Related Manuals for Omron R88M-1L Series
Summary of Contents for Omron R88M-1L Series
- Page 1 S erv o S ys tem 1S -seri es Startup Guide R88M-1L[]/-1M[] (AC Servomotors) R88D-1SN[]-ECT (AC Servo Drives) I823-E1-01...
- Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual.
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Page 3: Introduction
Introduction The Servo System 1S-Series Startup Guide (hereinafter, may be referred to as "this Guide") describes the procedures for installation and setup of a 1S Servo Drive, where an NJ/NX-series CPU Unit is used in combination with1S-series AC Servomotors/Servo Drives and NX-series Safety Unit, by using the Sysmac Studio. -
Page 4: Terms And Conditions Agreement
Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product;... - Page 5 It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of...
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Page 6: Precautions
When building a system, check the specifications for all devices and equipment that will make • up the system and make sure that the OMRON products are used well within their rated specifications and performances. Safety measures, such as safety circuits, must be implemented in order to minimize the risks in the event of a malfunction. -
Page 7: Related Manuals
Related Manuals The following manuals are related. Use these manuals for reference. Manual name Cat. No. Model Application Description Sysmac Studio Version 1 W504 SYSMAC-SE2□□□ Learning about the operating Describes the operating procedures of Operation Manual procedures and functions of the Sysmac Studio. - Page 8 When programming, use this manual Reference Manual control instructions that are together with the NJ-series CPU Unit provided by OMRON. Hardware User's Manual (Cat. No. W500), NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501), and NJ/NX-series CPU Unit Motion Control User's Manual (Cat.
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Page 9: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. I823-E1-01 Cat. No. Revision code Revision code Date Revised content July 2016 Original production... -
Page 10: Table Of Contents
CONTENTS Introduction ······························································································ 3 Intended Audience ..................... 3 Applicable Products ....................3 Special Information ....................3 Terms and Conditions Agreement ······························································· 4 Precautions ······························································································ 6 Trademarks ........................ 6 Software Licenses and Copyrights ................6 Related Manuals ······················································································· 7 Revision History ······················································································· 9 Servo system configuration and peripheral products ····························... -
Page 11: Servo System Configuration And Peripheral Products
1. Servo system configuration and peripheral products 1.1. Outline The 1S-series AC Servo Drives with Built-in EtherCAT communications support 100-Mbps EtherCAT. When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit or □ □ CJ1W-NC EtherCAT-compatible Position Control Unit, you can construct a high-speed and sophisticated positioning control system. -
Page 12: Servo System Constructed In This Guide
1.2. Servo System constructed in this guide This 1S-series Sysmac AC Servo Drives Startup Guide (hereafter referred to as “this Guide”) contains instructions from assembling the hardware that makes up the Servo system to performing debugging on the system. This Guide builds the Servo system in the following steps Installation and wiring ▼... -
Page 13: System Configuration
1.3. System configuration The following figure shows the system configuration and devices that are used in this Guide. The system configuration is shown in the following figure. • Configuration devices The models of the devices that are described in this Guide are given in the following table. When selecting devices for an actual application, refer to the device manuals. - Page 14 • Automation software Product Number of license Model Sysmac Studio Standard None (DVD only) SYSMAC-SE200D Edition Version 1.16 From 1 license to site license SYSMAC-SE[]...
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Page 15: Before You Begin
2. Before You Begin ■ Unpack Drive/Motor Unpack motor package. The package includes only motor and instruction sheet. Cables are provided separately. Unpack drive package. This product comes with the following accessories. • INSTRUCTION MANUAL × 1 copy • Warning label × 1 sheet •... -
Page 16: Performing Setup
3. Performing setup 3.1. Installation & Wiring ■ Drive installation Install the Servo Drive according to the following. When installing side-by-side, S2 can be reduced to 0mm under some conditions: temperature inside cabinet should be lower than 45℃ and install a fan for air circulation to prevent uneven temperatures inside the cabinet/panel. - Page 17 Approach the drive from top to down. Tight the upper part. Tight the down part.
- Page 18 ■ Motor installation (step 2, 3 order depends on your mechanical implementation) Please handle the motor carefully & do not apply heavy impacts or loads during transport, installation, or removal of the motor. Please fixe and connect the motor to the mechanical system Note: At first, please check motor operation without any load.
- Page 19 Remove power connector(s) (CNA) or (CNA)/(CND) from the drive depending on the model: 100V/200V (up to 1kW) 200V (1.5kW-3kW) 400V (0.6kW-3kW) Please wire the 24V control power supply (stripped wires or ferrules can be used) Connect wires with the spring opener Please refer to the corresponding connector depending on your drive and power supply: CNA for 100V/200V (up to 1kW) CND for 200V (1.5kW-3kW) 400V (0.6kW-3kW)
- Page 20 Please remove the motor connector (CNC) from the drive: Please wire U, V, W of the motor (stripped wires) Please screw the PE wire of the main power to the drive. Please plug back above connectors to the drive. (Power and Motor) Please fixe the FG wire from the motor cable to the drive In case of using the shield clamp, please attach the cable to the clamp in order to connect the shielded section.
- Page 21 ■ I/0, Safety Wiring By default, STO function is inhibited and bypassed with jumpers In case of using STO by hardwire, Please make the proper wiring between the safety controller and the drive Servo Drive...
- Page 22 In case of using STO by hardwire for multiple servo drives, Please make the proper wiring between the safety controller and drives. Servo Drive 2 Servo Drive 1 Note: When G9SP-series safety controller is used, you can connect up to four 1S-series Servo Drives...
- Page 23 When general I/Os are required, please make the proper wiring. Here is an example of latch input 1: Servo Drive connector view: Additional Information For further details about wiring method, please refer to 1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)
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Page 24: System Configuration With Nj And Nx Safety Controller
3.2. System configuration with NJ and NX safety controller ■ Ethercat node address configuration Please configure the Ethercat node address of the drive to 1. Note: You can configure the node address depending on your application In case of using NX safety, please configure the node address of the NX coupler to Note: You can configure the node address depending on your application Please connect EtherCAT cables to devices CN10 Ethercat IN: Ethercat cable from NJ EtherCAT Master... -
Page 25: Sysmac Studio Project Creation
3.3 Sysmac Studio project creation ■ New project Create new project Select NJ501-1500 from the list. Import the sizing file Please select your sizing tool results Note 1: Please refer to the “motor sizing tool startup guide” for learning how to create the sizing result (I820-E1-01). - Page 26 Drive parameters were updated Axis setting were created and updated If you do not use NX Safety, please jump to step 10 Add a terminal coupler in EtherCAT editor Double click on Ethercat Drag and drop the terminal coupler...
- Page 27 Add NX Safety unit Double click on NX Coupler Drag and drop NX safety controller Add NX safety I/O units Drag and drop Safety I/O Please turn on the power supply of all devices.
- Page 28 Connect to NJ Please setup the method of connection Enter the IP address and test the connection Push connect button Send Program to NJ Push synchronize button Uncheck the below box in order to send drive parameters and push transfer to controller...
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Page 29: Motor, Abs Encoder And I/O Setup
3.4 Motor, ABS Encoder and I/O Setup ■ Quick setup wizard Please right click to the drive and select “setup and tuning” Select quick setup This setting is related with Encoder usage and I/O pre-configuration When using I/O features of the drive in the motion control (MC) function module of Sysmac Controller, recommended settings should be used. - Page 30 Setup of the absolute encoder This function can be used for resetting the multi turn data or when replacing a motor in actual machine. Reset multi-turn data: Please push “clear system” This setting required the drive to be restarted; Sysmac Studio can do it by pressing yes. Encoder multi rotation data has been cleared...
- Page 31 Adjust the motor direction and transfer to the drive Validate the motor operation Apply the test run configuration, activate the Servo ON and initiate the movement Note: In case of Error 87.00 ESTP input, please check your wiring connection or disable the error stop input (IN1) as explained in the next step.
- Page 32 Adjust Input settings, transfer to the drive and validate with test run By default, ESTOP Input is activated, please deactivated if necessary (as following). When ESTP is activated, Error 87.00 is present on the drive. If necessary, Adjust Output settings, transfer to the drive and validate with test Please click finish...
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Page 33: Easy Tuning For Gain Adjustment
3.5. Easy tuning for gain adjustment ■ Easy tuning Use the following procedure to perform adjustment. At first, it is recommended to perform easy tuning... - Page 34 Please right click to the drive and select “setup and tuning” Please select Easy tuning Please select simple mode and click next Please adjust the motion profile...
- Page 35 Please adjust criteria and click next • If you choose the manual setting of settling time, gain will be increased gradually until achieving the specified settling time. The positioning window, specify the position deviation to determine that the positioning is completed. If it detects a vibration above the vibration detection level during tuning, an adjustment failure will occur.
- Page 36 Please click the record button, the motor will move and data will be traced and auto scaled Click next Confirm new gain parameters and save to EEPROM Click Finish...
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Page 37: Fsoe Sto Activation
3.6. FSoE STO activation If you do not use NX Safety and STO via FSoE, please ignore this part (3.6) ■ Manipulation to activate FSoE STO Please double click on Ethercat Please select the drive and Edit PDO map settings of the drive Select safety input and output (273th) It is necessary for setting the information in the safety telegram. - Page 38 Add the Emergency stop button Add the Reset button Edit I/O Map variables...
- Page 39 Create safety program Transfer to the controller Please select the controller area Connect to the controller Synchronize with the controller Transfer to the controller...
- Page 40 Download the safety application Please select the new safety CPU Switch to program mode Activate and run the debug mode then Click on safety validation The safety application is now ready to run Please click on run...
- Page 41 The FSoE communication is now established FS LED is green and fixed ON. STO is activated when Emergency stop button is pushed STO is released when Emergency stop button was released and RESET button activated.
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Page 42: Annex
ANNEX Add a drive and axis OFFLINE ■ Creating the EtherCAT Network Configuration Double-click EtherCAT under Configurations and Setups in the Multiview Explorer. The EtherCAT Tab Page is displayed in the Edit Pane. Drag the Drive from the Toolbox to the master on the EtherCAT Tab Page The Servo Drive is added under the master with a node address of 1. - Page 43 ■ Setting the axis This section describes how to add the axis that is used to control the Servo Drive, assign it to the Servo Drive, and set the axis parameters. Right-click MC_Axis000 (axis 0) in the Multiview Explorer and select Edit from the menu.
- Page 44 Select Servo axis in the Axis type Box. Select the Servo Drive to use in the Input device Box This will assign node 1 and the drive to the input device for axis 0. Set the parameters on the Axis Parameter Settings Tab Page The following figure shows the axis parameters for the unit conversion settings.
- Page 45 Operation settings Maximum Velocity: 18 000 degree/s Maximum Jog Velocity: 360 degree/s Position count settings Count mode: Rotary mode Modulo max: 360 Modulo min: 0...
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Page 46: Test Run And Data Trace
Test run and data trace 1. Please right click to the drive and select “test run” 2. Please click “step” tab, adjust motion profile and apply 3. Activate the servo ON 4. Please right click to the “data trace settings” and add a new trace 5. - Page 47 7. Adjust the trigger condition 8. Push record button Sysmac Studio is now waiting for the trigger 9. Place the Test run and Data trace windows side-by-side with docking window feature Push start in test run, data traces will appear cyclically...
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Page 48: Manual Tuning
Manual tuning ■ Manual tuning guide Please right click to the drive and select “setup and tuning” Please select Manual Tuning Manual tuning window is displayed It includes rigidity settings, gain parameters and drive test run... - Page 49 In order to check the behavior of the motor, Please right click to the “data trace settings” and add a new trace Chose cyclic mode Adjust the sampling interval Adjust the trigger condition Disable parameters reading Push record button Sysmac Studio is now waiting for the trigger Place the Test run and Manual tuning windows side-by-side with docking window feature...
- Page 50 Configure the motion profile and click Apply 10. Activate the Servo ON and Push Start Be careful, the motor will move in the forward and reverse direction The data trace is now triggered and result displayed Each time the motor will move, traces will appear cyclically.
- Page 51 12. It is possible to increase gain values by changing the rigidity settings Push transfer to send the gain parameters to the drive. 13. Please repeat step 10,11 and 12 until achieving the desired performance If vibrations appear, please reduce the rigidity settings. If required, It is possible to increase responsiveness by applying notch filters in advanced tuning mode and adjusting gains.
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Page 52: Advanced Tuning
Advanced tuning ■ Advanced tuning guide Overview Below example explain the way to tune a 1S servo drive and motor with advanced tuning. This method of tuning decrease dramatically the number of tests and trial with actual machine. Please right click to the drive and select “setup and tuning” Please select Advanced Tuning... - Page 53 Configuration (Wizard Step 1) Please select your control mode Please estimate the load characteristics by pushing start (the motor will move) If easy tuning has been performed already, please select “use present setting” Load characteristics have been updated Click Next Frequency response simulation (Wizard Step 2) Please start the trace (FFT measurement will be performed, the motor will move slightly)
- Page 54 Adjust gain and simulate Please select Maps feature: Adjust the gain to a proper value and push “refresh simulation” FROM Pink curve is the measured value Red curve is the simulated value...
- Page 55 Adjust notch filters and simulate After increasing gains, the gain simulation shows a peak near 0dB. This peak shows a resonance frequency: Activate the cursor to measure the frequency Activate the 1 notch filter to remove this resonance frequency at 2411 Hz:...
- Page 56 Increase gain with Maps and simulate After activating the notch filter, gain can be increased and performance improved FROM Before notch filter adjustment Time response simulation (Wizard step 3) In time response simulation, the motion profile can be simulated. Please push “Simulate Motion Profile” The chart is updated and shows: The speed command, speed detection simulation and following error simulation.
- Page 57 If your application required a small tracking error, here is an example of position following gain adjustment: FROM Following error has been reduced. When satisfied with the simulation result, please transfer parameters to the drive Click Next Check behavior (Wizard step 4) Push start trace (the motor will move following the previous configuration in Wizard step 3) (motion profile in Wizard step 3)
- Page 58 Results (Wizard step 5) Save to EEPROM Finish...
- Page 59 Note: Do not use this document to operate the Unit. 2016 I823-E1-01 0616 (0616)