • Page 129 4 System Design R88D-KN04L-ECT-L R88D-KN08H-ECT-L/-KN10H-ECT-L/-KN15H-ECT-L  Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KNL-ECT-L (400 W) : input Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz R88D-KNH-ECT-L (750 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz Control circuit power R88D-KNL-ECT-L :...
  • Page 130 4 System Design R88D-KN20H-ECT-L  Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply 3-phase: 200 to 230 VAC (170 to 253 VAC) 50/60 Hz input Control circuit power Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input ...
  • Page 131 4 System Design R88D-KN30H-ECT-L/-KN50H-ECT-L  Terminal Block Specifications Symbol Name Function Main circuit power supply 3-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz input Control circuit power Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input External Regeneration Normally short B2 and B3.
  • Page 132 4 System Design R88D-KN75H-ECT-L  Terminal Block Specifications, Left Terminal Block (TB1) Symbol Name Function Main circuit power supply 3-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz input External Regeneration Connect an External Regeneration Resistor between B1 and B2. Resistor connection terminals Do not connect.
  • Page 133 4 System Design R88D-KN150H-ECT-L  Terminal Block Specifications, Top Terminal Block (TB1) Symbol Name Function Control circuit power Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input Dynamic Brake Resistor These terminals are used to control the MC for externally connected control terminals dynamic brake resistance.
  • Page 134 4 System Design R88D-KN06F-ECT-L/-KN10F-ECT-L/-KN15F-ECT-L/-KN20F-ECT-L  Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply 3-phase: 380 to 480 VAC (323 to 528 VAC) 50/60 Hz input  Motor Connector Specifications (CNB) Symbol Name Function Motor connection Phase U These are the output terminals to the Linear Motor. terminals Be sure to wire them correctly.
  • Page 135 4 System Design R88D-KN30F-ECT-L/-KN50F-ECT-L  Control Circuit Terminal Block Specifications (TB1) Symbol Name Function 24 V Control circuit power 24 VDC (20.4 to 27.6 VDC) supply input  Main Circuit Terminal Block Specifications (TB2) Symbol Name Function Main circuit power supply 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz input External Regeneration...
  • Page 136 4 System Design R88D-KN75F-ECT-L  Terminal Block Specifications, Left Terminal Block (TB1) Symbol Name Function Main circuit power supply 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz input External Regeneration Connect an External Regeneration Resistor between B1 and B2. Resistor connection terminals Do not connect.
  • Page 137 4 System Design R88D-KN150F-ECT-L  Terminal Block Specifications, Top Terminal Block (TB1) Symbol Name Function 24 V Control circuit power 24 VDC (20.4 to 27.6 VDC) supply input Dynamic Brake Resistor These terminals are used to control the MC for externally connected control terminals dynamic brake resistance.

  • Page 138: Terminal Block Wire Sizes

    4 System Design 4-2-3 Terminal Block Wire Sizes This section describes the recommended size of wire to be connected to the terminal blocks. 100-VAC Input Drive Wire Sizes The terminal block wire sizes used for 100-VIC input Servo Drive models are as shown below. Model (R88D-) KN01L-ECT-L KN02L-ECT-L...
  • Page 139 4 System Design 200 VAC Input Drive Wire Sizes The terminal block wire sizes used for 200-VIC input Servo Drive models are as shown below. Model (R88D-) KN01H- KN02H- KN04H- KN08H- KN10H- KN15H- ECT-L ECT-L ECT-L ECT-L ECT-L ECT-L Item Unit Power supply capacity Main circuit...
  • Page 140 4 System Design Model (R88D-) KN20H- KN30H- KN50H- KN75H- KN150H- ECT-L ECT-L ECT-L ECT-L ECT-L Item Unit Power supply capacity 11.0 22.0 Main circuit Rated current 11.8 15.1 21.6 32.0 58.0 power supply  Wire size AWG12 AWG10 AWG6 AWG14 input (L1 and ...
  • Page 141 4 System Design 400 VAC Input Drive Wire Sizes The terminal block wire sizes used for 400-VIC input Servo Drive models are as shown below. Model (R88D-) KN06F-ECT-L KN10F-ECT-L KN15F-ECT-L KN20F-ECT-L Item Unit Main circuit Rated current power supply  Wire size AWG14 input (L1 and...
  • Page 142 4 System Design Model (R88D-) KN30F-ECT-L KN50F-ECT-L KN75F-ECT-L KN150F-ECT-L Item Unit Main circuit Rated current 12.1 16.0 29.0 power supply  Wire size AWG12 AWG10 AWG6 input (L1 and  Screw size L3, or L1, L2 and L3) Tightening N·m 2.0 to 2.4 2.2 to 2.5 torque...

  • Page 143: Terminal Block Wiring Procedure

    4 System Design 4-2-4 Terminal Block Wiring Procedure On a Servo Drive with 2.0 kW or less, connector-type terminal blocks are used. The procedure for wiring these terminal blocks is explained below. Connector-type terminal blocks For example, R88D-KN02H-ECT-L 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.
  • Page 144 4 System Design Mount the terminal block to the Servo Drive. After all of the terminals have been wired, return the terminal block to its original position on the Servo Drive. Additional Information The wire may not be inserted easily depending on the shape of the ferrule connected to it. If this occurs, perform one of the following methods before inserting the wire.

  • Page 145: Wiring Conforming To Emc Directives

    4 System Design Wiring Conforming to EMC Directives Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2 (EMS)) can be ensured by wiring under the conditions described in this section. These conditions are for conformance of G5-series products to the EMC directives. EMC-related performance of these products, however, may be influenced by the configuration, wiring, and other conditions of the equipment in which the products are installed.
  • Page 146 Single-phase 100/200 VAC (5 A) Industries Co., Ltd. 3SUP-HU10-ER-6 3-phase 200 VAC (10 A) 3SUP-HU30-ER-6 3-phase 200 VAC (30 A) 3SUP-HL50-ER-6B 3-phase 200 VAC (50 A)  Servo Drive OMRON   Linear Motor  Clamp core ZCAT3035-1330  Clamp core Schaffner RJ8035 ...
  • Page 147 V-801BXZ-4 Industries Co., Ltd.  Noise filter Okaya Electric 3SUP-HQ10-ER-6 Industries Co., Ltd.  3SUP-HL50-ER-6B  Schaffner FN258-42-07  Servo Drive OMRON   Linear Motor Clamp core ZCAT3035-1330 Clamp core Schaffner RJ8035 Clamp core NEC TOKIN ESD-SR-250 Corporation ...
  • Page 148 4 System Design  Cable Details Symbol Supplies from Connects to Cable name Length Comment Shielded Ferrite  AC power supply Noise filter Power supply line  Noise filter Servo Drive Power supply Optional line  Servo Drive Linear Motor Power cable 20 m Optional...
  • Page 149 4 System Design Noise filter for power supply input Servo Drive model Rated Leakage current Model Phase Manufacturer current (60 Hz) max 3.5mA Okaya R88D-KN20H-ECT-L 3SUP-HU50-ER-6 50 A 3-phase (at 500VAC) Electric Industries R88D-KN30H-ECT-L 8.0mA 3SUP-HL50-ER-6B 50 A 3-phase (at 500VAC) Co., Ltd.
  • Page 150 4 System Design  External Dimensions SUP-EK5-ER-6/3SUP-HQ10-ER-6 100±2.0 53.1±2.0 88.0 75.0 Ground terminal 11.6 Attachment 13.0 screw for cover M3 Cover Noise filter unit 3SUP-HU30-ER-6/3SUP-HL50-ER-6B ±3.0 ±1.0 2-φ5.5 2-φ5.5×7 Ground terminal Attachment screw for cover M3 Cover Noise filter unit 4-36 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 151 4 System Design  Circuit Diagram SUP-EK5-ER-6 3SUP-HQ10-ER-6 3SUP-HU30-ER-6 3SUP-HL50-ER-6B LINE LOAD Control Panel Structure Openings in the control panel, such as holes for cables, panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this, observe the recommendations described below when designing or selecting a control panel.
  • Page 152 4 System Design  Door Structure • Use a metal door. • Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams.) • Use a conductive gasket between the door and the case. (Refer to the diagrams.) •...

  • Page 153: Selecting Connection Component

    4 System Design 4-3-2 Selecting Connection Component This section explains the criteria for selecting the connection components required to improve noise resistance. Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components. For more details, contact the manufacturers directly. No-fuse Breaker (NFB) When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
  • Page 154 4 System Design Inrush current [Ao-p] Servo Drive model Main circuit power supply Control circuit power supply R88D-KN15F-ECT-L R88D-KN20F-ECT-L R88D-KN30F-ECT-L R88D-KN50F-ECT-L R88D-KN75F-ECT-L R88D-KN150F-ECT-L Leakage Breaker • Select a leakage breaker for high frequencies and surge resistance. • When selecting leakage breakers, remember to add the leakage current from devices other than the motor, such as devices using a switching power supply, noise filters, inverters, and so on.
  • Page 155 4 System Design Leakage current Increase per 10 m Servo Drive model Input power supply (Cable: 3 m) of cable R88D-KN06F-ECT-L 3-phase 400 V 2.28 mA 1.8 mA R88D-KN10F-ECT-L 3-phase 400 V 2.20 mA R88D-KN15F-ECT-L 3-phase 400 V 2.55 mA 2.03 mA R88D-KN20F-ECT-L 3-phase 400 V...
  • Page 156 4 System Design  External Dimensions For single-phase (BWZ series) For 3-phase (BXZ series) φ 4.2 φ 4.2 1 2 3  Equalizing Circuits For single-phase (BWZ series) For 3-phase (BXZ series) (2) (3) Noise Filter for the Brake Power Supply •...
  • Page 157 Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit. Model Manufacturer Application OMRON For Drive output and power cable 3G3AX-ZCL1 OMRON For Drive output and power cable...
  • Page 158 4 System Design ESD-R-47B ZCAT3035-1330 17.5 φ5.1 RJ8035/RJ8095 T400-61D Dimensions [mm] Rated Model Core current thickness RJ8035 R3.5 RJ8095 R3.5 4-44 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 159 4 System Design  Impedance Characteristics 3G3AX-ZCL1 3G3AX-ZCL2 1000 1000 10000 Frequency (kHz) Frequency (kHz) ESD-R-47B ZCAT3035-1330 1000 10000 1000 1000 1000 Frequency (MHz) Frequency (MHz) RJ8035 RJ8095 10000 10000 1000 1000 0.01 0.01 1000 1000 Frequency (kHz) Frequency (kHz) G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 4-45...
  • Page 160 4 System Design T400-61D 0.01 0.001 0.0001 1,000 10,000 100,000 Frequency (kHz) Surge Suppressors • Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. The following table shows the types of surge suppressors and recommended products. Type Feature Recommended product...
  • Page 161 4 System Design Improving External Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the external encoder's noise resistance. • Always use the specified external encoder cables. • If cables are joined midway, be sure to use connectors. And do not remove more than 50 mm of the cable insulation.
  • Page 162 4 System Design Improving Control I/O Signal Noise Resistance Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise. • Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply.
  • Page 163 • Select a noise filter with a rated current at least twice the Servo Drive's continuous output current. The following table shows the noise filters that are recommended for motor output lines. Rated Manufacturer Model Comment current OMRON 3G3AX-NF001 For inverter output 3G3AX-NF002 12 A 3G3AX-NF003 25 A...
  • Page 164 4 System Design 3G3AX-NF003/-NF004/-NF005/-NF006 4-φ6.5 Dimensions [mm] Model   3G3AX-NF003 3G3AX-NF004 3G3AX-NF005 3G3AX-NF006 4-50 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 165: Regenerative Energy Absorption

    4 System Design Regenerative Energy Absorption A Servo Drive uses its built-in capacitors to absorb the regenerative energy produced during Linear Motor deceleration. If the amount of regenerative energy is too much for the built-in capacitors to absorb, it also uses an Internal Regeneration Resistor. An overvoltage error occurs, however, if the amount of regenerative energy from the Linear Motor is too large.
  • Page 166 4 System Design  Determining the Capacity of Regenerative Energy Absorption by Built-in Capacitors If both the values Eg1 and Eg2 [J] mentioned above are equal to or less than the value of the regenerative energy that can be absorbed by Servo Drive's built-in capacitors Ec [J], the Servo Drive can process regenerative energy only by its built-in capacitors.

  • Page 167: Servo Drive Regeneration Absorption Capacity

    4 System Design 4-4-2 Servo Drive Regeneration Absorption Capacity The following table shows the regenerative energy (and amount of regeneration) that each drive can absorb. If these values are exceeded, take the processes described above. Internal regeneration resistor Allowable Regenerative minimum Average amount of Servo Drive model...

  • Page 168: Regenerative Energy Absorption With An External Regeneration Resistor

    4 System Design 4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive, connect an External Regeneration Resistor. Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive. Double-check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals.

  • Page 169: Connecting An External Regeneration Resistor

    4 System Design 4-4-4 Connecting an External Regeneration Resistor This section describes how to connect an External Regeneration Resistor. Check your Servo Drive model before connecting an External Regeneration Resistor because the connection method varies depending on the Servo Drive. R88D-KN01L-ECT-L/-KN02L-ECT-L/-KN01H-ECT-L/ R88D-KN02H-ECT-L/-KN04H-ECT-L Normally B2 and B3 are open.
  • Page 170 4 System Design Precautions for Correct Use Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open. When using multiple External Regeneration Resistors, connect each thermal switch in series. The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
  • Page 171 4 System Design Regeneration absorption 140 W 280 W 560 W capacity Model R88A-RR22047S R88A-RR22047S R88A-RR22047S R88A-RR22047S1 R88A-RR22047S1 R88A-RR22047S1 23.5  47  23.5  Resistance value Connection method Regeneration absorption 180 W 360 W 1440 W capacity Model R88A-RR50020S R88A-RR50020S R88A-RR50020S 20 ...
  • Page 172 4 System Design 4-58 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 173: Ethercat Communications

    EtherCAT Communications This section describes EtherCAT communications under the assumption that the G5- series Servo Drive is connected to the Machine Automation Controller NJ-series (Model: NJ501-100) or CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/F82 Position Control Unit. 5-1 Display Area and Settings ........5-2 5-1-1 Node Address Setting.

  • Page 174: Display Area And Settings

    5 EtherCAT Communications Display Area and Settings The display area of the G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type is as shown below. Status indicators Node address switch L/A IN L/A OUT 5-1-1 Node Address Setting The node address switches located in the display area are used to set the EtherCAT node address.

  • Page 175: Status Indicators

    5 EtherCAT Communications 5-1-2 Status Indicators The following table shows the EtherCAT status indicators and their meaning. Name Color Status Description Green Init state Blinking Pre-Operational state Single flash Safe-Operational state Operational state No error Blinking Communications setting error Single flash Synchronization error or communications data error Double flash Application WDT timeout...

  • Page 176: Structure Of The Can Application Protocol Over Ethercat

    5 EtherCAT Communications Structure of the CAN Application Protocol over EtherCAT The structure of the CAN application protocol over EtherCAT (CoE) for the G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type is described in this section. Servo Drive Application layer Servo drive application...

  • Page 177: Ethercat State Machine

    5 EtherCAT Communications EtherCAT State Machine The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT Master. Init Pre-Operational Safe-Operational Operational State Description communications reception transmission Init Not possible. Not possible. Not possible. Communications are being initialized. Communications are not possible.

  • Page 178: Process Data Objects (Pdos)

    5 EtherCAT Communications Process Data Objects (PDOs) The process data objects (PDOs) are used to transfer data during cyclic communications in realtime. PDOs can be reception PDOs (RxPDOs), which receive data from the controller, or transmission PDOs (TxPDOs), which send status from the Servo Drive to the host controller. RxPDO Operation command, target position, etc.

  • Page 179: 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 how these PDOs are related to the Sync Manager. The number of PDOs is given in sub-index 00 hex of the Sync manager PDO assignment table.
  • Page 180 5 EtherCAT Communications PDO Mapping 2 (Position Control, Speed Control, Force Control, and Touch Probe Function) This is the mapping for an application that uses one of the following modes: Cyclic synchronous position mode (csp), Cyclic synchronous velocity mode (csv), and Cyclic synchronous torque mode (cst).

  • Page 181: Variable Pdo Mapping

    5 EtherCAT Communications PDO Mapping 5 (Position Control, Speed Control, Touch Probe Function, Force Limit, and Force FF) This is the mapping for an application that switches between Cyclic synchronous position mode (csp) and Cyclic synchronous velocity mode (csv). Touch probe function and force limit can be used. The force feed-forward amount can be specified by using the Torque offset (60B2 hex).

  • Page 182: Multiple Pdo Mapping

    5 EtherCAT Communications Maximum Number of Objects and Maximum Total Size Allowed in a PDO Mapping PDO Mapping Object Max. No. of Objects Max. Total Size of Objects RxPDO (1600 hex) 24 bytes TxPDO (1A00 hex) 30 bytes *1 When you assign the PDO mapping other than 1A00 hex simultaneously to TxPDO, total size must be 30 bytes or less.
  • Page 183 5 EtherCAT Communications Available PDO Mapping Combinations Receive PDO mapping (RxPDO)* Transmit PDO mapping (TxPDO) • One of the mappings in 1701 to 1705 hex and • One of the mappings in 1B01 to 1B04 hex and another in 1600 hex another in 1A00 hex •...

  • Page 184: Service Data Objects (Sdos)

    5 EtherCAT Communications Service Data Objects (SDOs) G5-series Servo Drives support SDO communications. SDO communications are used for setting objects and monitoring the status of G5-series Servo Drives. Objects can be set and the status monitored by reading and writing data to the entries in the object dictionary of the host controller. ...

  • Page 185: Synchronization With Distributed Clocks

    5 EtherCAT Communications Synchronization with Distributed Clocks A mechanism called a distributed clock (DC) is used to synchronize EtherCAT communications. The DC mode is used for G5-series Servo Drives to perform highly accurate control in a multi-axis system. In DC mode, the master and slaves are synchronized by sharing the same clock. Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock.

  • Page 186: Emergency Messages

    5 EtherCAT Communications Emergency Messages When an error or warning occurs in a G5-series Servo Drive, an emergency message is sent to the master using mailbox communications. An emergency message is not sent for a communications error. You can select whether to send emergency messages by setting Diagnosis History (10F3 hex). In the default setting, the Diagnosis History object (10F3 hex, Sub: 05 hex (Flags)) is 0 and no emergency message will be sent.

  • Page 187: Sysmac Device Features

    Sysmac Device Features The control device product designed according to standardized communications and user interface specifications for OMRON control devices are called a Sysmac Device. And the features available with such a Device is called Sysmac Device Features. This section describes the features the G5-series Servo Drive provides when combined with a Machine Automation Controller such as NJ series and automation software.
  • Page 188 5 EtherCAT Communications Node Address Switch Setting The value set on the node address switches is the node address. EtherCAT master (1) The Node Address Switch is set at power OFF. Nonvolatile EtherCAT (2) The value of Node Address Switch is applied to memory Slave Controller Register: 0012 hex, when the slave power is ON.
  • Page 189 If one of these slaves finds that SII information with which it cannot operate was written, it generates an SII Check Error (Error No. 88.3).If this error persists even after turning OFF and then ON the power again, contact your OMRON sales representative. Precautions for Correct Use Precautions for Correct Use Do not use third-party or any other configuration tools to edit the SII information.
  • Page 190 5 EtherCAT Communications 5-18 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 191: Basic Control Functions

    6-5 Homing Mode ..........6-15 6-6 Connecting with OMRON Controllers ......6-16...

  • Page 192: 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 using cyclic synchronization. Position control, speed control, and force control are performed by the Servo Drive. The Velocity offset (60B1 hex) and Torque offset (60B2 hex) can be used as speed feed-forward and force feed-forward amounts.
  • Page 193 6 Basic Control Functions 6-1-1 Related Objects Sub- Default Index Name Access Size Unit Setting range index setting  6040 hex 00 hex Controlword 0 to FFFF hex 0000 hex  6060 hex 00 hex Modes of operation INT8 0 to 10 2,147,483,648 to 607A hex 00 hex...

  • Page 194: Block Diagram For Position Control Mode

    6 Basic Control Functions 6-1-2 Block Diagram for Position Control Mode The following block diagram is for position control using an R88D-KN-ECT-L-series Servo Drive. 6062 hex 607A hex Motor Velocity Velocity Demand Position demand Motor Velocity Target position Demand Value Value [command Demand Value After value [command...

  • Page 195: 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 speed to the Servo Drive using cyclic synchronization. Speed control and force control are performed by the Servo Drive.
  • Page 196 6 Basic Control Functions 6-2-1 Related Objects Sub- Default Index Name Access Size Unit Setting range index setting  6040 hex 00 hex Controlword 0 to FFFF hex 0000 hex  6060 hex 00 hex Modes of operation INT8 0 to 10 2,147,483,648 to 60FF hex 00 hex...

  • Page 197: Block Diagram For Speed Control Mode

    6 Basic Control Functions 6-2-4 Block Diagram for Speed Control Mode The following block diagram is for speed control using an R88D-KN-ECT-L-series Servo Drive. Gain Switching Setting 2 3114 60B2 hex Mode 3120 Torque offset Delay Time 3121 [0.1%] Level 3122 Hysteresis 3123...

  • Page 198: 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 (force) to the Servo Drive using cyclic synchronization. Force control is performed by the Servo Drive.
  • Page 199 6 Basic Control Functions 6-3-1 Related Objects Sub- Default Index Name Access Size Unit Setting range index setting  6040 hex 00 hex Controlword 0 to FFFF hex 0000  6060 hex 00 hex Modes of operation INT8 0 to 10 5,000 to 5,000 6071 hex 00 hex...

  • Page 200: Block Diagram For Force Control Mode

    6 Basic Control Functions 6-3-4 Block Diagram for Force Control Mode The following block diagram is for force control using an R88D-KN-ECT-L-series Servo Drive. 60B2 hex Torque offset [0.1%] Gain Switching Setting 2 3114 Mode 3124 Delay Time 3125 6071 hex Target torque [0.1%] Level 3126...

  • Page 201: 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 calculation function) inside the G5-series Servo Drive to perform PTP positioning operation. It executes path generation, position control, speed control, and torque control based on the target position, profile velocity, profile acceleration, profile deceleration, and other information.

  • Page 202: Related Objects

    6 Basic Control Functions The following diagram shows the control function configuration of Profile position mode. Position demand value (6062 hex) Position actual value (6064 hex) Limit function Following error actual value (60F4 hex) Velocity actual value (606C hex) Control Following error window (6065 hex) function Torque actual value (6077 hex)

  • Page 203: Description Of Function

    6 Basic Control Functions 6-4-2 Description of Function The G5-series Servo Drove can perform PTP positioning operation. Set the Controlword (6040 hex) bit 5 (Change set immediately) to 1. Set the Target position (607A hex) and the Profile velocity (6081 hex). Changing the Controlword (6040 hex) bit 4 (New set point) from 0 to 1 starts positioning to the set target position.

  • Page 204: Controlword (6040 Hex) In Profile Position Mode

    6 Basic Control Functions 6-4-3 Controlword (6040 hex) in Profile Position Mode Name Description New set-point Starts positioning at the rising edge, from 0 to 1, of the signal. In this timing, the Target position (607A hex) and Profile velocity (6081 hex) values are obtained.

  • Page 205: Homing Mode

    When performing the homing operation using this procedure, refer to the operating manual for the controller and A-1-6 Homing Mode Specifications on page A-15. Additional Information With the OMRON Machine Automation Controllers NJ-series (Model: NJ501-100) and the CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/NCF82 Position Control Units, use Procedure 1.

  • Page 206: 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 Machine Automation Controller NJ-series (Model: NJ501-100) and CJ1W-NC281/NC481/NC881/NCF81/ NC482/NC882/NCF82 Position Control Unit with EtherCAT Interface. Related Objects Objects listed in the following table can be used without changing them from their default values. If you are changing these settings, read and understand the relevant specifications in advance and set values.
  • Page 207 6 Basic Control Functions  CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/NCF82 Position Control Units Sub- Index Name Default setting Description index 3013 hex 00 hex Force Limit 1 5000 Default setting is 500.0% 3401 hex 00 hex Input Signal Selection 2 00818181 hex Positive Drive Prohibition Input (NC) 3402 hex 00 hex Input Signal Selection 3...
  • Page 208 6 Basic Control Functions 6-18 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 209: Applied Functions

    Applied Functions This section outlines the applied functions such as the electronic gear, gain switching and soft start, and explains the settings. 7-1 Sequence I/O Signals ......... . . 7-2 7-1-1 Input Signals .

  • Page 210: Sequence I/O Signals

    7 Applied Functions Sequence I/O Signals You can set sequences in various operating conditions. For the connection of I/O signals and processing of external signals, refer to 3-1-5 Control I/O Specifications (CN1) on page 3-6. 7-1-1 Input Signals You can allocate input signal functions to the input pins of the control I/O connector (CN1). In addition, you can change logic.
  • Page 211 7 Applied Functions Objects That Can Be Assigned Use the following objects when changing the input signal allocations. For the setting method, refer to Input Signal Allocation Method on page 7-3. Index Name Explanation Reference 3400 hex Input Signal Selection 1 Set the IN1 input function allocation.
  • Page 212 7 Applied Functions  Function Number Table The set values to be used for allocations are as follows: Set value Signal name Symbol  Disabled 00 hex Setting not available Positive Drive Prohibition Input 01 hex 81 hex Negative Drive Prohibition Input 02 hex 82 hex Immediate Stop Input...

  • Page 213: Output Signals

    7 Applied Functions 7-1-2 Output Signals You can allocate output signal functions to the output pins for the control I/O connector (CN1). In addition, you can change logic. Output Signal Default Setting The allocations of the default output signals are as follows. Refer to Output Signal Allocation Method on page 7-6 to change the allocations.
  • Page 214 7 Applied Functions Output Signal Allocation Method Input the setting for each control mode to objects 3410 and 3411 hex to allocate the signals. Set the objects based on hexadecimal in the same manner as for the input signal allocations. Set the set value of the function for each control mode in “**”...
  • Page 215 7 Applied Functions Precautions for Correct Use Precautions for Correct Use • Do not use any settings other than the settings listed. • You can allocate the same function to more than one output signal, but the set value must be in the same logic.

  • Page 216: Positive And Negative Drive Prohibition Functions

    7 Applied Functions Positive and Negative Drive Prohibition Functions If the Positive Drive Prohibition Input (POT) or the Negative Drive Prohibition Input (NOT) is turned OFF, the motor will stop moving. You can thus prevent the motor from moving outside of the movement range of the device by using limit inputs from the device connected to the Servo Drive.
  • Page 217 7 Applied Functions  Drive Prohibition Input Selection (3504 Hex) Set the operation of the Positive Drive Prohibition Input (POT) and the Negative Drive Prohibition Input (NOT). Install limit switches at both ends of the axis to prohibit the motor from driving in the direction specified by the switch.
  • Page 218 7 Applied Functions *2 The term “During deceleration” means the distance until the motor decreases its speed to 30 mm/s or less from the normal operation. Once it decelerates to 30 mm/s or lower, the operation conforms to the description for “post-stopping”, regardless of the actual motor speed.

  • Page 219: Overrun Protection

    7 Applied Functions Overrun Protection This function detects an Overrun Limit Error (Error No. 34.0) and stops the Linear Motor if the motor exceeds the allowable operating range set for the Overrun Limit Setting (3514 hex) with respect to the position command input.
  • Page 220 7 Applied Functions 7-3-3 Operation Example No Position Command Input (Servo ON) No position command is entered. The motor's allowable operating range is the range set in object 3514 hex on both the right and left. An overrun limit error will occur (Error No. 34.0) if the load enters the error range due to vibration.

  • Page 221: Objects Requiring Settings

    7 Applied Functions Backlash Compensation The function compensates for backlash for position control. Additional Information The Servo Drive supports this function although backlash never occurs in a Linear Motor. Objects Requiring Settings Reference Index Name Description page 3704 hex Backlash Compensation Select whether to enable or disable backlash page 9-51 Selection...
  • Page 222 7 Applied Functions Precautions for Correct Use Precautions for Correct Use • When the mode of operation is switched from the Position Control Mode to the Speed/Force Control Mode, the backlash compensation state is retained as it is. Therefore, after returning to the Position Control mode again, the Servo Drive will restart with the backlash compensation state set in the previous Position Control Mode.

  • Page 223: Brake Interlock

    It is also possible to use the controller’s function to force the brake control via EtherCAT communications. Additional Information It is not supported on the OMRON Machine Automation Controller NJ-series (Model: NJ501- 100) and CJ1W-NC81/82 Position Control Unit. 7-5-1 Objects Requiring Settings...

  • Page 224: Operation Timing

    7 Applied Functions 7-5-2 Operation Timing This section shows the timing of the Brake Interlock Output (BKIR). Basic Timing Control power supply (L1C and L2C) Servo ON/OFF Servo OFF Servo ON Servo OFF Brake Interlock Request to release brake Output (BKIR) Forced-braking is possible.
  • Page 225 7 Applied Functions Servo ON/OFF Operation Timing When Motor Is Moving Based on these operation timings, regenerative energy is produced if the motor movement stops abnormally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.
  • Page 226 7 Applied Functions Operation Timing When an Error Occurs (Servo ON) Error status Error Normal 0.5 to 5 ms Motor power supply Power supply No power supply Released Dynamic brake DB Released DB engaged Engaged Servo ready READY output (READY) Error Output Normal Error...
  • Page 227 7 Applied Functions Operation Timing When Resetting Errors Reset Error reset command 16 ms or more Servo ready READY output (READY) Error Output (/ALM) Error Normal 0 ms or more Servo ON/OFF Servo ON Servo OFF 2 ms or more Released Dynamic brake Brake Engaged...

  • Page 228: Electronic Gear Function

    Setting Error (Error No. 93.4) will occur if the electronic gear is enabled. Additional Information When connected to an OMRON Machine Automation Controller NJ-series (Model: NJ501-100) or CJ1W-NC81/82 Position Control Unit, the electronic gear ratio is set in the controller. Set the electronic gear ratio in the Servo Drive to 1:1.

  • Page 229: Operation Example

    7 Applied Functions 7-6-2 Operation Example Using a Linear Slider with an external encoder that has a resolution of 0.1 µm/pulse, set as follows: 6091-01 hex 10,000 6091-02 hex The resulting movement is the same as that of the Linear Slider with an external encoder having a resolution of 1 mm/pulse.

  • Page 230: Force Limit Switching

    7 Applied Functions Force Limit Switching This function switches the force limit according to the movement direction, and depending on the Positive Force Limit Input (PCL), the Negative Force Limit Input (NCL), and the Positive /Negative Force Limit Input Commands from EtherCAT communications. This function is useful in the following conditions.

  • Page 231: Objects Requiring Settings

    7 Applied Functions 7-7-2 Objects Requiring Settings Index Name Explanation Reference 3013 hex Force Limit 1 Set the first force limit value of the motor output page 9-5 force. The upper limit of the set value is restricted based on the maximum force of the motor being connected.
  • Page 232 7 Applied Functions Force Limit in Position, Speed, and Force Controls Position control/speed control/force control 3521 hex Positive Direction Force Limit Negative Direction Force Limit set value PCL ON PCL OFF NCL ON NCL OFF 3013 hex 3013 hex 3522 hex 3522 hex 3013 hex 3522 hex...

  • Page 233: Soft Start

    7 Applied Functions Soft Start This function is used to control the speed. It sets the acceleration and deceleration against the speed command in the Servo Drive. The function can be used for step speed commands, and allows soft starts. The S-curve Acceleration and Deceleration function is used to reduce any impacts by acceleration changes.

  • Page 234: S-Curve Acceleration Or Deceleration Time

    7 Applied Functions 7-8-3 S-curve Acceleration or Deceleration Time The function sets the S-curve time for the acceleration and deceleration time set by the Soft Start Acceleration Time (3312 hex) and the Soft Start Deceleration Time (3313 hex). The S-curve time is a duration around an inflection point during acceleration and deceleration.

  • Page 235: Gain Switching Function

    7 Applied Functions Gain Switching Function This function switches the position, speed, and force control gains. Select enable or disable using Gain Switching Input Operating Mode Selection (3114 hex). Set the switching condition using the gain switching setting. If the load mass 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.
  • Page 236 7 Applied Functions  Speed Control Mode Index Name Description Reference 3120 hex Switching Mode in Speed Set the condition for switching between Gain 1 and page 9-14 Control Gain 2. 3121 hex Gain Switching Delay Time in Set the time until the gain is actually switched after page 9-14 Speed Control switching from the Gain 2 to Gain 1.

  • Page 237: Gain Switching Based On The Control Mode

    7 Applied Functions 7-9-2 Gain Switching Based on the Control Mode The settable switching conditions vary depending on the control mode used. Set the objects for each control mode. Refer to Section 9 Servo Parameter Objects for details on gain-related objects. Position Control Mode In the Position Control mode, operation varies as follows according to Switching Mode in Position Control (3115 hex).
  • Page 238 7 Applied Functions  Position Command The gain is switched according to whether there is a position command.  Positioning not completed The gain is switched according to the presence/absence of a positioning completion signal (INP1).  Actual motor speed The gain is switched via the actual motor speed.
  • Page 239 7 Applied Functions Force Control Mode In the Force Control Mode, it varies as follows according to the Switching Mode in Force Control (3124 hex). For operation details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32. Description 3124 Gain Switching Gain Switching...

  • Page 240: Diagrams Of Gain Switching Setting

    7 Applied Functions 7-9-3 Diagrams of Gain Switching Setting This section describes the timing in which switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs. Switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs at the following timing, depending on the set value of the Switching Mode in Position Control (3115 hex), Switching Mode in Speed Control (3120 hex), or Switching Mode in Force Control (3124 hex).
  • Page 241 7 Applied Functions 4: Speed Command Variation The gain can be switched in the Speed Control Mode. In the Position Control Mode, however, the gain is always Gain 1 (3100 to 3104 hex). If the absolute value of the speed command variation exceeds the value of the Gain Switching Level in Speed Control (3122 hex) plus the Gain Switching Hysteresis in Speed Control (3123 hex) [10 mm/s/s], the gain switches to Gain 2.
  • Page 242 7 Applied Functions 6: Pulse Position Error If the absolute value of the pulse position error exceeds the value of the Gain Switching Level plus the Gain Switching Hysteresis [pulses], the gain switches to Gain 2. If the absolute value of the position error is less than the value of the Gain Switching Level minus the Gain Switching Hysteresis [pulses] and this condition lasts for the Delay Time, the gain switches back to Gain 1.
  • Page 243 7 Applied Functions 8: Positioning Not Completed If the position command is not completed, the gain switches to Gain 2. If the position command is completed and this condition lasts for the Delay Time, the gain switches back to Gain 1. Position command Actual motor speed Positioning completion...

  • Page 244: Position Gain Switching Time (3119 Hex)

    7 Applied Functions 10: Position Command + Actual Motor Speed If there is a position command in Gain 1, the gain switches to Gain 2. If a condition where there is no position command lasts for the Gain Switching Delay Time in Position Control (3116 hex) and the absolute value of the actual motor speed is less than the value of the Gain Switching Level in Position Control (3117 hex) minus the Gain Switching Hysteresis in Position Control (3118 hex) [mm/s], the gain switches back to Gain 1.

  • Page 245: Gain Switching 3 Function

    7 Applied Functions 7-10 Gain Switching 3 Function This function adds a new setting (gain 3) to the gain switching function of the Gain Switching Input Operating Mode Selection (3114 hex). The positioning stabilization time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time.
  • Page 246 7 Applied Functions Precautions for Correct Use Precautions for Correct Use • If Gain 3 is not used, set the Gain 3 Effective Time (3605 hex) to 0 and the Gain 3 Ratio Setting (3606 hex) to 100. • In the Gain 3 region, only the position loop gain and the speed loop gain are treated as Gain 3, and the Gain 1 setting is applied for all other gains.

  • Page 247: Touch Probe Function (Latch Function)

    7 Applied Functions 7-11 Touch Probe Function (Latch Function) The touch probe (latch) function latches the position actual value when an external latch input signal or the external encoder's phase-Z signal turns ON. G5-series Servo Drives can latch two positions. 7-11-1 Objects Requiring Settings Index Name...

  • Page 248: Operation Sequences

    7 Applied Functions General-purpose Input Assignment in (a) Signal Index Assignment 3404 hex Select either EXT1, EXT2, or EXT3. 3405 hex Select either EXT1, EXT2, or EXT3. 3406 hex Select either EXT1, EXT2, or EXT3. *1 The same function cannot be assigned more than once. Touch Probe Trigger Selection (3758 hex) in (b) Latch 1 Latch 2...
  • Page 249 7 Applied Functions Continuous (60B8 Hex Bit 1/9 = 1: Continuous) 60B8 hex Bit 0/8 Trigger input 60B9 hex Bit 0/8 60B9 hex Bit 1/9 60B9 hex Bit 6/14 60B9 hex Bit 7/15 60BA /60BC hex G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type 7-41...
  • Page 250 7 Applied Functions 7-42 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 251 Safety Function This function stops the motor based on a signal from a safety controller or safety sensor. An outline of the function is given together with operation and connection examples. 8-1 Safe Torque OFF Function ........8-2 8-1-1 Safety Input Signals .

  • Page 252: Safe Torque Off Function

    8 Safety Function Safe Torque OFF Function The safe torque OFF function (hereinafter referred to as STO according to IEC 61800-5-2) is used to cut off the motor current and stop the motor with the input signals from a safety device, such as a safety controller or safety sensor.

  • Page 253: Safety Input Signals

    8 Safety Function 8-1-1 Safety Input Signals There are 2 safety input circuits to operate the STO function. Control mode Signal Symbol Description name number Position Speed Force    Safety SF CN8-4 The upper arm drive signal of the power input 1 transistor inside the Servo Drive is cut ...

  • Page 254: External Device Monitor (Edm) Output Signal

    8 Safety Function 8-1-2 External Device Monitor (EDM) Output Signal This is a monitor output signal that is used to monitor the status of safety input signals using an external device. Connect a safety device, such as a safety controller or a safety sensor. Connect the EDM output signal to the monitoring terminal on a safety device.

  • Page 255: Operation Example

    8 Safety Function Operation Example This section provides timing charts showing the operation timings to enter a safety status and the timing of return from a safety status. Operation Timings to a Safety Status Servo ON/OFF Servo ON Servo OFF STO status Safety input 1 Normal status...
  • Page 256 8 Safety Function Timing of Return from Safety Status Servo ON /OFF Servo ON Servo OFF command After the servo Safety input 1 Normal status STO status turns ON, operation Safety input 2 will follow the normal servo Motor power No power supply ON/OFF operation is supplied.

  • Page 257: Connection Examples

    8 Safety Function Connection Examples Connection with a Safety Controller Safety Controller Drive G9SP-series Safety output 1 SF1+ Safety input Safety output (source) SF1- Safety output 2 SF2+ SF2- Test output EDM+ EDM input EDM output EDM- Safety input G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 258 8 Safety Function G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 259: Servo Parameter Objects

    Servo Parameter Objects This section explains the settings of each object. 9-1 Basic Settings ..........9-2 9-2 Gain Settings .

  • Page 260: Basic Settings

    9 Servo Parameter Objects Basic Settings This section describes objects specific to G5-series Servo Drives with built-in EtherCAT communications. G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999 hex. Index 3 hex correspond to G5-series Servo Drive parameters Pn. For example, object 3504 hex is the same as parameter Pn504.
  • Page 261 9 Servo Parameter Objects Movement Direction Setting 3000 hex  Setting range 0 to 1 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • This object switches the motor movement direction for a position, speed, or force command. Explanation of Settings Set value Description...
  • Page 262 9 Servo Parameter Objects Realtime Autotuning Mode Selection 3002 hex  Setting range 0 to 6 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the operating mode for realtime autotuning. Explanation of Settings Set value Realtime autotuning Description...
  • Page 263 9 Servo Parameter Objects 3004 hex Mass Ratio Setting range 0 to 10000 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the load mass as a percentage of the Motor Coil Unit Mass. •...
  • Page 264 9 Servo Parameter Objects Regeneration Resistor Selection 3016 hex  0 to 3 Default setting Setting range Unit Data attribute Size 2 bytes (INT16) Access PDO map Not possible. *1 The default setting is 0 for a Drive with 100 V and 400 W, with 200 V and 750 W or greater, or with 400 V. •...

  • Page 265: Gain Settings

    9 Servo Parameter Objects Gain Settings Refer to 11-2 Gain Adjustment on page 11-5 for the settings for gain adjustment. Position Loop Gain 1 csp pp hm 3100 hex Setting range 0 to 30000 Unit 0.1/s Default setting Data attribute Size 2 bytes (INT16) Access...
  • Page 266 9 Servo Parameter Objects Speed Loop Gain 1 3101 hex 1 to 32767 0.1 Hz Default setting Setting range Unit Data attribute Size 2 bytes (INT16) Access PDO map Not possible. *1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V. •...
  • Page 267 9 Servo Parameter Objects Speed Feedback Filter Time Constant 1 3103 hex  Setting range 0 to 5 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5). •...
  • Page 268 9 Servo Parameter Objects Force Command Filter Time Constant 2 3109 hex Setting range 0 to 2500 Unit 0.01 ms Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. *1 The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V. •...
  • Page 269 9 Servo Parameter Objects Force Feed-forward Command Filter 3113 hex pp hm Setting range 0 to 6400 Unit 0.01 ms Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the time constant for the first-order lag filter inserted into the feed-forward. •...
  • Page 270 9 Servo Parameter Objects Description 3115 Gain Switching Gain Switching Gain Switching Delay Time in Level in Position Hysteresis in Gain switching conditions Position Control Control Position Control value (3116 hex) (3117 hex) (3118 hex) Positioning Not Completed Enabled Disabled Disabled Actual Motor Speed Enabled...
  • Page 271 9 Servo Parameter Objects Position Gain Switching Time csp pp hm 3119 hex Setting range 0 to 10000 Unit 0.1 ms Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during position control or fully-closed control.
  • Page 272 9 Servo Parameter Objects 3120 hex Switching Mode in Speed Control  Setting range 0 to 5 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the conditions for switching between Gain 1 and Gain 2 when the Gain Switching Input Operating Mode Selection (3114 hex) is set to 1.
  • Page 273 9 Servo Parameter Objects Gain Switching Level in Speed Control 3122 hex  Setting range 0 to 20000 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (3120 hex) is set to 3 to 5.
  • Page 274 9 Servo Parameter Objects *3 The Gain Switching Hysteresis in Force Control (3127 hex) is defined as shown in the diagram to 3126 hex the right. 3127 hex If set to greater than the Level (3126 hex), the Hysteresis (3127 hex) will be automatically adjusted to equal to the Level (3126 hex).

  • Page 275: Vibration Suppression Settings

    9 Servo Parameter Objects Vibration Suppression Settings For vibration suppression, refer to 11-5 Damping Control on page 11-16. Adaptive Filter Selection 3200 hex pp hm  Setting range 0 to 4 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible.
  • Page 276 9 Servo Parameter Objects Notch 2 Frequency Setting 3204 hex Setting range 50 to 5000 Unit Default setting 5000 Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the frequency of resonance suppression notch filter 2. •...
  • Page 277 9 Servo Parameter Objects 3209 hex Notch 3 Depth Setting  Setting range 0 to 99 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the depth of resonance suppression notch filter 3. •...
  • Page 278 9 Servo Parameter Objects Damping Filter Selection 3213 hex pp hm  Setting range 0 to 3 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the method to switch among four damping control filters. Explanation of Set Values Set value Explanation...
  • Page 279 9 Servo Parameter Objects Damping Frequency 2 csp pp hm 3216 hex Setting range 0 to 2000 Unit 0.1 Hz Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set 2 to suppress vibration at the end of the load in damping control. damping frequency •...
  • Page 280 9 Servo Parameter Objects Damping Filter 4 Setting csp pp hm 3221 hex Setting range 0 to 1000 Unit 0.1 Hz Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • First set Frequency 4 (3220 hex). Then reduce the setting if torque saturation occurs or Damping increase the setting to increase operation speed.

  • Page 281: Analog Control Objects

    9 Servo Parameter Objects Analog Control Objects Soft Start Acceleration Time 3312 hex Setting range 0 to 10000 Unit ms/maximum Default Data motor speed setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Soft Start Deceleration Time 3313 hex Setting range 0 to 10000 Unit...
  • Page 282 9 Servo Parameter Objects S-curve Acceleration/Deceleration Time Setting 3314 hex Setting range 0 to 1000 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • The S-curve acceleration/deceleration function ensures smooth operation in applications where linear acceleration or deceleration could cause impact due to a large change in the acceleration or deceleration speed during start, stop, or other operation.
  • Page 283 9 Servo Parameter Objects External Feedback Pulse Type Selection csp pp hm 3323 hex  Setting range 0 to 2 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the type of the external encoder to be used. •...
  • Page 284 9 Servo Parameter Objects External Feedback Pulse Direction Switching csp pp hm 3326 hex  Setting range 0 to 1 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Use this object to change the count direction of the external encoder. Explanation of Settings Set value Description...

  • Page 285: Interface Monitor Settings

    9 Servo Parameter Objects Interface Monitor Settings Input Signal Selection 1 3400 hex  Setting range 0 to 00FF Unit Default 0094 9494 hex Data FFFF hex setting attribute Size 4 bytes (INT32) Access PDO map Not possible. • Set the function and logic for general-purpose input 1 (IN1). Refer to the Details of Control Inputs in Control Input Details on page 3-9, as well as 7-1 Sequence I/O Signals on page 7-2.
  • Page 286 9 Servo Parameter Objects Input Signal Selection 6 3405 hex  Setting range 0 to 00FF Unit Default 0021 2121 hex Data FFFF hex setting attribute Size 4 bytes (INT32) Access PDO map Not possible. • Set the function and logic for general-purpose input 6 (IN6). Refer to the Details of Control Inputs in Control Input Details on page 3-9, as well as 7-1 Sequence I/O Signals on page 7-2.
  • Page 287 9 Servo Parameter Objects Analog Monitor 1 Selection 3416 hex  Setting range 0 to 22 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Analog signals of various monitor values can be output from the analog monitor connector on the front panel.
  • Page 288 9 Servo Parameter Objects Analog Monitor 2 Selection 3418 hex  Setting range 0 to 22 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Analog signals of various monitor values can be output from the analog monitor connector on the front panel.
  • Page 289 9 Servo Parameter Objects Analog Monitor Output Selection 3421 hex  Setting range 0 to 2 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the analog monitor output voltage direction. • The output voltage range and the data output direction when the Analog Monitor 1 Selection (3416 hex) is set to 0 (motor speed) and the Analog Monitor 1 Scale Setting (3417 hex) is set to 0 are as shown below.
  • Page 290 9 Servo Parameter Objects Positioning Completion Condition Selection csp pp hm 3432 hex  Setting range 0 to 4 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the condition under which the positioning completion signal (INP1) is output. Explanation of Settings Description value...
  • Page 291 9 Servo Parameter Objects Zero Speed Detection 3434 hex Setting range 10 to 20000 Unit mm/s Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the output timing of the Zero Speed Detection Output (ZSP) as motor speed [mm/s]. •...
  • Page 292 9 Servo Parameter Objects 3436 hex Speed for Motor Detection Setting range 10 to 20000 Unit mm/s Default setting 1,000 Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • It outputs the Motor Speed Detection Output (TGON) when the motor speed reaches the set Speed for Motor Detection (3436 hex).
  • Page 293 9 Servo Parameter Objects Brake Timing During Operation 3438 hex Setting range 0 to 10000 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the required time for the Brake Interlock Output (BKIR) to turn OFF after the motor is de- energized, when servo OFF status is entered while the motor is operating.
  • Page 294 9 Servo Parameter Objects Warning Output Selection 1 3440 hex  Setting range 0 to 13 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the warning type to be output by Warning Output 1. Explanation of Settings Set value Description...

  • Page 295: Extended Objects

    9 Servo Parameter Objects Extended Objects Drive Prohibition Input Selection 3504 hex  Setting range 0 to 2 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the operation of the Positive Drive Prohibition Input (POT) and the Negative Drive Prohibition Input (NOT).
  • Page 296 9 Servo Parameter Objects Stop Selection for Drive Prohibition Input 3505 hex  Setting range 0 to 2 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the drive conditions during deceleration and after stopping, when the Positive or Negative Drive Prohibition Input is enabled.
  • Page 297 9 Servo Parameter Objects Undervoltage Error Selection 3508 hex  Setting range 0 to 1 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select either to let the servo off or to stop the error when a main power error occurs. Explanation of Settings Set value Description...
  • Page 298 9 Servo Parameter Objects Control Input Signal Read Setting 3515 hex  Setting range 0 to 3 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the signal read cycle for control input (digital input). •...
  • Page 299 9 Servo Parameter Objects Force Limit Selection 3521 hex  Setting range 0 to 7 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select the method to set the positive and negative force limits. Explanation of Settings Position control/speed control/force control Set value...
  • Page 300 9 Servo Parameter Objects Force Limit 2 csp cst 3522 hex Setting range 0 to 5000 Unit 0.1% Default setting 5000 Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the limit value for the output force (Force Limit 1: 3013 hex, Force Limit 2: 3522 hex) of the motor. •...

  • Page 301: Special Objects

    9 Servo Parameter Objects Special Objects Excessive Speed Error Setting csp pp hm 3602 hex Setting range 0 to 20000 Unit mm/s Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the value for an Excessive Speed Deviation Error (Error No. 24.1). •...
  • Page 302 9 Servo Parameter Objects Function Expansion Setting 3610 hex  Setting range 0 to 511 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the functions by bit. • Set the decimal value that has been converted from the bits. •...
  • Page 303 9 Servo Parameter Objects Additional Information Example Instantaneous speed observer function: enabled Disturbance observer function: enabled Disturbance observer operation setting: enabled at all time Electric current response improvement function: enabled Command compensation for communications errors for CSP: Disabled If the settings are as described above, the bit will be 0010011, and the decimal value 19. Therefore, the set value will be 19.
  • Page 304 9 Servo Parameter Objects Disturbance Force Compensation Gain 3623 hex 100 to 100 Setting range Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the compensation gain for the disturbance force. Refer to 11-8 Disturbance Observer Function on page 11-26. Disturbance Observer Filter Setting 3624 hex Setting range...
  • Page 305 9 Servo Parameter Objects Realtime Autotuning Customization Mode Setting 3632 hex 32768 to  Setting range Unit Default Data 32767 setting attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002 hex) is set to 6.
  • Page 306 9 Servo Parameter Objects Precautions for Correct Use Precautions for Correct Use This object must be set in units of bits. Users must be fully aware that proper operation of your system is not guaranteed, if you have incorrect object settings. Pay a particular attention when you set them.
  • Page 307 9 Servo Parameter Objects Warning Mask Setting 3638 hex 32768 to  Setting range Unit Default Data 32767 setting attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the warning detection mask setting. • If you set the corresponding bit to 1, the corresponding warning detection is disabled. Refer to the General Warnings on page 12-5.
  • Page 308 9 Servo Parameter Objects LED Display Selection 3700 hex  Setting range 0 to 32767 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select a data type to display on the 7-segment display on the front panel. Explanation of Settings Set value Indicated item...
  • Page 309 9 Servo Parameter Objects Power ON Address Display Duration Setting 3701 hex Setting range 0 to 1000 Unit 100 ms Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the time to indicate the node address when the control power is turned ON. Force Limit Flag Output Setting 3703 hex ...
  • Page 310 9 Servo Parameter Objects Touch Probe Trigger Selection 3758 hex  Setting range 0000 to Unit Default 0100 hex Data FFFF hex setting Attribute Size 2 bytes (U16) Access PDO map Not possible. • Select EXT1, EXT2, EXT3, or phase Z at the external latch trigger for the latch function. Explanation of Settings Latch 1 Latch 2...
  • Page 311 9 Servo Parameter Objects 3781 hex Data Setting Warning Detection Setting Setting range 0 to 15 Unit Times Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set how many times the EtherCAT communications data setting warning should be detected continuously without an error.
  • Page 312 9 Servo Parameter Objects Warning masks The following table shows the warning you can mask by setting each warning mask bit of the Communications Control object (3800 hex). To mask a warning, set the corresponding warning bit to 1. Warning Communications Warning Control (3800 hex)
  • Page 313 9 Servo Parameter Objects Origin Range 3803 hex Setting range 0 to 250 Unit Command unit Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the threshold for detecting the origin as an absolute value. Position Command FIR Filter Time Constant csp pp hm 3818 hex...

  • Page 314: Linear Motor Objects

    9 Servo Parameter Objects Linear Motor Objects External Encoder Resolution 3901 hex Setting range 0 to 16777216 Unit 0.001 µm Default setting Data Attribute Size 4 bytes (INT32) Access PDO map Not possible. • Select the resolution of the external encoder. •...
  • Page 315 9 Servo Parameter Objects Motor Rated Rms Current 3906 hex Setting range 0 to 32767 Unit 0.1 Arms Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the rated current of the Linear Motor. Precautions for Correct Use Precautions for Correct Use •...
  • Page 316 9 Servo Parameter Objects Overspeed Level 3910 hex Setting range 0 to 20000 Unit mm/s Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the detection level for an Overspeed Error (Error No. 26.0). •...
  • Page 317 9 Servo Parameter Objects Current Loop Proportional Gain 3913 hex Setting range 0 to 32767 Unit – Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the current loop proportional gain. • Normally, use the value automatically set via the Current Response Auto-adjustment (3912 hex) object as is.
  • Page 318 9 Servo Parameter Objects Two-stage Force Filter Attenuation Term 3916 hex Setting range 0 to 1000 Unit – Default setting 1000 Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the two-stage force filter time attenuation term. •...
  • Page 319 9 Servo Parameter Objects Magnetic Pole Position Estimation Force Command Time 3922 hex Setting range 0 to 200 Unit Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the command application time for a single force command during magnetic pole position estimation.
  • Page 320 9 Servo Parameter Objects Magnetic Pole Position Estimation Maximum Movement 3924 hex Setting range 0 to 32767 Unit pulse Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Set the pulse width to be judged as zero movement during magnetic pole position estimation. •...
  • Page 321 9 Servo Parameter Objects Precautions for Correct Use Precautions for Correct Use After applying a force command, the command force stops and the motor decelerates. After that, the motor comes to a stop momentarily but may move in a reverse direction due to cogging or other phenomena.
  • Page 322 9 Servo Parameter Objects Motor Overload Curve Selection 3929 hex Setting range 0 to 7 Unit – Default setting Data attribute Size 2 bytes (INT16) Access PDO map Not possible. • Select one of the eight motor overload characteristic curves. For details on the motor overload curves, refer to 3-2 Overload Characteristics (Electronic Thermal Function) on page 3-25.

  • Page 323: Operation

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

  • Page 324: Operational Procedure

    10 Operation 10-1 Operational Procedure Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive. Then make the function settings as required according to the use of the motor and drive. If the user objects are set incorrectly, there is a risk of unexpected motor operation, which can be dangerous.

  • Page 325: Preparing For Operation

    10 Operation 10-2 Preparing for Operation This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive. It explains items to check both before and after turning ON the power supply. 10-2-1 Items to Check Before Turning ON the Power Supply Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below.

  • Page 326: Turning On The Power Supply

    10 Operation Checking the EtherCAT Communications Connectors • The EtherCAT Communications Cables must be connected securely 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 node address switches. Status indicators Node address switch L/A IN...

  • Page 327: Checking The Displays

    10 Operation 10-2-3 Checking the Displays 7-Segment Display The 7-segment display is on the front panel. When the power is turned ON, it shows the node address that is set by the rotary switches. Then the display changes according to the setting of the LED Display Selection (3700 hex). An error code is displayed if an error occurs.
  • Page 328 10 Operation Normal Display (LED Display Selection (3700 hex) set to 0) Main power supply Main power supply turned ON and EtherCAT interrupted and EtherCAT communications communications not established. established. + Dot on right lights. Servo ON Servo OFF + Dot on right lights. Error occurs Error cleared Warning occurs...

  • Page 329: Preparing The Linear Motor For Operation

    10 Operation 10-2-4 Preparing the Linear Motor for Operation At the Servo Drive, you must perform the following three types of basic settings based on the Linear Motor and external encoder you connect to it. • Setting the Linear Motor and external encoder specifications •...
  • Page 330 10 Operation Adjusting the Current Loop Gain At the Servo Drive, you need to adjust the current loop gain. Using the Current Response Auto-adjustment (3912 hex) object allows the Servo Drive to automatically set the current loop gain. To use the Current Response Auto-adjustment (3912 hex) object, you must set also the Motor Inductance (3908 hex) and Motor Resistance (3909 hex) objects.
  • Page 331 10 Operation Index Name Unit Description Reference 3924 hex Magnetic Pole pulse Set the pulse width to be judged as zero movement page 9-62 Position during magnetic pole position estimation. Estimation As a guide, set the number of pulses corresponding to Maximum one degree of electrical angle.
  • Page 332 10 Operation Conceptual Diagram of Magnetic Pole Position Estimation Range in which the motor decelerates and External Encoder Pulses once stops after a force command stops Force Command Movement for Stop Judgment Movement for Stop Judgment (3925 hex, 3926 hex) (3925 hex, 3926 hex) 3923 hex 3928 hex...
  • Page 333 10 Operation Precautions for Correct Use Precautions for Correct Use • If you have never executed magnetic pole position estimation, a Magnetic Pole Position Estimation Error 3 (Error No. 61.2) will occur when you select the magnetic pole position restoration method. This also applies if you select the magnetic pole position restoration method with the result of magnetic pole position estimation cleared.

  • Page 334: Trial Operation

    10 Operation 10-3 Trial Operation When you have finished installation, wiring, and switch settings, and have confirmed that status is normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system is electrically correct. If an error occurs during trial operation, refer to Section 12 Troubleshooting and Maintenance to eliminate the cause.

  • Page 335: Test Operation Via Usb Communications From The Cx-Drive

    10 Operation 10-3-2 Test Operation via USB Communications from the CX-Drive Use the Connector CN1. Supply 12 to 24 VDC to the control signal connector pins +24 VIN and COM. Turn ON the Servo Drive power. Connect a USB cable to the USB connector (CN7). Start the CX-Drive and go online with the Servo Drive via USB communications.
  • Page 336 10 Operation 10-14 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 337: Adjustment Functions

    Adjustment Functions This section explains the functions, setting methods, and items to note regarding various gain adjustments. 11-1 Analog Monitor ..........11-2 11-2 Gain Adjustment .

  • Page 338: Analog Monitor

    11 Adjustment Functions 11-1 Analog Monitor Two types of analog signals can be output from the analog monitor connector on the front panel. They are used when the monitoring is required for adjustment. The monitor items to be output and the scaling (output gain) can be set as required for each of the objects.
  • Page 339 11 Adjustment Functions Description 3416 hex and 3418 hex set Output gain when 3417 hex Monitoring item Unit value and 3419 hex are set to 0   16 to 19 Reserved C Servo Drive Temperature   21 to 22 Reserved *1 The Internal Command Motor Speed is the speed before the command input passes through the command filter (smoothing filter or FIR filter).
  • Page 340 11 Adjustment Functions  Analog Monitor Output Setting (3421 Hex) Select the direction for analog monitor output voltage. The output voltage range and the data output direction when the Analog Monitor 1 Selection (3416 hex) is set to 0 (motor speed) and the Analog Monitor 1 Scale Setting (3417 hex) is set to 0 are as shown below.

  • Page 341: Gain Adjustment

    11 Adjustment Functions 11-2 Gain Adjustment G5-Series Servo Drives provide a realtime autotuning function. With this function, gain adjustments can be made easily even by those using a servo system for the first time. If you cannot obtain the desired responsiveness with autotuning, use manual tuning. 11-2-1 Purpose of the Gain Adjustment The Servo Drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability.

  • Page 342: Gain Adjustment Procedure

    (Default setting) Manual tuning Operation OK? Write to EEPROM. Consult OMRON. Adjustment completed. Gain Adjustment and Machine Rigidity To improve machine rigidity, install the machine on a secure base so that it does not have any play. The specific vibration (resonance frequencies) of the mechanical system has a large impact on the gain adjustment of the servo.

  • Page 343: Realtime Autotuning

    11 Adjustment Functions 11-3 Realtime Autotuning Realtime autotuning estimates in realtime the load characteristic according to the motor speed and the force command and operates the machine by automatically setting the gain according to the result of the estimation. At the same time, it can lower the resonance and vibration if the adaptive filter is enabled.

  • Page 344: Objects Requiring Settings

    11 Adjustment Functions Precautions for Correct Use Precautions for Correct Use • Realtime autotuning may not function properly under the conditions described in the following table. In such cases, change the load condition or the operating pattern, or use manual tuning. Conditions that interfere with the realtime autotuning Load condition •...

  • Page 345: Setting Realtime Autotuning

    11 Adjustment Functions 11-3-3 Setting Realtime Autotuning When setting realtime autotuning, turn the servo OFF. Set Realtime Autotuning mode Selection (3002 hex) depending on the load. Normally, set the object to 1 or 2. Use a setting of 3 or 4 when there is an unbalanced load. A setting of 5 is used in combination with a software tool.
  • Page 346 11 Adjustment Functions Precautions for Correct Use Precautions for Correct Use • With realtime autotuning, each object is fixed to the value in the machine rigidity table at the time the machine rigidity is set. By estimating the mass ratio from the operation pattern, the operation coefficient for the speed loop gain and the integral time constant are altered.
  • Page 347 11 Adjustment Functions Realtime Autotuning Object Table Gain 1 Gain 2 3100 hex 3101 hex 3102 hex 3104 hex 3105 hex 3106 hex 3107 hex 3109 hex Rigidity Speed Speed Position Speed Force Position Speed Force Integral Integral [0.1/s] [0.1 Hz] [0.01 ms] [0.1/s] [0.1 Hz]...

  • Page 348: Objects To Be Changed

    11 Adjustment Functions 11-3-5 Objects to be Changed This section lists the objects to be changed by the realtime autotuning function. Objects to be Updated  Objects to be updated by the Realtime Autotuning Mode Selection (3002 hex) and Realtime Autotuning Customization Mode Setting (3632 hex) settings Setting the Realtime Autotuning Mode Selection (3002 hex) and the Realtime Autotuning Customization Mode Setting (3632 hex) causes the following objects to be updated using the load characteristic estimation value.
  • Page 349 11 Adjustment Functions Index Name Description 3112 hex Set this object to 0. Force Feed-forward Gain 3113 hex Set this object to 0. Force Feed-forward Command Filter 3114 hex Gain Switching Input Operating Mode If the current setting is “not retained,” set this object to Selection 3115 hex Switching Mode in Position Control...

  • Page 350: Manual Tuning

    11 Adjustment Functions 11-4 Manual Tuning As described before, the G5-series have a realtime autotuning function. However, there are cases where realtime autotuning cannot adjust the gain properly due to restrictions such as load conditions. Moreover, you may need to ensue optimum responsiveness and stability for each load. Manual tuning is required in these situations.
  • Page 351 11 Adjustment Functions Position Control Mode Adjustment Use the following procedure to perform the adjustment in position control for the Servo Drive. Start adjustment. Never adjust or set parameters to extreme values, as it will make the operation unstable. Disable realtime autotuning (3002 hex = 0). Failure to follow this guideline may result in injury.

  • Page 352: Damping Control

    11 Adjustment Functions 11-5 Damping Control If the tip of the mechanical unit vibrates or the whole system sways, you can use the damping control function to reduce vibration. This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are from 1 to 200 Hz.

  • Page 353: Objects Requiring Settings

    11 Adjustment Functions 11-5-2 Objects Requiring Settings Index Name Description Reference 3213 hex Damping Filter Selection Select the Damping Filter Switching Mode according to page 9-20 the condition of the unit. 0: Up to two filters can be used simultaneously. 3: Switching with command direction.

  • Page 354: Operating Procedure

    11 Adjustment Functions 11-5-3 Operating Procedure Adjust the Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop Integral Time Constant 1 (3102 hex), and Force Command Filter Time Constant 1 (3104 hex) settings. If no problem occurs in realtime autotuning, you can continue to use the settings. Measure the damping frequency at the tip of the mechanical unit.
  • Page 355 11 Adjustment Functions Set the Damping Filter Selection (3213 hex). Damping filters 1 to 4 can be switched according to the conditions of the machine vibration. Set value Description Up to two filters, Damping Filter 1 and Damping Filter 2, can be used simultaneously. Reserved Reserved The damping filters are switched in the direction of the position command.

  • Page 356: Adaptive Filter

    11 Adjustment Functions 11-6 Adaptive Filter The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the force command. The automatically set notch filter frequency is set in Notch 3 (3207 to 3209 hex) or Notch 4 (3210 to 3212 hex).

  • Page 357: Operating Conditions

    11 Adjustment Functions 11-6-1 Operating Conditions The adaptive filter operates under the following conditions. Operating conditions Operating mode Position Control Mode, Speed Control Mode Others • When Servo is ON. • When elements other than control objects, such as the force limits, are set correctly and there is no trouble with the motor's normal operation.

  • Page 358: Objects To Be Set Automatically

    11 Adjustment Functions 11-6-3 Objects to be Set Automatically The adaptive filter function sets the following objects automatically. Index Name Description 3207 hex Notch 3 Frequency Setting The resonance frequency 1 that is assumed by the adaptive filter is automatically set. If no resonance point is found, the value 5000 is set.

  • Page 359: Notch Filters

    11 Adjustment Functions 11-7 Notch Filters When the machine rigidity is low, machine resonance may produce vibration and noise. Thus you may not be able to set a high gain. The notch filter can restrict the resonance peak, and allows a high gain setting and vibration reduction.

  • Page 360: Objects Requiring Settings

    11 Adjustment Functions 11-7-1 Objects Requiring Settings Index Name Description Reference 3201 hex Notch 1 Frequency Setting Set the center frequency of notch filter 1. page 9-17 The notch filter is enabled at 50 to 4,999 [Hz], and disabled if 5,000 [Hz] is set.
  • Page 361 11 Adjustment Functions Depth Setting This is the I/O ratio at which the center frequency input is completely cut off at a set value of “0” and completely passed at a set value of “100”. If the indication unit is [dB], this value should conform to the right column in the table below.

  • Page 362: Disturbance Observer Function

    11 Adjustment Functions 11-8 Disturbance Observer Function You can use the disturbance force value estimated with the disturbance observer to lower the effect of the disturbance force and reduce vibration. Disturbance force − Force command Motor+load Add to the direction that Motor speed Force command negates the...

  • Page 363: Objects Requiring Settings

    11 Adjustment Functions 11-8-2 Objects Requiring Settings Index Name Description Reference 3610 hex Function Expansion Settings Set the bits related to the disturbance observer. page 9-44 3623 hex Disturbance Force Compensation Set the compensation gain for disturbance force. page 9-46 Gain 3624 hex Disturbance Observer Filter Setting...

  • Page 364: Friction Force Compensation Function

    11 Adjustment Functions 11-9 Friction Force Compensation Function Two types of friction force compensations can be set to reduce the influence of mechanical frictions. • Unbalanced load compensation that offsets the constantly applied unbalance force • Dynamic friction compensation that changes the offset direction in accordance with the operating direction 11-9-1 Operating Conditions You can use the function under the following conditions:...

  • Page 365: Operation Example

    11 Adjustment Functions 11-9-3 Operation Example The friction force compensation is applied in the input direction of the position command as shown in the drawing below. Command speed Positive 3608 hex (Positive Direction Force Offset) 3607 hex 3609 hex (Force Command (Negative Direction Value Offset) Force Offset)

  • Page 366: Feed-Forward Function

    11 Adjustment Functions 11-10 Feed-forward Function The feed-forward function comes in 2 types: speed feed-forward and force feed-forward. The speed feed-forward can minimize the position error and increase the responsiveness during the position control. Responsiveness is improved by adding the speed feed-forward value calculated from the internal position command and related objects (3110 hex and 3111 hex) to the speed command calculated by comparing the internal position command and the position feedback.

  • Page 367: Operating Procedure

    11 Adjustment Functions 11-10-2 Operating Procedure Speed Feed-forward Operating Method Set the Speed Feed-forward Command Filter (3111 hex). Set the Speed Feed-forward Command Filter (3111 hex) to approx. 50 (0.5 ms). Adjust the Speed Feed-forward Gain (3110 hex). Gradually increase the value of the Speed Feed-forward Gain (3110 hex) and finely adjust it to avoid overshooting during acceleration/deceleration.
  • Page 368 11 Adjustment Functions Force Feed-forward Operating Method Set the Mass Ratio (3004 hex). Set the Mass ratio as correctly as possible. In the Mass Ratio (3004 hex), use the estimated value obtained during realtime autotuning or set the mass ratio calculated from the machine specifications. Set the Force Feed-forward Command Filter (3113 hex).

  • Page 369: Operating Conditions

    11 Adjustment Functions 11-11 Instantaneous Speed Observer Function This function uses a load model to estimate the motor speed. It improves the speed detection accuracy and can provide both high responsiveness and minimum vibration when stopping. Motor Controller Force Motor Effort command current...

  • Page 370: Objects Requiring Settings

    11 Adjustment Functions 11-11-2 Objects Requiring Settings Index Name Description Reference 3004 hex Mass Ratio Set the Mass ratio. page 9-5 3100 hex Position Loop Gain 1 Set the position loop gain. page 9-7 3101 hex Speed Loop Gain 1 Set the speed loop gain.

  • Page 371: Troubleshooting And Maintenance

    Troubleshooting and Maintenance This section describes the items to check when problems occur, troubleshooting using the error displays, troubleshooting based on the operating conditions, and periodic maintenance. 12-1 Actions for Problems ......... . 12-2 12-1-1 Preliminary Checks When a Problem Occurs.

  • Page 372: Actions For Problems

    12 Troubleshooting and Maintenance 12-1 Actions for Problems The following sections describe the preliminary checks and precautions that will be required if a problem occurs. 12-1-1 Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs.

  • Page 373: Precautions When A Problem Occurs

    12 Troubleshooting and Maintenance 12-1-2 Precautions When a Problem Occurs When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop. Always take the following precautions. You should assume that anything not described in this manual is not possible with this product. Precautions •...

  • Page 374: Warnings

    12 Troubleshooting and Maintenance 12-2 Warnings This function outputs a warning signal and notifies state such as an overload before an error occurs. Set whether to hold warning state by setting the Warning Hold Selection (3759 hex). If not holding warnings is selected, a warning will be cleared automatically when the cause of the warning has been eliminated.

  • Page 375: Warning List

    12 Troubleshooting and Maintenance 12-2-2 Warning List There are two types of warnings: general warnings and warnings related to EtherCAT communications. General Warnings Warning Warning Warning Output Hold Mask Warning Selection Warning name Warning condition Selection Setting number (3440 hex, (3759 hex) (3638 hex) 3441 hex)
  • Page 376 12 Troubleshooting and Maintenance Warnings Related to EtherCAT Communications Warning Warning Warning Output Hold Mask Warning Selection Warning name Warning condition Selection Setting number (3440 hex, 3 (3759 hex) (3800 hex) 3441 hex)  B0 hex Data Setting An object setting is out of range. Bit 4 Warning ...

  • Page 377: Errors

    12 Troubleshooting and Maintenance 12-3 Errors If the Servo Drive detects an abnormality, it outputs an error (ALM), turns OFF the power drive circuit, and displays the main error number on the front panel. Precautions for Correct Use Precautions for Correct Use •...
  • Page 378 12 Troubleshooting and Maintenance Error No. (hex) Attribute Error detection function Immediate Can be Main History reset stop    Interface Input Duplicate Allocation Error 1    Interface Input Duplicate Allocation Error 2    Interface Input Function Number Error 1 ...

  • Page 379: Immediate Stop Operation At Errors

    12 Troubleshooting and Maintenance Error No. (hex) Attribute Error detection function Immediate Can be Main History reset stop    Object Setting Error 1    External Encoder Connection Error    Function Setting Error *1 An immediate stop error is displayed if an immediate stop is performed when 4 to 7 is set for the Fault reaction option code (605E hex).
  • Page 380 12 Troubleshooting and Maintenance Immediate Stop Operation Speed [mm/s] Motor speed Speed command Speed deemed as stop [30 mm/s] Time Error No error Error occurs for immediate stop Force limit Normal force limit Normal force limit Immediate Stop Force (3511 hex) (measure to reduce shock for immediate stops) Overspeed Normal operation...

  • Page 381: Troubleshooting

    12 Troubleshooting and Maintenance 12-4 Troubleshooting If an error occurs in the machine, determine the error conditions from the error displays and operation state, identify the cause of the error, and take appropriate measures. 12-4-1 Troubleshooting with Error Displays Error List Error No.
  • Page 382 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Main Circuit If the Undervoltage Error Selection Measure the voltage between the connector Power Supply (3508 hex) is set to 1, a momentary power (L1, L2, and L3) lines. Undervoltage interruption occurred between L1 and L3 for (Undervoltage...
  • Page 383 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Servo Drive The temperature of the Servo Drive radiator Overheat or power elements exceeded the specified value. • The ambient temperature of the Servo • Improve the ambient temperature and the Drive exceeded the specified value.
  • Page 384 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Error Counter Position error pulses exceeded the setting of Overflow the Following error window (6065 hex). • Motor operation does not follow the • Check to see if the motor operates command.
  • Page 385 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Error Counter The value that is obtained by dividing the Review the operation range of the absolute Overflow 1 absolute encoder position (in pulses) by the encoder position and the electronic gear electronic gear ratio exceeded 2 ratio.
  • Page 386 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Overrun Limit The motor exceeded the allowable operating Error range set in the Overrun Limit Setting (3514 hex) with respect to the position command input range. • The gain is not appropriate. •...
  • Page 387 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main External Bit 0 of the external encoder error code Eliminate the cause of the error and then Encoder (ALMC) was set to 1. clear the external encoder error. Status Error Refer to the external encoder specifications.
  • Page 388 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Magnetic The Magnetic Pole Position Estimation was • Check the specifications of the external Pole Position not completed successfully. encoder and set correct values. Estimation • The external encoder direction setting is •...
  • Page 389 12 Troubleshooting and Maintenance Error No. (hex) Name Cause Measures Main Node For details, refer to Troubleshooting Errors Related to EtherCAT Communications on page Address 12-20. Setting Error Initialization Error The SYNC0 interruption is abnormal Verification Error Communications Setting Error Command Error Object...
  • Page 390 12 Troubleshooting and Maintenance *3 When Motor Velocity Demand Value After Filtering is forced to 0 during an immediate stop due to a halt or Positive/ Negative Drive Prohibition Input, the speed deviation immediately increases. The speed deviation also increases when the Motor Velocity Demand Value After Filtering starts.
  • Page 391 12 Troubleshooting and Maintenance Error No. (hex) Error Name Cause Measures timing Main Node Occurs The node address that was read from • Turn OFF the power supply, then address when the the rotary switches was not turn it ON again. setting error power •...

  • Page 392: Troubleshooting Using The Operation State

    12 Troubleshooting and Maintenance 12-4-2 Troubleshooting Using the Operation State Symptom Probable cause Items to check Measures The 7-segment display The control power is not Check to see if the power Supply the correct power does not light. supplied. supply input is within the supply voltage.
  • Page 393 12 Troubleshooting and Maintenance Symptom Probable cause Items to check Measures The servo locks but the The host controller does not For a position command, check Enter position and speed data. motor does not operate. give a command. to see if the speed and position Start the motor.
  • Page 394 12 Troubleshooting and Maintenance Symptom Probable cause Items to check Measures The motor operates in the The value set in the Check the set value of object Change the set value of object reverse direction from the Movement Direction Setting 3000 hex.
  • Page 395 12 Troubleshooting and Maintenance Symptom Probable cause Items to check Measures The Linear Motor or the Vibration occurs due to Check to see if the Linear Retighten the mounting screws. load generates abnormal improper mechanical Motor's mounting screws are noise or vibration. installation.
  • Page 396 12 Troubleshooting and Maintenance Symptom Probable cause Items to check Measures The Linear Motor or the The Position Loop Gain 1 Review the setting of object Use the CX-Drive or the analog load generates abnormal (3100 hex) is too large. 3100 hex.
  • Page 397 12 Troubleshooting and Maintenance Symptom Probable cause Items to check Measures Vibration is occurring at Inductive noise is occurring. Check to see if the drive control Shorten the control signal lines. the same frequency as signal lines are too long. the power supply.

  • Page 398: Periodic Maintenance

    12 Troubleshooting and Maintenance 12-5 Periodic Maintenance Caution After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation. Equipment damage may result. Never repair the product by disassembling it. Electric shock or injury may result. Linear Sliders and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly.
  • Page 399 • If the motor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection period of 5 years is recommended. • Upon request, OMRON will inspect the Servo Drive and motor and determine if part replacement is required.
  • Page 400 12 Troubleshooting and Maintenance 12-30 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...

  • Page 401: Appendicies

    Appendicies The appendix provides explanation for the profile that is used to control the Servo Drive, lists of objects, Sysmac Error Status codes, and other information. A-1 CiA402 Drive Profile ..........A-2 A-1-1 Controlling the State Machine of the Servo Drive.

  • Page 402: Controlling The State Machine Of The Servo Drive

    Appendicies CiA402 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 G5-series Servo Drives with built-in EtherCAT communications is called "PDS state." The PDS state is controlled by the Controlword (6040 hex).
  • Page 403 Appendicies 2 The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set using the Undervoltage Error Selection (3508 hex). 3508 hex=0: Moves to a state where the main circuit power supply is turned OFF and stops according to the setting of the Shutdown option code (605B hex).

  • Page 404: Modes Of Operation

    Appendicies 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 2 Bit 1 Bit 0 Bit 3 Switch on Quick Voltage Operation Switched Ready to State...

  • Page 405: A-1-3 Communications Cycles And Corresponding Modes Of Operation

    Appendicies A-1-3 Communications Cycles and Corresponding Modes of Operation This section describes the Modes of operation that can be used for each combination of communications cycle and PDO mapping set in the RxPDO.  Position Control Any of 1701 to 1705 hex or 1600 hex can be set in the RxPDO when 0 to 5 (position control) is set for the Control Mode Selection (3001 hex).

  • Page 406: A-1-4 Modes Of Operation And Applied Functions

    Appendicies A-1-4 Modes of Operation and Applied Functions The relationships between the modes of operation of G5-series Servo Drives with built-in EtherCAT communications and the application functions are shown below. ❍: Supported, : Not supported Mode of operation Function csp pp hm ❍...

  • Page 407: A-1-5 Changing The Mode Of Operation

    Appendicies A-1-5 Changing the Mode of Operation The operation mode of the G5-series Servo Drives with built-in EtherCAT communications is changed as described below. Changing the Mode of Operation By setting a mode of operation from the controller, the motor can be operated while switching the control mode of the Servo Drive.
  • Page 408 Appendicies Changing the Control Mode to pp or hm Mode When the Motor Is Running If the rising edge of the Controlword (6040 hex) bit 4 (start bit) is not detected when the control mode is changed to pp or hm mode while the Linear Motor is running, the motor will stop differently depending on whether the Halt bit is ON or OFF.
  • Page 409 Appendicies Bit Displays According to Modes of Operation Display (6061 Hex) Some of the bits in the Statusword (6041 hex) and Statusword 1 (4000 hex) are dependent on the control mode. Their relationship with Modes of operation display is shown in the following table: Modes of Operation Display (6061 hex) Speed Force...
  • Page 410 Appendicies  (a) Example of Servo OFF during Operation in csp Servo ON Servo OFF Actual speed 30 mm/s PDS state Operation enabled Switched on 6060 hex 6061 hex No mode assigned 6041 hex: Bit 9 (Remote) 6041 hex: Bit 10 (Target reached) 6041 hex: Bit 12 (Target position ignored)

  • Page 411: G5 Series Ac Servo Drives With Built-In Ethercat Communications, Linear Motor Type

    Appendicies  (b) Example of Servo OFF during Operation in csv Servo ON Servo OFF Actual speed 30 mm/s PDS state Operation enabled Switched on 6060 hex 6061 hex No mode assigned 6041 hex: Bit 9 (Remote) Bit 10 (Target reached) 6041 hex: Bit 12 (Target position ignored) 6041 hex: Bit 13...
  • Page 412 Appendicies  (c) Example of Servo OFF during Operation in cst Servo ON Servo OFF Actual speed 30 mm/s PDS state Operation enabled Switched on 6060 hex 6061 hex No mode assigned 6041 hex: Bit 9 (Remote) 6041 hex: Bit 10 (Target reached) 6041 hex: Bit 12 (Target position ignored)
  • Page 413 Appendicies  (d) Example of Servo OFF during Operation in hm Servo ON Servo OFF Actual speed 30 mm/s PDS state Operation enabled Switched on 6060 hex 6061 hex No mode assigned 6041 hex: Bit 9 (Remote) 6041 hex: Bit 10 (Target reached) 6041 hex: Bit 12 (Target position ignored)
  • Page 414 Appendicies  (e) Example of Servo OFF during Operation in pp Servo ON Servo OFF Actual speed 30 mm/s PDS state Operation enabled Switched on 6060 hex 6061 hex No mode assigned 6041 hex: Bit 9 (Remote) 6041 hex: Bit 10 (Target reached) 6041 hex: Bit 12 (Target position ignored)

  • Page 415: A-1-6 Homing Mode Specifications

    Appendicies A-1-6 Homing Mode Specifications This section describes the Homing mode of the G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type. 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)
  • Page 416 Appendicies Related Objects Sub- Default Index Object name Access Size Unit Setting range index setting  6040 hex 00 hex Controlword 0 to FFFF hex 0000 hex  6060 hex 00 hex Modes of operation INT8 0 to 10 0000 hex ...
  • Page 417 Appendicies Controlword (6040 hex) in Homing Mode Name Code Description Homing operation start Do not start homing procedure. Start or continue homing procedure. Halt Enable bit 4 Stop axis according to halt option code (605D hex) Bit 6 is not used. For details on other bits, refer to Controlword (6040 hex).
  • Page 418 Appendicies Homing Operation This section describes the operation of the supported homing methods.  Homing Methods 8 and 12: Homing by Origin Proximity Input and Origin Signal These Homing methods use the Origin Proximity Input that is enabled only in some parts of the drive range, and stops when an origin signal is detected.
  • Page 419 Appendicies Precautions for Correct Use Precautions for Correct Use • If an origin signal exists near the point where the Origin Proximity Input turns ON or OFF, the first origin signal after the Origin Proximity Input is turned ON or OFF may not be detected. Set the Origin Proximity Input so that the origin signal occurs away from the point where the Origin Proximity Input turns ON or OFF.
  • Page 420 Appendicies Precautions for Correct Use Precautions for Correct Use • During the homing operation, the stop function for the Stop Selection for Drive Prohibition Input is disabled. • When the Drive Prohibition Input Selection (3504 hex) is set to 0, a Drive Prohibition Input Error 1 (Error No.
  • Page 421 Appendicies  Homing Method 35: Present Home Presetting In this Homing method, the present position is considered as the origin. Set the mode in Coordinate System Setting Mode (4103 hex). By using the Coordinate System Setting Position (4104 hex), you can specify the value of the present position. You can use this method even when you are using an absolute encoder, but the position is not saved in the Home offset (607C hex).

  • Page 422: Object Dictionary

    Definitions of variables that can be used by all servers for designated communications. 2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all OMRON products. 3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all G5-series Servo Drives (servo parameters).

  • Page 423: A-1-6 Homing Mode Specifications

    Appendicies Object Description Format In this manual, objects are described in the following format.  Object Description Format The object format is shown below. <Object name> <Index> Modes of Operation Range <Range> Unit <Unit> Default <Default> Attribute <Attribute> Size <Size> Access <Access>...

  • Page 424: A-1-8 Communication Objects

    Appendicies  Format When There Is Sub-indexing The object description format with subindices is shown below. <Object name> <Index> Modes of Operation Sub-index 00 hex Number of entries Range <Range> Unit <Unit> Default <Default> Attribute <Attribute> Size <Size> Access <Access> PDO map <Possible/Not possible>...
  • Page 425 Appendicies Error Register 1001 hex    Range Unit Default Attribute Size 1 byte (U8) Access PDO map Not possible • Gives the error type that has occurred in the Servo Drive. Description of Settings Description Description Generic error Communication error Current error Device profile specific error...
  • Page 426 Appendicies Manufacturer Hardware Version 1009 hex     Range Unit Default Attribute Size 20 bytes (VS) Access PDO map Not possible • Gives the version of the Servo Drive hardware. • This is not used by G5-series Servo Drives. Manufacturer Software Version 100A hex ...
  • Page 427 Appendicies Index Sub-index Description 6065 hex 00 hex Following error window 607C hex 00 hex Home offset 607D hex 01 hex Min position limit 607D hex 02 hex Max position limit 6091 hex 01 hex Motor revolutions 6091 hex 02 hex Shaft revolutions 60E0 hex 00 hex...
  • Page 428 Appendicies Identity Object 1018 hex Sub-index 00 hex Number of entries    Range Unit Default 04 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Vender ID    Range Unit Default 0000 0083 hex Attribute Size...
  • Page 429 Appendicies Backup Parameters Mode 10F0 hex Sub-index 00 hex Number of entries    Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Backup Parameter Checksum     Range Unit Default...

  • Page 430: Pdo Mapping Objects

    Appendicies A-1-9 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. Sub-indexes after sub-index 01 hex provide information about the application object being mapped. Index Sub-index Bit length...
  • Page 431 Appendicies • Since the mappings you changed are not saved in EEPROM, you must specify objects each time you turn ON the power of the G5-series Servo Drive in order to use the mapping other than the default setting. • You can map up to 10 objects in a PDO mapping. If you attempt to map 11 or more objects, a Function Setting Error (Error No.
  • Page 432 Appendicies 258th receive PDO Mapping 1701 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 04 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped) ...
  • Page 433 Appendicies 259th receive PDO Mapping 1702 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 07 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped) ...
  • Page 434 Appendicies 260th receive PDO Mapping 1703 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 07 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped) ...
  • Page 435 Appendicies 261th receive PDO Mapping 1704 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 09 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped) ...
  • Page 436 Appendicies 262th receive PDO Mapping 1705 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 08 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Output Object to be mapped) ...
  • Page 437 Appendicies 1A00 hex 1st transmit PDO Mapping Sub-index 00 hex Number of objects in this PDO  Setting range 00 to 0A hex Unit Default 07 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Input Object to be mapped) ...
  • Page 438 Appendicies • The following objects can be mapped to the Receive PDO mapping. Index Sub-Index Bit length Object name 2002 hex 01 hex 08 hex Sysmac Error Status 4000 hex 00 hex 10 hex Statusword1 4001 hex 00 hex 10 hex Sub Error Code 603F hex 00 hex...
  • Page 439 Appendicies 258th transmit PDO Mapping 1B01 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 09 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Input Object to be mapped) ...
  • Page 440 Appendicies 259th transmit PDO Mapping 1B02 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 09 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Input Object to be mapped) ...
  • Page 441 Appendicies 260th transmit PDO Mapping 1B03 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 0A hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Input Object to be mapped) ...
  • Page 442 Appendicies 261th transmit PDO Mapping 1B04 hex Sub-index 00 hex Number of objects in this PDO    Range Unit Default 0A hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Input Object to be mapped) ...

  • Page 443: Sync Manager Communication Objects

    Appendicies 1BFF hex 512th transmit PDO Mapping Sub-index 00 hex Number of objects in this PDO    Setting range Unit Default 01 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex PDO entry 1 (1st Input Object to be mapped) ...
  • Page 444 Appendicies Sync Manager 0 PDO Assignment 1C10 hex Sub-index 00 hex Number of assigned PDOs    Range Unit Default 00 hex Attribute Size 1 byte (U8) Access PDO map Not possible • The PDO mapping used by this sync manager is given. Mailbox reception sync manager does not have PDOs.
  • Page 445 Appendicies Sync Manager 3 PDO Assignment 1C13 hex Sub-index 00 hex Number of assigned PDOs   Range Unit Default 01 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex 1st PDO Mapping Object Index of assigned PDO ...
  • Page 446 Appendicies Sync Manager 2 Synchronization 1C32 hex Sub-index 00 hex Number of Synchronization Parameters    Range Unit Default 20 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Synchronization Type   Range Unit Default 0002 hex...
  • Page 447 Appendicies Sync Manager 3 Synchronization 1C33 hex Sub-index 00 hex Number of Synchronization Parameters    Range Unit Default 20 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Synchronization Type   Range Unit Default 0002 hex...

  • Page 448: A-1-11 Manufacturer Specific Objects

    Appendicies A-1-11 Manufacturer Specific Objects This section describes objects specific to G5-series Servo Drives with built-in EtherCAT communications. G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999 hex. Index 3 hex corresponds to G5-series Servo Drive parameter Pn. For example, object 3504 hex is the same as parameter Pn504.
  • Page 449 Appendicies Error History Clear 2100 hex  Range 0000 0000 to Unit Default 0000 0000 hex Attribute FFFF FFFF hex Size 4 bytes (U32) Access PDO map Not possible • This object clears the contents of Diagnosis history (10F3 hex). •...
  • Page 450 Appendicies Statusword 1 4000 hex   Range 0000 to Unit Default 0000 hex Attribute FFFF hex Size 2 bytes (U16) Access PDO map Possible • This object gives the present state of the Servo Drive. Description of Settings Support in each mode Name Symbol Code...
  • Page 451 Appendicies Bit 0: Origin Position (ZPOINT) This bit is 1 when Position actual value (6064 hex) is within the Origin Range (3803 hex) after homing is completed. In the absolute mode, homing is completed when the control power is turned ON or when the Config operation is completed. Bit 1: Distribution Completed (DEN) This bit shows Distribution Completed (DEN) for the position command.
  • Page 452 Appendicies Bit 5: Positive Software Limit (PSOT) and Bit 6: Negative Software Limit (NSOT) PSOT is 1 when the Position actual value is greater than the set value of the Max position limit (607D hex, Sub-index: 02 hex). NSOT is 1 when the Position actual value is less than the set value of the Min position limit (607D hex, Sub-index: 01 hex).
  • Page 453 Appendicies Sub Error Code 4001 hex   Range 0000 to Unit Default 0000 hex Attribute FFFF hex Size 2 bytes (U16) Access PDO map Possible • This object shows errors that have occurred in the Servo Drive. Config 4100 hex ...

  • Page 454: A-1-12 Servo Drive Profile Object

    Appendicies A-1-12 Servo Drive Profile Object This section describes the CiA402 drive profile supported by G5-series Servo Drives. Error code 603F hex   Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes (U16) Access PDO map Possible •...
  • Page 455 Appendicies Controlword 6040 hex  Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes (U16) Access PDO map Possible • This object controls the state machine of the Servo Drive. Description of Set Values Name Description Switch on The state is controlled by these bits.
  • Page 456 For details, refer to 6-5 Homing Mode on page 6-15. *4 Although the Servo Drive need not be updated when combined with an OMRON Controller, when using a third- party controller, update the target value taking the following points into consideration.
  • Page 457 Appendicies Shutdown option code 605B hex 5 to 0  1 Range Unit Default Attribute Size 2 bytes (INT16) Access PDO map Not possible • This object sets the operation of the G5-series Servo Drive during deceleration and after stop, following the main circuit power OFF (Shutdown) state.
  • Page 458 Appendicies Disable operation option code 605C hex 5 to 0  1 Range Unit Default Attribute Size 2 bytes (INT16) Access PDO map Not possible • This object sets the operation of the G5-series Servo Drive during deceleration and after stop, following the Servo OFF (Disable operation) state.
  • Page 459 Appendicies Halt option code 605D hex pp hm  Range 1 to 3 Unit Default Attribute Size 2 bytes (INT16) Access PDO map Not possible • This object sets the stop method when bit 8 (Halt) in Controlword (6040 hex) is set to 1 during the Homing mode (hm).
  • Page 460 Appendicies *2 Operation A and B indicate whether or not to stop immediately when an error occurs. If this value is set to between 4 and 7, the motor is stopped immediately when a specified error occurs as indicated by operation A. If an error occurs that is not subject to this function, an immediate stop is not applied and dynamic braking is applied or the motor is left to run free as indicated by operation B.
  • Page 461 Appendicies Position demand value csp pp hm 6062 hex 2,147,483,648  Range Unit Command Default Attribute to 2,147,483,647 units Size 4 bytes (INT32) Access PDO map Possible • This object gives the Servo Drive's internal command position. Position actual internal value 6063 hex 2,147,483,648 ...
  • Page 462 Appendicies Target torque 6071 hex 5,000 to 5,000 Range Unit 0.1% Default Attribute Size 2 bytes (U16) Access PDO map Possible • This object sets the force command in the Cyclic synchronous torque mode. Max torque 6072 hex Range 0 to 5,000 Unit 0.1% Default...
  • Page 463 Appendicies Software position limit 607D hex Sub-index 00 hex Number of entries    Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Min position limit 1,073,741,823 500,000 Range Unit Command Default Attribute...
  • Page 464 Appendicies Profile acceleration 6083 hex pp hm Range 1 to Unit Command Default 1,000,000 Attribute 655,350,000 units/s Size 4 bytes (U32) Access PDO map Not possible • This object sets the acceleration rate in the Cyclic synchronous torque mode (cst). •...
  • Page 465 Appendicies Gear ratio 6091 hex Sub-index 00 hex Number of entries    Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Motor revolutions  Range 0 to Unit Default Attribute 1,073,741,824 Size...
  • Page 466 Appendicies Homing speeds 6099 hex Sub-index 00 hex Number of entries    Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Speed during search for switch Range 100 to Unit Command Default...
  • Page 467 Appendicies Touch probe function (Latch function) 60B8 hex   Range Unit Default Attribute Size 2 bytes (U16) Access PDO map Possible • This object sets and controls the latch function. • There are two channels, Latch 1 (bits 1 to 7) and Latch 2 (bits 8 to 15). •...
  • Page 468 Appendicies Touch probe status (Latch status) 60B9 hex    Range Unit Default Attribute Size 2 bytes (U16) Access PDO map Possible • This object gives the status of the Touch probe function (Latch Function). Description of Settings Code Description Latch 1 is disabled.
  • Page 469 Appendicies Negative torque limit value 60E1 hex Range 0 to 5000 Unit 0.1% Default 5000 Attribute Size 2 bytes (U16) Access PDO map Not possible • This object sets the negative force limit. • It is limited by the maximum force of the connected motor. •...
  • Page 470 Appendicies Following error actual value csp pp hm 60F4 hex 536,870,912 to  Range Unit Command Default Attribute 536,870,912 units Size 4 bytes (INT32) Access PDO map Possible • This object gives the amount of position error. 60FA hex Control effort ...
  • Page 471 Appendicies Signal name Symbol Code Description External Latch Input 3 EXT3 Monitor Input 0 MON0 Monitor Input 1 MON1 Monitor Input 2 MON2 Positive Force Limit Input Negative Force Limit Input Immediate Stop Input STOP Brake Interlock Output BKIR Brake released Brake locked Safety Input 1 Safety Input 2...
  • Page 472 Appendicies Digital outputs 60FE hex Sub-index 00 hex Number of entries    Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 01 hex Physical outputs  Range 0000 0000 to Unit Default 0000 0000 hex Attribute...
  • Page 473 Appendicies Settings for Sub-index 02 hex Signal name Symbol Code Description Set brake Mask (Brake Interlock BKIR Set brake disable output Output Mask) Set brake enable output   1 to 15 Reserved Remote Output 1 Mask R-OUT1 R-OUT1 disable output R-OUT1 enable output Remote Output 2 Mask R-OUT2...
  • Page 474 Appendicies Supported drive modes 6502 hex    Range Unit Default 0000 03A1 hex Attribute Size 4 bytes (U32) Access PDO map Not possible • This object indicates the supported operation modes. Bit Descriptions Supported mode Definition pp (Profile position mode) 1: Supported vl (Velocity mode) 0: Not supported...

  • Page 475: Object List

    Appendicies Object List This section describes the profile that is used to control the Servo Drive. • Some objects are enabled by turning the power supply OFF and then ON again. After changing these objects, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again.
  • Page 476 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number        Backup Parameters Mode Number of entries 1 byte    00 hex 02 hex (U8) possible.
  • Page 477 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number        258th receive PDO Mapping Number of objects in this PDO 1 byte    00 hex 04 hex (U8)
  • Page 478 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number        261th receive PDO Mapping Number of objects in this PDO 1 byte    00 hex 09 hex (U8)
  • Page 479 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number        1st transmit PDO Mapping Number of objects in this PDO 1 byte    00 hex 07 hex (U8)
  • Page 480 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number        259th transmit PDO Mapping Number of objects in this PDO 1 byte    00 hex 09 hex (U8)
  • Page 481 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number        261th transmit PDO Mapping Number of objects in this PDO 1 byte    00 hex 0A hex (U8)
  • Page 482 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Sync Manager 3 PDO        Assignment Number of assigned PDOs 1 byte    00 hex 01 hex (U8) possible.
  • Page 483 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Sync Not Received Timeout 2 bytes 2201 hex 00 hex 0 to 600 Pn777 Setting (U16) possible. Movement Direction Setting 2 bytes ...
  • Page 484 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Speed Feed-forward Gain 2 bytes 3110 hex 00 hex 0 to 1000 0.1% Pn110 (INT16) possible. Speed Feed-forward Command 2 bytes 3111 hex 00 hex 0 to 6400 0.01 ms Pn111...
  • Page 485 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Notch 4 Frequency Setting 2 bytes 3210 hex 00 hex 5000 50 to 5000 Pn210 (INT16) possible. Notch 4 Width Setting 2 bytes ...
  • Page 486 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Input Signal Selection 7 0 to 00FF 4 bytes  3406 hex 00 hex 0020 2020 hex Pn406 FFFF hex (INT32) possible. Input Signal Selection 8 0 to 00FF 4 bytes...
  • Page 487 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Overload Detection Level Setting 2 bytes 3512 hex 00 hex 0 to 500 Pn512 (INT16) possible. Overrun Limit Setting 2 bytes 3514 hex 00 hex 0 to 1000 magnetic Pn514...
  • Page 488 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number 32768 to Backlash Compensation Amount Command 2 bytes 3705 hex 00 hex Pn705 32767 units (INT16) possible. Backlash Compensation Time 2 bytes 3706 hex 00 hex 0 to 6400 0.01ms...
  • Page 489 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number Magnetic Pole Position Estimation 2 bytes 3925 hex 00 hex 0 to 32767 pulse Pn925 Movement for Stop Judgement (INT16) possible. Magnetic Pole Position Estimation 2 bytes 3926 hex 00 hex 0 to 32767...
  • Page 490 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number  Velocity actual value 2147483647 Command 4 bytes  606C hex 00 hex TxPDO units/s (INT32) 2147483647 5000 to Target torque 2 bytes ...
  • Page 491 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number  Position offset 2147483648 Command 4 bytes  60B0 hex 00 hex RxPDO units (INT32) 2147483647  Velocity offset 2147483648 Command 4 bytes ...
  • Page 492 Appendicies Sub- Setting Data Corresponding Index Name Default setting Unit Size PDO map Index range attribute Pn number   60FC hex 00 hex Position demand internal value Encoder 4 bytes TxPDO 1073741823 units (INT32) 1073741823   60FD hex 00 hex Digital inputs 0000 0000 hex 0000 0000 4 bytes...

  • Page 493: Sysmac Error Status Codes

    Appendicies Sysmac Error Status Codes This section lists and describes the error event codes that you may see in Sysmac Studio. A-3-1 Error Table The errors that may occur for this Unit are listed below. The Level column of the table uses the following abbreviations: Abbreviations Name Major fault level...
  • Page 494 Appendicies Level Event code Event name Meaning Assumed cause Reference Obs Info  04AA0000 hex Main Circuit If the Undervoltage • Insufficient power supply page A-108 Power Error Selection capacity Supply (3508 hex) is set to • The electromagnetic contactor Undervoltage 1, a momentary in the main circuit power supply...
  • Page 495 Appendicies Level Event code Event name Meaning Assumed cause Reference Info  04AD0000 hex IPM Error The current flowing • A short-circuit, line-to-ground page A-111 through the fault, contact failure, or converter exceeded insulation failure occurred on the specified value. the U, V, or W motor line.
  • Page 496 Appendicies Level Event code Event name Meaning Assumed cause Reference Obs Info  08110000 hex External Bit 03 of the • Bit 03 of the external encoder page A-116 Encoder external encoder error code (ALMC) was set to 1. Status Error error code (ALMC) was set to 1.
  • Page 497 Appendicies Level Event code Event name Meaning Assumed cause Reference Info  28030000 hex Motor The value set for • The Motor Rated Rms Current page A-124 Combination the motor exceeds is too low compared with the Error 2 the drive range of maximum motor capacity of the the motor.
  • Page 498 Appendicies Level Event code Event name Meaning Assumed cause Reference Obs Info  38400000 hex Overspeed 2 The motor speed • The velocity command value is page A-130 exceeded the value too large. set on Overspeed • There is overshooting. Detection Level •...
  • Page 499 Appendicies Level Event code Event name Meaning Assumed cause Reference Info  38490000 hex Interface There is an • There is an undefined number page A-136 Output undefined number specification in the output Function specification in the signal (OUTM1) function Number Error output signal allocation.
  • Page 500 Appendicies Level Event code Event name Meaning Assumed cause Reference Obs Info  38530000 hex Magnetic Magnetic pole • Settings associated with the page A-141 Pole Position position estimation external encoder are incorrect. Estimation was not completed • The command time or force Error 1 successfully.
  • Page 501 Appendicies Level Event code Event name Meaning Assumed cause Reference Info  64E10000 hex Drive When the Drive • A problem occurred with the page A-144 Prohibition Prohibition Input switches, wires, and power Input Error 2 Selection (3504 supplies that are connected to hex) was set to 0 the Positive Drive Prohibition and either POT or...
  • Page 502 Appendicies Level Event code Event name Meaning Assumed cause Reference Obs Info  78010000 hex Operation An attempt was • EtherCAT communications page A-147 Command made to establish (change from Init to Pre- Competition EtherCAT operational state) was communications or established while executing an to turn ON the FFT that operates with the...
  • Page 503 Appendicies Level Event code Event name Meaning Assumed cause Reference Info  08020000 hex Fan Warning The fan stop state • There is foreign matter in the page A-152 continued for 1 fan. second. • The Servo Drive failed.  08040000 hex External The external...
  • Page 504 Appendicies Level Event code Event name Meaning Assumed cause Reference Obs Info  383E0000 hex Vibration Vibration was • The gain or mass ratio setting is page A-156 Detection detected. not suitable. Warning  74800000 hex Command A command could •...

  • Page 505: A-3-2 Error Description

    Appendicies A-3-2 Error Description This section describes errors. Controller Error Descriptions The items that are used to describe individual errors are described in the following copy of an error table. Event name Gives the name of the error. Event code Gives the code of the error.
  • Page 506 Appendicies Error Descriptions The following table describes the error codes that are output to ErrorID when errors occur in execution of the instructions. The upper four digits of the event codes that are given in the following table are output as the error code to ErrorID. Event name Control Power Supply Undervoltage Event code...
  • Page 507 Appendicies Event name Overvoltage Event code 04A90000 hex Meaning The power supply voltage exceeded the allowable input voltage range. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave errors)
  • Page 508 Appendicies Event name Main Circuit Power Supply Undervoltage (Undervoltage Event code 04AA0000 hex between positive and negative terminals) Meaning If the Undervoltage Error Selection (3508 hex) is set to 1, a momentary power interruption occurred between L1 and L3 for longer than the value specified for the Momentary Hold Time. The voltage between the positive and negative terminals in the main power supply converter dropped below the specified value while the Servo was ON.
  • Page 509 Appendicies Event name Main Circuit Power Supply Undervoltage (AC Cutoff Event code 04AB0000 hex Detected) Meaning If the Undervoltage Error Selection (3508 hex) is set to 1, a momentary power interruption occurred between L1 and L3 for longer than the value specified for the Momentary Hold Time. The voltage between the positive and negative terminals in the main power supply converter dropped below the specified value while the Servo was ON.
  • Page 510 Appendicies Event name Overcurrent Event code 04AC0000 hex Meaning The current flowing through the converter exceeded the specified value. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System cycling slave power)
  • Page 511 Appendicies Event name IPM Error Event code 04AD0000 hex Meaning The current flowing through the converter exceeded the specified value. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System cycling slave...
  • Page 512 Appendicies Event name Regeneration Tr Error Event code 04AE0000 hex Meaning The Servo Drive regeneration drive Tr is faulty. Source EtherCAT Master Function Module Source details Slave Detection While power is timing supplied to motor Error attributes Level Minor fault Recovery Error reset (after Log category...
  • Page 513 Appendicies Event name Other Errors Event code 04B20000 hex Meaning The Servo Drive malfunctioned, or an error occurred in the Servo Drive. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System cycling slave...
  • Page 514 Appendicies Event name External Encoder Connection Error Event code 080C0000 hex Meaning A disconnection was detected because communications between the external encoder and the Servo Drive were stopped more frequently than the specified value. Source EtherCAT Master Function Module Source details Slave Detection Continuously...
  • Page 515 Appendicies Event name External Encoder Status Error 0 Event code 080E0000 hex Meaning Bit 00 of the external encoder error code (ALMC) was set to 1. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after...
  • Page 516 Appendicies Event name External Encoder Status Error 2 Event code 08100000 hex Meaning Bit 02 of the external encoder error code (ALMC) was set to 1. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after...
  • Page 517 Appendicies Event name External Encoder Status Error 4 Event code 08120000 hex Meaning Bit 04 of the external encoder error code (ALMC) was set to 1. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after...
  • Page 518 Appendicies Event name Phase-A Connection Error Event code 08140000 hex Meaning An error such as broken wiring was detected in the external encoder phase-A connection. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category...
  • Page 519 Appendicies Event name Phase-Z Connection Error Event code 08160000 hex Meaning An error such as broken wiring was detected in the external encoder phase-Z connection. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category...
  • Page 520 Appendicies Event name Object Error Event code 14A90000 hex Meaning The object area data in non-volatile memory is corrupted. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the slave Error attributes Level Minor fault Recovery...
  • Page 521 Appendicies Event name Object Corrupted Event code 14AB0000 hex Meaning The checksum data in non-volatile memory is corrupted. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the slave Error attributes Level Minor fault Recovery...
  • Page 522 Appendicies Event name Object Corrupted Event code 14AD0000 hex Meaning The checksum data in non-volatile memory is corrupted. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the slave Error attributes Level Minor fault Recovery...
  • Page 523 Appendicies Event name Motor Combination Error 1 Event code 28020000 hex Meaning The value set for the motor current exceeds the maximum motor capacity allowed for the Servo Drive. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault...
  • Page 524 Appendicies Event name Motor Combination Error 2 Event code 28030000 hex Meaning The value set for the motor exceeds the drive range of the motor. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category...
  • Page 525 Appendicies Event name Servo Drive Overheat Event code 34E10000 hex Meaning The temperature of the Servo Drive radiator or power elements exceeded the specified value. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category...
  • Page 526 Appendicies Event name Overload Event code 34E20000 hex Meaning When the feedback value for force command exceeds the overload level specified in the Overload Detection Level Setting (3512 hex), overload protection is performed according to the overload characteristics. Source EtherCAT Master Function Module Source details Slave Detection...
  • Page 527 Appendicies Event name Regeneration Overload Event code 34E30000 hex Meaning The regenerative energy exceeds the processing capacity of the Regeneration Resistor. Source EtherCAT Master Function Module Source details Slave Detection While power is timing supplied to motor Error attributes Level Minor fault Recovery Error reset (after...
  • Page 528 Appendicies Event name Error Counter Overflow Event code 34E40000 hex Meaning Position error pulses exceeded the setting of the Following error window (6065 hex). Source EtherCAT Master Function Module Source details Slave Detection While power is timing supplied to motor Error attributes Level Minor fault...
  • Page 529 Appendicies Event name Excessive Velocity Error Event code 34E50000 hex Meaning The difference between the internal position command velocity and the actual velocity (i.e., the velocity error) exceeded the Excessive Velocity Error Setting (3602 hex). Source EtherCAT Master Function Module Source details Slave Detection...
  • Page 530 Appendicies Event name Overspeed 2 Event code 38400000 hex Meaning The motor speed exceeded the value set on Overspeed Detection Level Setting at Immediate Stop (3615 hex). Source EtherCAT Master Function Module Source details Slave Detection While power is timing supplied to motor Error attributes Level...
  • Page 531 Appendicies Event name Command Generation Error Event code 38420000 hex Meaning During position command processing, an error such as a calculation range error occurred. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category...
  • Page 532 Appendicies Event name Error Counter Overflow 2 Event code 38440000 hex Meaning The position following error in pulses exceeded 2 (536,870,912). Or, the position following error in command units exceeded 2 (1,073,741,824). Source EtherCAT Master Function Module Source details Slave Detection While power is timing...
  • Page 533 Appendicies Event name Interface Input Duplicate Allocation Error 2 Event code 38460000 hex Meaning There is a duplicate setting in the input signal (IN5, IN6, IN7, and IN8) function allocations. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications...
  • Page 534 Appendicies Event name Interface Input Function Number Error 1 Event code 38470000 hex Meaning There is an undefined number specification in the input signal (IN1, IN2, IN3, and IN4) function allocations. Or, a logic setting error was detected. Source EtherCAT Master Function Module Source details Slave Detection...
  • Page 535 Appendicies Event name Interface Input Function Number Error 2 Event code 38480000 hex Meaning There is an undefined number specification in the input signal (IN5, IN6, IN7, and IN8) function allocations. Or, a logic setting error was detected. Source EtherCAT Master Function Module Source details Slave Detection...
  • Page 536 Appendicies Event name Interface Output Function Number Error 1 Event code 38490000 hex Meaning There is an undefined number specification in the output signal (OUTM1) function allocation. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the slave or when...
  • Page 537 Appendicies Event name External Latch Input Allocation Error Event code 384B0000 hex Meaning There is an error in the latch input function allocation. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the slave or when transferring EtherCAT...
  • Page 538 Appendicies Event name Object Setting Error 1 Event code 384F0000 hex Meaning The electronic gear ratio exceeded the allowable range. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System cycling slave...
  • Page 539 Appendicies Event name External Encoder Connection Error Event code 38510000 hex Meaning The set value of the External Feedback Pulse Type Selection (3323 hex) differs from the external encoder type that is connected for serial communications. Source EtherCAT Master Function Module Source details Slave Detection...
  • Page 540 Appendicies Event name Function Setting Error Event code 38520000 hex Meaning The function that was set does not support the communications period. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave...
  • Page 541 Appendicies Event name Magnetic Pole Position Estimation Error 1 Event code 38530000 hex Meaning Magnetic pole position estimation was not completed successfully. Source EtherCAT Master Function Module Source details Slave Detection During magnetic timing pole position estimation Error attributes Level Minor fault Recovery Error reset (after...
  • Page 542 Appendicies Event name Magnetic Pole Position Estimation Error 2 Event code 38540000 hex Meaning Magnetic pole position estimation was not completed successfully because the motor did not stop within the Magnetic Pole Position Estimation Time Limit for Stop. Source EtherCAT Master Function Module Source details Slave Detection...
  • Page 543 Appendicies Event name Magnetic Pole Position Estimation Error 3 Event code 38550000 hex Meaning Magnetic pole position restoration was not completed successfully. Source EtherCAT Master Function Module Source details Slave Detection When the magnetic timing pole position restoration method is selected. Error attributes Level Minor fault...
  • Page 544 Appendicies Event name Drive Prohibition Input Error 1 Event code 64E00000 hex Meaning • When the Drive Prohibition Input Selection (3504 hex) was set to 0, both the Positive Drive Prohibition Input (POT) and the Negative Drive Prohibition Input (NOT) turned ON. •...
  • Page 545 Appendicies Event name Immediate Stop Input Error Event code 64E20000 hex Meaning An Immediate Stop (STOP) signal was input. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave errors)
  • Page 546 Appendicies Event name Command Error Event code 74810000 hex Meaning A mistake was made in using a command. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave errors)
  • Page 547 Appendicies Event name Operation Command Competition Event code 78010000 hex Meaning An attempt was made to establish EtherCAT communications or to turn ON the Servo from the Controller (enable operation) while executing an FFT that operates with the Servo Drive alone or a trial run. Source EtherCAT Master Function Module Source details...
  • Page 548 Appendicies Event name EtherCAT Illegal State Change Error Event code 84B20000 hex Meaning An undefined communications state change command was received. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave...
  • Page 549 Appendicies Event name Synchronization Error Event code 84B40000 hex Meaning A synchronization error occurred. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave errors) Effects User program Continues.
  • Page 550 Appendicies Event name ESC Initialization Error Event code 84B60000 hex Meaning An error occurred in ESC initialization. Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the slave Error attributes Level Minor fault Recovery Error reset (after...
  • Page 551 Appendicies Event name Communications Setting Error Event code 84B80000 hex Meaning There is an error in the communications settings. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave errors)
  • Page 552 Appendicies Event name Position Data Initialized Event code 98020000 hex Meaning A Config operation was performed during EtherCAT communications. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset (after Log category System resetting slave errors)
  • Page 553 Appendicies Event name External Encoder Overheating Warning Event code 08040000 hex Meaning The external encoder temperature exceeded the specified value. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Observation Recovery Log category System Effects User program Continues.
  • Page 554 Appendicies Event name External Encoder Error Warning Event code 08060000 hex Meaning The external encoder detected a warning. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Observation Recovery Log category System Effects User program Continues.
  • Page 555 Appendicies Event name Data Setting Warning Event code 34E00000 hex Meaning An object setting is out of range. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Observation Recovery Log category System Effects User program Continues.
  • Page 556 Appendicies Event name Excessive Regeneration Warning Event code 383D0000 hex Meaning The regeneration load ratio is 85% or more of the level. Source EtherCAT Master Function Module Source details Slave Detection While power is timing supplied to motor Error attributes Level Observation Recovery...
  • Page 557 Appendicies Event name Command Warning Event code 74800000 hex Meaning A command could not be executed. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Observation Recovery Log category System Effects User program Continues. Operation Not affected.
  • Page 558 Appendicies Event name EtherCAT Communications Warning Event code 84B00000 hex Meaning An EtherCAT communications error occurred one or more times. Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Observation Recovery Log category System Effects User program Continues.

  • Page 559: Ethercat Terminology

    Appendicies EtherCAT Terminology Use the following list of EtherCAT terms for reference. Abbreviati Term Description  Object Abstract representation of a component within a device, which consists of data, parameters, and methods. Object Dictionary Data structure addressed by Index and Subindex that contains description of data type objects, communication objects and application objects.
  • Page 560 Appendicies A-160 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type...
  • Page 561 Index G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type Index-1...
  • Page 562 Index Index Numerics connectors model list ..............2-6 Connector-terminal Block ..........2-6 7-Segment Display ............10-5 Connector-terminal Block Cables ........2-6 Connector-Terminal Block Conversion Unit ....3-34 contactors ..............4-46 control cables Accessories ..............1-24 model list ..............2-6 Actions for Problems ........... 12-2 control circuit connector specifications (CNC) .....
  • Page 563 Index 38480000 hex ..........A-98, A-135 Slave Information file ..........5-2 38490000 hex ..........A-99, A-136 state coding ............. A-4 state descriptions ............ A-3 384A0000 hex ........... A-99, A-136 State Machine ............5-5 384B0000 hex ........... A-99, A-137 Status Indicators ........... 10-6 384C0000 hex ...........
  • Page 564 Index Speed Loop Gain 2 (3106 hex) ........ 9-9 (3323 hex) ............9-25 Speed Loop Integral Time Constant 1 (3102 hex) ... 9-8 External Latch Input Signals (EXT1, EXT2 and EXT3) .......... 3-10 Speed Loop Integral Time Constant 2 (3107 hex) ... 9-9 External Regeneration Resistor Switching Mode in Position Control (3115 hex) ..
  • Page 565 Index Magnetic Pole Detection Method ........ 10-8 Magnetic Pole Detection Method (3920Hex) ....9-60 Magnetic Pole Position Estimation Completion neagtive drive prohibition function ......... 7-8 Output (CS-CMP) ............. 3-16 Negative Drive Prohibition Input (NOT) ....... 3-10 Magnetic Pole Position Estimation Force Command Negative Force Limit Input ..........
  • Page 566 Index Profile acceleration (6083 hex) ......A-64 Profile deceleration (6084 hex) ......A-64 Profile velocity (6081 hex) ........A-63 radio noise filter ............4-43 Shutdown option code (605B hex) ......A-57 Reactor Software position limit (607D hex) ......A-63 model list ..............2-7 Statusword (6041 hex) ...........A-55 Reactor to Reduce Harmonic Current ......
  • Page 567 Index Status Indicators ............5-3 Surge Absorber ............4-41 Surge Suppressors ............. 4-46 Warning List ..............12-5 Switching Mode in Force Control (3124 hex) ....9-15 Warning Outputs (WARN1 and WARN2) ....3-15 Sync Manager ............... 5-7 Wiring Conforming to EMC Directives ......4-31 Sync Manager Communication Objects ......
  • Page 570 The Netherlands IL 60173-5302 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 2011 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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