Omron R88M-K Series User Manual
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Omron R88M-K Series User Manual

Ac servomotors/servo drives with built-in ethercat communications
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Cat. No. I573-E1-03
USER'S MANUAL
OMNUC G5
SERIES
R88M-K@
(AC Servomotors)
R88D-KN@-ECT-R
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN EtherCAT COMMUNICATIONS

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Summary of Contents for Omron R88M-K Series

  • Page 1 Cat. No. I573-E1-03 USER’S MANUAL OMNUC G5 SERIES R88M-K@ (AC Servomotors) R88D-KN@-ECT-R (AC Servo Drives) AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS ...
  • 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 Thank you for purchasing an OMNUC 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 Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
  • Page 5 It may represent the result of Omron’s test conditions, and the user must correlate it to actual application require- ments. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
  • Page 6 Safety Precautions Safety Precautions To ensure that the OMNUC G5-series Servomotor and 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 in order to learn items you should know regarding the equipment as well as required safety information and precautions.
  • Page 7 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 Ω...
  • Page 8 Safety Precautions DANGER Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Fire may result. Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals. Fire may result. When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the information in the operation manual, and apply them to the system design.
  • Page 9 Safety Precautions Storage and Transportation Caution When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft. Injury or failure may result. Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product label.) Injury or failure may result.
  • Page 10 Safety Precautions Installation and Wiring Caution Do not step on the Servo Drive or place heavy articles on it. Injury may result. Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive. Fire may result.
  • Page 11 Safety Precautions Operation and Adjustment Caution 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 you have set. Equipment damage may result.
  • Page 12 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-R) Instructions on Warning Label Disposal...

  • Page 13: 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 14: 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 I573-E1-03 Cat. No. Revision code Revision Revision Date Revised content code March 2010...

  • Page 15: Structure Of This Document

    Structure of This Document Structure of This Document This manual consists of the following chapters. Read the necessary chapter or chapters referring the following table. Outline Chapter 1 Features and This chapter explains the features of the Servo Drive, name of each System part, and applicable EC Directives and UL standards.

  • Page 16: Table Of Contents

    Table Of Contents Introduction ....................1 Terms and Conditions Agreement ............2 Safety Precautions.................4 Items to Check after Unpacking............11 Revision History...................12 Structure of This Document ..............13 Chapter 1 Features and System Configuration Outline ....................1-1 Outline of the OMNUC G5 Series................1-1 Features of OMNUC G5-series Servo Drives..............
  • Page 17 Table Of Contents Chapter 3 Specifications Servo Drive Specifications..............3-1 General Specifications....................3-1 Characteristics......................3-2 EtherCAT Communications Specifications..............3-6 Main Circuit and Motor Connections ................3-7 EtherCAT Communications Connector Specifications (RJ45) ........3-12 Control I/O Connector Specifications (CN1).............. 3-13 Control Input Circuits ....................3-16 Control Input Details ....................
  • Page 18 Sync Manager Communication Objects ..............6-29 Manufacturer Specific Objects................... 6-33 Servo Drive Profile Object ..................6-36 Reserved Objects ...................... 6-52 Connecting with OMRON Controllers ..........6-53 Related Objects ......................6-53 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 19 Table Of Contents Chapter 7 Applied Functions Sequence I/O Signals................7-1 Input Signals........................ 7-1 Output Signals ......................7-4 Forward and Reverse Drive Prohibition Functions .........7-6 Objects Requiring Settings ..................7-6 Overrun Protection .................7-9 Operating Conditions....................7-9 Objects Requiring Settings ..................7-9 Operation Example....................
  • Page 20 Table Of Contents Special Objects..................9-38 Reserved Objects ................9-50 Chapter 10Operation 10-1 Operational Procedure................. 10-1 10-2 Preparing for Operation ............... 10-2 Items to Check Before Turning ON the Power Supply ..........10-2 Turning ON the Power Supply ................... 10-3 Checking the Displays ....................
  • Page 21 Table Of Contents 11-10 Hybrid Vibration Suppression Function ..........11-28 Operating Conditions....................11-28 Objects Requiring Settings ..................11-28 Operating Procedure ....................11-28 11-11 Feed-forward Function ..............11-29 Objects Requiring Settings ..................11-29 Operating Procedure ....................11-30 11-12 Instantaneous Speed Observer Function ..........11-32 Operating Conditions....................
  • Page 23 Features and System Configuration This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards. 1-1 Outline ................1-1 1-2 System Configuration ..........1-3 1-3 Names and Functions ..........1-4 1-4 System Block Diagram..........1-6 1-5 Applicable Standards ..........1-11 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 24: Outline

    1-1 Outline 1-1 Outline Outline of the OMNUC G5 Series The OMNUC G5-series Servo Drives with Built-in EtherCAT Communications support 100- Mbps EtherCAT. When you use the Servo Drive with a Position Control Unit with EtherCAT interface (CJ1W- NC@8@), you can create a sophisticated positioning control system. Also, you need only one communications cable to connect the Servo Drive and the Controller.

  • Page 25: 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 OMNUC G5-series Servo Drives (servo parameters).

  • Page 26: System Configuration

    1-2 System Configuration 1-2 System Configuration The system configuration for a OMNUC G5-Series AC Servo Drive with Built-in EtherCAT Communications is shown below. Controller (EtherCAT (EtherCAT) EtherCAT Position Control Unit Programmable Controller CJ1W-NC@8@ SYSMAC CJ2 OMNUC G5 Series AC Servo Drive R88D-KN@-ECT-R OMNUC G5 Series AC Servomotor...

  • Page 27: Names And Functions

    1-3 Names and Functions 1-3 Names and Functions This section describes the names and functions of Servo Drive parts. 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 28: Servo Drive Functions

    1-3 Names and Functions 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 29: System Block Diagram

    1-4 System Block Diagram 1-4 System Block Diagram This is the block diagram of the OMNUC G5-series AC Servo Drive with Built-in EtherCAT Communications. R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R CN B CN A FUSE FUSE − Voltage detection FUSE − SW power 15 V Relay Overcurrent Regeneration...
  • Page 30 1-4 System Block Diagram R88D-KN04L-ECT-R R88D-KN08H-ECT-R/-KN10H-ECT-R/-KN15H-ECT-R 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 detection control circuit control 3.3 V Display and Internal 2.5 V...
  • Page 31 1-4 System Block Diagram R88D-KN20H-ECT-R/-KN30H-ECT-R/-KN50H-ECT-R CN A CN C FUSE Internal regeneration resistor FUSE CN B − Voltage detection FUSE − SW power 15 V Relay Overcurrent Regeneration Current detection supply main Gate drive drive control detection circuit control 3.3 V Display and Internal 2.5 V...
  • Page 32 1-4 System Block Diagram R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R CN D CN A FUSE Internal regeneration resistor FUSE − CN B CN C Voltage detection FUSE 24 V DC-DC − − SW power 15 V Overcurrent Relay Regeneration Current detection supply main Gate drive drive control detection...
  • Page 33 1-4 System Block Diagram R88D-KN30F-ECT-R/-KN50F-ECT-R CN D CN A FUSE Internal regeneration resistor FUSE − CN B CN C Voltage FUSE detection 24 V DC-DC − − SW power 15 V Relay Overcurrent Regeneration Current detection supply main Gate drive detection drive control...

  • Page 34: Applicable Standards

    1-5 Applicable Standards 1-5 Applicable Standards This section describes applicable EMC Directives. EC Directives Product Applicable standards Directive AC Servo Drives EN 61800-5-1 Voltage AC Servomotors EN 60034-1/-5 Directive AC Servo Drives EN 55011 class A group 1 Directive IEC 61800-3 EN 61000-6-2 Machinery AC Servo Drives...

  • Page 35: Ul And Cul Standards

    1-5 Applicable Standards UL and cUL Standards Standard Product Applicable standards File number AC Servo Drives UL 508C E179149 standards AC Servomotors UL 1004-1 E331224 AC Servo Drives CSA 22.2 No. 14 E179149 standards AC Servomotors CSA 22.2 No. 100 E331224 The Servo Drives and Servomotors comply with UL 508C (file No.
  • Page 37 Models and External Dimensions This chapter explains the models of Servo Drive, Servomotor, and peripheral devices, and provides the external dimensions and mounting dimensions. 2-1 Servo System Configuration ........2-1 2-2 How to Read Model Numbers ........2-3 2-3 Model Tables ..............2-5 2-4 External and Mounting Dimensions......2-21 2-5 EMC Filter Dimensions..........2-51 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 38: Servo System Configuration

    2-1 Servo System Configuration 2-1 Servo System Configuration Support Software Support Software Controller ● CX-One FA Integrated ● CX-One FA Integrated Tool Package Tool Package SYSMAC PLC Position Control Unit with EtherCAT Interface (Including CX-Drive) CX-Programmer, ● CX-Drive CX-Position, WS02-DRVC1 and CX-Motion Programmable Position Control Unit (NC)
  • Page 39 2-1 Servo System Configuration AC Servomotors AC Servo Drive Motor power signals Power Cables ● Flexible Cables communications • Without Brake R88A-CA@@@@@SR-E • With Brake R88A-CA@@@@@BR-E EtherCAT communications Brake Cables (50 to 750 W max.) ● Flexible Cable R88A-CAKA@@@BR-E Feedback Signals Encoder Cables ●...

  • Page 40: How To Read Model Numbers

    2-2 How to Read Model Numbers 2-2 How to Read Model Numbers This section describes how to read and understand the model numbers of Servo Drives and Servomotors. Servo Drive The Servo Drive model number tells the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.

  • Page 41: Servomotors

    2-2 How to Read Model Numbers Servomotors The model number provides information such as the Servomotor type, motor capacity, rated rotation speed, and power supply voltage. R88M-KP10030H-BOS2 OMNUC G5-series Servomotor Motor Type Blank: Cylinder type Servomotor Capacity 050: 50 W 100: 100 W 200: 200 W 400: 400 W...

  • Page 42: Model Tables

    2-3 Model Tables 2-3 Model Tables This section lists the standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment. Servo Drive Model Table The table below lists the Servo Drive models. Specifications Model Single-phase 100 VAC 50 W R88D-KNA5L-ECT-R 100 W R88D-KN01L-ECT-R...

  • Page 43: Servomotor Model Tables

    2-3 Model Tables Servomotor Model Tables The following tables list the Servomotor models by the rated motor speed. 3,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 50 W...
  • Page 44 2-3 Model Tables Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T-BS2 100 W R88M-K10030L-B R88M-K10030L-BS2 R88M-K10030S-B R88M-K10030S-BS2...
  • Page 45 2-3 Model Tables 2,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 1 kW R88M-K1K020H R88M-K1K020H-S2 R88M-K1K020T R88M-K1K020T-S2 1.5 kW R88M-K1K520H R88M-K1K520H-S2 R88M-K1K520T...
  • Page 46 2-3 Model Tables 1,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 900 kW R88M-K90010H R88M-K90010H-S2 R88M-K90010T R88M-K90010T-S2 200 V 2 kW R88M-K2K010H R88M-K2K010H-S2...

  • Page 47: Servo Drive And Servomotor Combination Tables

    2-3 Model Tables Servo Drive and Servomotor Combination Tables The tables in this section show the possible combinations of OMNUC G5-series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. “-@” at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.
  • Page 48 2-3 Model Tables 2,000-r/min Servomotors and Servo Drives Servomotor Voltage Servo Drive Rated With incremental With absolute output encoder encoder Single-phase/ 1 kW R88M-K1K020H-@ R88M-K1K020T-@ R88D-KN10H-ECT-R 3-phase 200 V 1.5 kW R88M-K1K520H-@ R88M-K1K520T-@ R88D-KN15H-ECT-R 3-phase 200 V 2 kW R88M-K2K020H-@ R88M-K2K020T-@ R88D-KN20H-ECT-R 3 kW...

  • Page 49: Cable And Peripheral Device Model Tables

    2-3 Model Tables Cable and Peripheral Device Model Tables The following tables list the models of cables and peripheral devices. The cables include motor power cables, brake cables, encoder cables, EtherCAT communications cables, and absolute encoder battery cables. The peripheral devices include Connectors, External Regeneration Resistors, and Mounting Brackets.
  • Page 50 2-3 Model Tables Motor Power Cables (European Flexible Cables) Model Specifications For motor without brake For motor with brake [100 V and 200 V] 1.5 m R88A-CAKA001-5SR-E (See note 1.) For 3,000-r/min Servomotors of 50 to R88A-CAKA003SR-E 750 W R88A-CAKA005SR-E 10 m R88A-CAKA010SR-E 15 m R88A-CAKA015SR-E 20 m R88A-CAKA020SR-E...
  • Page 51 2-3 Model Tables Brake Cables (European Flexible Cables) Specifications Model [100 V and 200 V] 1.5 m R88A-CAKA001-5BR-E For 3,000-r/min Servomotors of 50 to 750 W R88A-CAKA003BR-E R88A-CAKA005BR-E 10 m R88A-CAKA010BR-E 15 m R88A-CAKA015BR-E 20 m R88A-CAKA020BR-E Encoder Cables (Global Non-flexible Cables) Specifications Model [100 V and 200 V]...
  • Page 52 2-3 Model Tables Motor Power Cables (Global Non-flexible Cables) Model Specifications For motor without For motor with brake brake [100 V and 200 V] R88A-CAKA003S (See note 1.) For 3,000-r/min Servomotors of 50 to R88A-CAKA005S 750 W 10 m R88A-CAKA010S 15 m R88A-CAKA015S 20 m...
  • Page 53 2-3 Model Tables Brake Cables (Global Non-flexible Cables) Specifications Model [100 V and 200 V] R88A-CAKA003B For 3,000-r/min Servomotors of 50 to 750 W R88A-CAKA005B 10 m R88A-CAKA010B 15 m R88A-CAKA015B 20 m R88A-CAKA020B 30 m R88A-CAKA030B 40 m R88A-CAKA040B 50 m R88A-CAKA050B Encoder Cables (Global Flexible Cables)
  • Page 54 2-3 Model Tables Motor Power Cables (Global Flexible Cables) Model Specifications For motor without For motor with brake brake [100 V and 200 V] R88A-CAKA003SR (See note 1.) For 3,000-r/min Servomotors of 50 to R88A-CAKA005SR 750 W 10 m R88A-CAKA010SR 15 m R88A-CAKA015SR 20 m...
  • Page 55 2-3 Model Tables Brake Cables (Global Flexible Cables) Specifications Model [100 V and 200 V] R88A-CAKA003BR For 3,000-r/min Servomotors of 50 to 750 W R88A-CAKA005BR 10 m R88A-CAKA010BR 15 m R88A-CAKA015BR 20 m R88A-CAKA020BR 30 m R88A-CAKA030BR 40 m R88A-CAKA040BR 50 m R88A-CAKA050BR EtherCAT Communications Cable (Recommended)
  • Page 56 2-3 Model Tables Connectors Name and applications Model Motor Connector for Encoder Cable [100 V and 200 V] R88A-CNK02R For 3,000-r/min of 50 to 750 W [100 V and 200 V] R88A-CNK04R For 3,000-r/min of 1 to 5 kW For 2,000 r/min, 1,000 r/min [400 V] For 3,000 r/min, 2,000 r/min and 1,000 r/min...
  • Page 57 2-3 Model Tables Mounting Brackets (L-brackets for Rack Mounting) Applicable Servo Drives Model R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN01H-ECT-R/-KN02H-ECT-R R88A-TK01K R88D-KN02L-ECT-R/-KN04H-ECT-R R88A-TK02K R88D-KN04L-ECT-R/-KN08H-ECT-R R88A-TK03K R88D-KN10H-ECT-R/-KN15H-ECT-R/-KN06F-ECT-R/-KN10F-ECT-R/- R88A-TK04K KN15F-ECT-R 2-20 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 58: External And Mounting Dimensions

    2-4 External and Mounting Dimensions 2-4 External and Mounting Dimensions This section describes the external dimensions and the mounting dimensions of Servo Drives, Servomotors, and peripheral devices. Servo Drive Dimensions The dimensional description starts with a Servo Drive of the smallest motor capacity, which is followed by the next smallest, and so on.
  • Page 59 2-4 External and Mounting Dimensions Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Rectangular hole (42)* * Rectangular hole dimensions are reference values. 2-22 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 60 2-4 External and Mounting Dimensions Single-phase/3-phase 100 VAC: R88D-KN02L-ECT-R (200 W) Single-phase/3-phase 200 VAC: R88D-KN04H-ECT-R (400 W) Wall Mounting External dimensions Mounting dimensions φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Rectangular hole R2.6 (57)* * Rectangular hole dimensions are reference values.
  • Page 61 2-4 External and Mounting Dimensions Single-phase/3-phase 100 VAC: R88D-KN04L-ECT-R (400 W) Single-phase/3-phase 200 VAC: R88D-KN08H-ECT-R (750 W) Wall Mounting External dimensions Mounting dimensions φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Rectangular hole R2.6 (67)* * Rectangular hole dimensions are reference values.
  • Page 62 2-4 External and Mounting Dimensions Single-phase/3-phase 200 VAC: R88D-KN10H-ECT-R/-KN15H-ECT-R (900 W to 1.5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 φ5.2 Rectangular hole R2.6 R2.6 (88)* * Rectangular hole dimensions are reference values.
  • Page 63 2-4 External and Mounting Dimensions 3-phase 200 VAC: R88D-KN20H-ECT-R (2 kW) Wall Mounting External dimensions Mounting dimensions 17.5 φ5.2 42.5 φ5.2 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 42.5...
  • Page 64 2-4 External and Mounting Dimensions 3-phase 200 VAC: R88D-KN30H-ECT-R/-KN50H-ECT-R (3 to 5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 R2.6 R2.6 φ5.2 R2.6 R2.6 φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 40.7 φ5.2 R2.6 φ5.2 R2.6 Rectangular hole...
  • Page 65 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KN06F-ECT-R/-KN10F-ECT-R (600 W to 1.0 kW) 3-phase 400 VAC: R88D-KN15F-ECT-R (1.5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 14.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 φ5.2 Rectangular...
  • Page 66 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KN20F-ECT-R (2 kW) Wall Mounting External dimensions Mounting dimensions 17.5 φ5.2 42.5 φ5.2 R2.6 R2.6 26.5 φ5.2 17.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 17.5 φ5.2 42.5 30.7 φ5.2 Rectangular hole...
  • Page 67 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KN30F-ECT-R/-KN50F-ECT-R (3 to 5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 φ5.2 R2.6 R2.6 φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions φ5.2 φ5.2 40.7 Rectangular hole R2.6 R2.6 (132)* φ5.2...

  • Page 68: Servomotor Dimensions

    2-4 External and Mounting Dimensions Servomotor Dimensions In this description, the Servomotors are grouped by rated rotation speed. The description starts with a Servomotor of the smallest capacity, which is followed by the next smallest, and so on. 3,000-r/min Servomotors (100 V and 200 V) 50 W/100 W (without Brake) R88M-K05030H (-S2)/-K10030@ (-S2) R88M-K05030T (-S2)/-K10030@ (-S2)
  • Page 69 2-4 External and Mounting Dimensions 50 W/100 W (with Brake) R88M-K05030H-B (S2)/-K10030@-B (S2) R88M-K05030T-B (S2)/-K10030@-B (S2) Encoder connector Brake connector Motor connector 40×40 (Shaft end specifications with key and tap) 12.5 R3.7 M3 (depth 6) 1.5 min. R4.2 2-φ4.3 Dimensions (mm) Model R88M-K05030@-B@ R88M-K10030@-B@...
  • Page 70 2-4 External and Mounting Dimensions 200 W/400 W (without Brake) R88M-K20030@ (-S2)/-K40030@ (-S2) R88M-K20030@ (-S2)/-K40030@ (-S2) Encoder connector Motor connector 60×60 (Shaft end specifications with key and tap) 4-φ4.5 30 20 (200 W) 25 (400 W) 4h9 (200 W) 18 (200 W) 5h9 (400 W) 22.5 (400 W) M4, depth 8 (200 W)
  • Page 71 2-4 External and Mounting Dimensions 750 W (without Brake) R88M-K75030H (-S2) R88M-K75030T (-S2) Encoder connector Motor connector 112.2 86.2 80×80 (Shaft end specifications with key and tap) 4-φ6 M5 (depth 10) Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
  • Page 72 2-4 External and Mounting Dimensions 1 kW/1.5 kW/2 kW (without Brake) R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2) R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2) 1 kW/1.5 kW/2 kW (with Brake) R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (-S2) R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (-S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 100×100 connector...
  • Page 73 2-4 External and Mounting Dimensions 3 kW (without Brake) R88M-K3K030H (-S2) R88M-K3K030T (-S2) 3 kW (with Brake) R88M-K3K030H-B (S2) R88M-K3K030T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 120×120 connector 4−φ9 M3, through M5 (depth 12) Dimensions (mm) Model R88M-K3K030@...
  • Page 74 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K030H (-S2)/-K5K030H (-S2) R88M-K4K030T (-S2)/-K5K030T (-S2) 4 kW/5 kW (with Brake) R88M-K4K030H-B (S2)/-K5K030H-B (S2) R88M-K4K030T-B (S2)/-K5K030T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 130×130 connector 4−φ9 M3, through...
  • Page 75 2-4 External and Mounting Dimensions 3,000-r/min Servomotors (400 V) 750 W/1 kW/1.5 kW/2 kW (without Brake) R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2) R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2) 750 W/1 kW/1.5 kW/2 kW (with Brake) R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (-S2) R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (-S2) Motor and brake connector Encoder...
  • Page 76 2-4 External and Mounting Dimensions 3 kW (without Brake) R88M-K3K030F (-S2) R88M-K3K030C (-S2) 3 kW (with Brake) R88M-K3K030F-B (S2) R88M-K3K030C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 120×120 connector 4-φ9 M3, through M5 (depth 12) Dimensions (mm) Model R88M-K3K030@...
  • Page 77 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K030F (-S2)/-K5K030F (-S2) R88M-K4K030C (-S2)/-K5K030C (-S2) 4 kW/5 kW (with Brake) R88M-K4K030F-B (S2)/-K5K030F-B (S2) R88M-K4K030C-B (S2)/-K5K030C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 130×130 connector 4−φ9 M3, through...
  • Page 78 2-4 External and Mounting Dimensions 2,000-r/min Servomotors (200 V) 1 kW/1.5 kW/2 kW/3 kW (without Brake) R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2) R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2) 1 kW/1.5 kW/2 kW/3 kW (with Brake) R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2) R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2) Motor and brake connector (Shaft end specifications with key and tap)
  • Page 79 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K020H (-S2)/-K5K020H (-S2) R88M-K4K020T (-S2)/-K5K020T (-S2) 4 kW/5 kW (with Brake) R88M-K4K020H-B (S2)/-K5K020H-B (S2) R88M-K4K020T-B (S2)/-K5K020T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 176×176 connector 4−φ13.5 M3, through...
  • Page 80 2-4 External and Mounting Dimensions 2,000-r/min Servomotors (400 V) 400 W/600 W (without Brake) R88M-K40020F (-S2)/-K60020F (-S2) R88M-K40020C (-S2)/-K60020C (-S2) 400 W/600 W (with Brake) R88M-K40020F-B (S2)/-K60020F-B (S2) R88M-K40020C-B (S2)/-K60020C-B (S2) Motor and brake connector Encoder connector 100×100 (Shaft end specifications with key and tap) M3, through 4-φ9 M5 (depth 12)
  • Page 81 2-4 External and Mounting Dimensions 1 kW/1.5 kW/2 kW/3 kW (without Brake) R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2) R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2) 1 kW/1.5 kW/2 kW/3 kW (with Brake) R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2) R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder...
  • Page 82 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K020F (-S2)/-K5K020F (-S2) R88M-K4K020C (-S2)/-K5K020C (-S2) 4 kW/5 kW (with Brake) R88M-K4K020F-B (S2)/-K5K020F-B (S2) R88M-K4K020C-B (S2)/-K5K020C-B (S2) Motor and brake connector Encoder 176×176 (Shaft end specifications with key and tap) connector 4-φ13.5 M3, through...
  • Page 83 2-4 External and Mounting Dimensions 1,000-r/min Servomotors (200 V) 900 W (without Brake) R88M-K90010H (-S2) R88M-K90010T (-S2) 900 W (with Brake) R88M-K90010H-B (S2) R88M-K90010T-B (S2) Motor and brake connector Encoder 130×130 (Shaft end specifications with key and tap) connector 77.5 4-φ9 M3, through M5 (depth 12)
  • Page 84 2-4 External and Mounting Dimensions 2 kW/3 kW (without Brake) R88M-K2K010H (-S2)/-K3K010H (-S2) R88M-K2K010T (-S2)/-K3K010T (-S2) 2 kW/3 kW (with Brake) R88M-K2K010H-B (S2)/-K3K010H-B (S2) R88M/-K2K010T-B (S2)/-K3K010T-B (S2) Motor and brake connector Encoder 176×176 (Shaft end specifications with key and tap) connector 4−φ13.5 M3, through...
  • Page 85 2-4 External and Mounting Dimensions 1,000-r/min Servomotors (400 V) 900 W (without Brake) R88M-K90010F (-S2) R88M-K90010C (-S2) 900 W (with Brake) R88M-K90010F-B (S2) R88M-K90010C-B (S2) Motor and brake connector Encoder 130×130 (Shaft end specifications with key and tap) connector 4-φ9 M3, through M5 (depth 12) Dimensions (mm)
  • Page 86 2-4 External and Mounting Dimensions 2 kW/3 kW (without Brake) R88M-K2K010F (-S2)/-K3K010F (-S2) R88M-K2K010C (-S2)/-K3K010C (-S2) 2 kW/3 kW (with Brake) R88M-K2K010F-B (S2)/-K3K010F-B (S2) R88M-K2K010C-B (S2)/-K3K010C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 176×176 connector 4−φ13.5 M3, through...

  • Page 87: External Regeneration Resistor Dimensions

    2-4 External and Mounting Dimensions External Regeneration Resistor Dimensions External Regeneration Resistor R88A-RR08050S/-RR080100S Thermal switch output t1.2 R88A-RR22047S/-RR22047S1 Thermal switch output t1.2 R88A-RR50020S 2-50 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 88: Emc Filter Dimensions

    2-5 EMC Filter Dimensions 2-5 EMC Filter Dimensions Drive mounts Output flexes External dimensions Mount dimensions Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE 2-51 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 89 Specifications This chapter provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices. 3-1 Servo Drive Specifications ..........3-1 3-2 Overload Characteristics (Electronic Thermal Function)........3-31 3-3 Servomotor Specifications ........3-32 3-4 Cable and Connector Specifications ......3-57...

  • Page 90: Servo Drive Specifications

    3-1 Servo Drive Specifications 3-1 Servo Drive Specifications Select a Servo Drive that matches the Servomotor to be used. Refer to Servo Drive and Servomotor Combination Tables on page 2-10. General Specifications Item Specifications Ambient operating 0 to 55°C, 90% max. (with no condensation) temperature and operating humidity −20 to 65°C, 90% max.

  • Page 91: Characteristics

    3-1 Servo Drive Specifications Characteristics 100-VAC Input Models R88D- R88D- R88D- R88D- Item KNA5L-ECT-R KN01L-ECT-R KN02L-ECT-R KN04L-ECT-R Continuous output current (rms) 1.2 A 1.7 A 2.5 A 4.6 A Input power Main Power supply circuit supply 0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA capacity...
  • Page 92 3-1 Servo Drive Specifications 200-VAC Input Models R88D- R88D- R88D- R88D- R88D- R88D- Item KN01H- KN02H- KN04H- KN08H- KN10H- KN15H- ECT-R ECT-R ECT-R ECT-R ECT-R ECT-R Continuous output current (rms) 1.2 A 1.6 A 2.6 A 4.1 A 5.9 A 9.4 A Input power Main...
  • Page 93 3-1 Servo Drive Specifications R88D-KN20H- R88D-KN30H- R88D-KN50H- Item ECT-R ECT-R ECT-R Continuous output current (rms) 13.4 A 18.7 A 33.0 A Input power Main Power supply circuit supply 3.3 KVA 4.5 KVA 7.5 KVA capacity Power supply 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz voltage Rated 11.8 A...
  • Page 94 3-1 Servo Drive Specifications 400-VAC Input Models R88D- R88D- R88D- R88D- R88D- R88D- Item KN06F- KN10F- KN15F- KN20F- KN30F- KN50F- ECT-R ECT-R ECT-R ECT-R ECT-R ECT-R Continuous output current 1.5 A 2.9 A 4.7 A 6.7 A 9.4 A 16.5 A (rms) Input Main...

  • Page 95: Ethercat Communications Specifications

    3-1 Servo Drive Specifications 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 Category 5 or higher (cable with double, aluminum tape and braided shielding) is recommended.

  • Page 96: Main Circuit And Motor Connections

    3-1 Servo Drive Specifications Main Circuit and Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R/ -KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/ -KN10H-ECT-R/-KN15H-ECT-R Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power R88D-KN@L-ECT-R supply input 50 to 400 W: Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz 200 to 400 W: 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz R88D-KN@H-ECT-R...
  • Page 97 3-1 Servo Drive Specifications R88D-KN20H-ECT-R Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power R88D-KN@H-ECT-R (2 kW) : supply input 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz Control circuit power R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253 supply input V) 50/60 Hz Motor Connector Specifications (CNB)
  • Page 98 3-1 Servo Drive Specifications R88D-KN30H-ECT-R/R88D-KN50H-ECT-R Main Circuit Terminal Block Specifications Symbol Name Function Main circuit power R88D-KN@H-ECT-R (3 to 5 kW): supply input 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz Control circuit power R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253 supply input V) 50/60 Hz External Regeneration...
  • Page 99 3-1 Servo Drive Specifications R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KN@F-ECT-R input 600 W to 1.5 kW: 3-phase: 380 to 480 VAC (323 to 528 V) 50/60 Hz Motor Connector Specifications (CNB) Symbol Name Function Motor connection...
  • Page 100 3-1 Servo Drive Specifications R88D-KN30F-ECT-R/R88D-KN50F-ECT-R Main Circuit Terminal Block Specifications (TB1) Symbol Name Function 24 V Control circuit power 24 VDC ± 15% supply input Main Circuit Terminal Block Specifications (TB2) Symbol Name Function Main circuit power supply R88D-KN@F-ECT-R (3 to 5 kW): input 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz External Regeneration...

  • Page 101: Ethercat Communications Connector Specifications (Rj45)

    3-1 Servo Drive Specifications EtherCAT Communications Connector Specifications (RJ45) The EtherCAT twisted-pair cable is connected to a shielded connector. Electrical characteristics: Confirm to IEEE 802.3. Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877) Pin No. Signal name Abbreviation Direction Send data + Output...

  • Page 102: Control I/O Connector Specifications (Cn1)

    3-1 Servo Drive Specifications Control I/O Connector Specifications (CN1) Control I/O Signal Connections and External Signal Processing 12 to 24 VDC +24 VIN 4.7 kΩ /ALM 10 Ω Error output Maximum ALMCOM General-purpose service 1 kΩ input 1 voltage: 10 Ω OUTM1 30 VDC 4.7 kΩ...
  • Page 103 3-1 Servo Drive Specifications Control I/O Signal Tables CN1 Control Inputs Signal Symbol Control mode number Name Default Power supply input 12 to 24 VDC. The positive input terminal of the external +24 VIN power supply (12 to 24 VDC) for sequence inputs General- Immediate...
  • Page 104 To use an absolute encoder, connect a battery to pin 14 and 15, which is the backup battery input, or connect the battery to the holder of the absolute encoder cable. (Never connect to both.) Connectors for CN1 (Pin 26) OMRON model Name Model...

  • Page 105: Control Input Circuits

    3-1 Servo Drive Specifications Control Input Circuits External power supply kΩ +24VIN 12 VDC ± 5% to 24 VDC ± 5% kΩ Photocoupler input Power supply capacity 50 mA or more (per unit) kΩ Signal level kΩ Photocoupler input ON level: 10 V or more OFF level: 3 V or less To another input circuit GND common To other input circuit...

  • Page 106: Control Input Details

    3-1 Servo Drive Specifications Control Input Details This is the detailed information about the CN1 connector input pins. General-purpose Inputs (IN1 to IN8) Pin 5: General-purpose Input 1 (IN1) [Immediate Stop Input (STOP)] Pin 7: General-purpose Input 2 (IN2) [Forward Drive Prohibition Input (POT)] Pin 8: General-purpose Input 3 (IN3) [Reverse Drive Prohibition Input (NOT)]...
  • Page 107 3-1 Servo Drive Specifications Forward Drive Prohibition Input (POT) and Reverse Drive Prohibition Input (NOT) These two signals are the inputs to prohibit forward and reverse rotation (over-travel inputs). When these terminals are shorted (factory setting), the Servo Drive can rotate in the specified direction.

  • Page 108: Control Output Circuits

    3-1 Servo Drive 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 be monitored from the host controller. With the default settings, MON0 is allocated to pin 13. Forward External Torque Limit Input (PCL) and Reverse External Torque Limit Input (NCL) Turn ON these inputs to limit the torque to the value set in the Forward External Torque Limit (3525...

  • Page 109: Control Output Details

    3-1 Servo Drive Specifications 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 torque commands in the correct timing, as shown in the chart.
  • Page 110 3-1 Servo Drive 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 111 3-1 Servo Drive Specifications Zero Speed Detection Output (ZSP) It turns ON when the motor rotation speed goes below the value set by the Zero Speed Detection (3434 hex). The output is effective both in forward and reverse directions regardless of the actual direction that the motor rotates.

  • Page 112: Encoder Connector Specifications (Cn2)

    +EXZ −EXZ Shell Frame ground Frame ground Connectors for CN4 (10 Pins) Name Model Manufacturer OMRON model number MUF Connector MUF-PK10K-X JST Mfg. Co., Ltd. R88A-CNK41L 3-23 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 113 3-1 Servo Drive Specifications Connection of External Encoder Input Signals and Processing of External Signals External encoder power supply output 52 V ± 5% 250 mA max + EXS − EXS Serial number + EXA 2 kΩ 20 kΩ PULS 120 Ω...
  • Page 114 3-1 Servo Drive Specifications Example of Connection with External Encoder 90° Phase Difference Input (3323 Hex = 0) Servo Drive side (CN4) External encoder side 52 V ± 5% 250 mA max +5 V Power supply area 2 kΩ 20 kΩ +EXA PULS 120 Ω...
  • Page 115 3-1 Servo Drive Specifications Serial Communications, Absolute Encoder Specifications (3323 Hex = 2) Absolute encoder by Mitutoyo Corporation Servo Drive side (CN4) ABS ST771A/ST773A 3 • 4 • 11 +5 V E0V 2 1 • 2 • 13 REQ/ +EXS -REQ/ Serial signal Shell...

  • Page 116: Analog Monitor Connector Specifications (Cn5)

    3-1 Servo Drive Specifications 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 rotation speed 1 V/(500 r/min) You can use objects 3416 hex and 3417 hex to change the item and unit.

  • Page 117: Usb Connector Specifications (Cn7)

    3-1 Servo Drive Specifications 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 118: Safety Connector Specifications (Cn8)

    A monitor signal is output to detect a safety function failure. EDM+ Shell Frame ground Connected to the ground terminal inside the Servo Drive. Connector for CN8 (8 pins) OMRON model Name Model Manufacturer number Industrial Mini I/O Connector 2013595-1...
  • Page 119 3-1 Servo Drive 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 120: Overload Characteristics (Electronic Thermal Function)

    3-2 Overload Characteristics (Electronic Thermal Function) 3-2 Overload Characteristics (Electronic Thermal Function) An overload protection function (electronic thermal) is built into the Servo Drive to protect the drive and motor from overloading. If an overload does occur, first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again.

  • Page 121: Servomotor Specifications

    3-3 Servomotor Specifications 3-3 Servomotor Specifications The following OMNUC G5-Series AC Servomotors are available. 3,000-r/min Servomotors 2,000-r/min Servomotors 1,000-r/min Servomotors There are various options available, such as models with brakes, or different shaft types. Select a Servomotor based on the mechanical system's load conditions and the installation environment.

  • Page 122: Characteristics

    3-3 Servomotor Specifications Characteristics 3,000-r/min Servomotors 100 VAC Model (R88M-) K05030H K10030L K20030L K40030L Item Unit K05030T K10030S K20030S K40030S Rated output * Rated torque * N • m 0.16 0.32 0.64 Rated rotation speed r/min 3,000 Maximum rotation speed r/min 6,000 Momentary maximum...
  • Page 123 3-3 Servomotor Specifications 200 VAC Model (R88M-) K05030H K10030H K20030H K40030H Item Unit K05030T K10030T K20030T K40030T Rated output * Rated torque * N • m 0.16 0.32 0.64 Rated rotation speed r/min 3,000 Maximum rotation speed r/min 6,000 Momentary maximum N •...
  • Page 124 3-3 Servomotor Specifications 200 VAC Model (R88M-) K75030H K1K030H K1K530H Item Unit K75030T K1K030T K1K530T Rated output * 1000 1500 Rated torque * N • m 3.18 4.77 Rated rotation speed r/min 3,000 Maximum rotation speed r/min 6,000 5,000 Momentary maximum N •...
  • Page 125 3-3 Servomotor Specifications 200 VAC Model (R88M-) K2K030H K3K030H K4K030H K5K030H Item Unit K2K030T K3K030T K4K030T K5K030T Rated output * 2000 3000 4000 5000 Rated torque * N • m 6.37 9.55 12.7 15.9 Rated rotation speed r/min 3,000 Maximum rotation speed r/min 5,000 4,500...
  • Page 126 3-3 Servomotor Specifications 400 VAC Model (R88M-) K75030F K1K030F K1K530F K2K030F Item Unit K75030C K1K030C K1K530C K2K030C Rated output * 1000 1500 2000 Rated torque * N • m 2.39 3.18 4.77 6.37 Rated rotation speed r/min 3,000 Maximum rotation speed r/min 5,000 Momentary maximum...
  • Page 127 3-3 Servomotor Specifications 400 VAC Model (R88M-) K75030F K1K030F K1K530F K2K030F Item Unit K75030C K1K030C K1K530C K2K030C Brake inertia kg • m 0.33×10 0.33×10 0.33×10 0.33×10 Excitation voltage * 24 VDC ± 10% Power consumption (at 20°C) Current consumption 0.70±10% 0.81±10% 0.81±10% 0.81±10%...
  • Page 128 3-3 Servomotor Specifications 400 VAC Model (R88M-) K3K030F K4K030F K5K030F Item Unit K3K030C K4K030C K5K030C Allowable thrust load * Weig Without brake Approx. 8.3 Approx. 11.0 Approx. 14.0 With brake Approx. 9.4 Approx. 12.6 Approx. 16.0 380 × 350 × t30 (AI) Radiator plate dimensions (material) Applicable Servo Drives (R88D-) KN30F-ECT-R...
  • Page 129 3-3 Servomotor Specifications *1. These are the values when the motor is combined with a drive at normal temperature (20°C, 65%). The momentary maximum torque indicates the standard value. *2. Applicable load inertia. The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia.
  • Page 130 3-3 Servomotor Specifications 3,000-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. • R88M-K05030H/T (50 W) • R88M-K10030H/T (100 W) • R88M-K20030H/T (200 W) Power supply voltage Power supply voltage Power supply voltage (N •...
  • Page 131 3-3 Servomotor Specifications 3,000-r/min Servomotors (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input. • R88M-K75030F/C (750 W) • R88M-K1K030F/C (1 kW) • R88M-K1K530F/C (1.5 kW) Power supply voltage Power supply voltage Power supply voltage (N •...
  • Page 132 3-3 Servomotor Specifications Precautions for Correct Use Use the following Servomotors in the ranges shown in the graphs below. Usage outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction. • R88M-K05030L/S/H/T • R88M-K10030L/S/H/T •...
  • Page 133 3-3 Servomotor Specifications 2,000-r/min Servomotors 200 VAC Model (R88M-) K1K020H K1K520H K2K020H K1K020T K1K520T K2K020T Item Unit Rated output * 1,000 1,500 2,000 Rated torque * N • m 4.77 7.16 9.55 Rated rotation speed r/min 2,000 Maximum rotation speed r/min 3,000 Momentary maximum...
  • Page 134 3-3 Servomotor Specifications 200 VAC Model (R88M-) K1K020H K1K520H K2K020H K1K020T K1K520T K2K020T Item Unit Allowable total work 7.8×10 1.5×10 1.5×10 Allowable angular rad/s 10,000 acceleration Brake limit 10 million times min. Rating Continuous Insulation class Type F 200 VAC Model (R88M-) K3K020H K4K020H...
  • Page 135 3-3 Servomotor Specifications 200 VAC Model (R88M-) K3K020H K4K020H K5K020H K3K020T K4K020T K5K020T Item Unit Brake inertia kg • m 1.35×10 4.7×10 4.7×10 24 VDC ± 10% Excitation voltage * Power consumption (at 20°C) Current consumption 0.90±10% 1.3±10% 1.3±10% (at 20°C) Static friction torque N •...
  • Page 136 3-3 Servomotor Specifications 400 VAC Model (R88M-) K40020F K60020F K1K020F K1K520F Item Unit K40020C K60020C K1K020C K1K520C Rated output * 1,000 1,500 Rated torque * N • m 1.91 2.86 4.77 7.16 Rated rotation speed r/min 2,000 Maximum rotation speed r/min 3,000 Momentary maximum...
  • Page 137 3-3 Servomotor Specifications 400 VAC Model (R88M-) K2K020F K3K020F K4K020F K5K020F Item Unit K2K020C K3K020C K4K020C K5K020C Rated output * 2,000 3,000 4,000 5,000 Rated torque * N • m 9.55 14.3 19.1 23.9 Rated rotation speed r/min 2,000 Maximum rotation speed r/min 3,000 Momentary maximum...
  • Page 138 3-3 Servomotor Specifications 400 VAC Model (R88M-) K2K020F K3K020F K4K020F K5K020F Item Unit K2K020C K3K020C K4K020C K5K020C Brake inertia kg • m 1.35×10 1.35×10 4.7×10 4.7×10 24 VDC ± 10% Excitation voltage * Power consumption (at 20°C) Current consumption 0.79±10% 0.90±10% 1.3±10% 1.3±10%...
  • Page 139 3-3 Servomotor Specifications Torque-Rotation Speed Characteristics for 2,000-r/min Motors 2,000-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. • R88M-K1K020H/T (1 kW) • R88M-K1K520H/T (1.5 kW) • R88M-K2K020H/T (2 kW) Power supply voltage Power supply voltage (N •...
  • Page 140 3-3 Servomotor Specifications 2,000-r/min Servomotors (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input. • R88M-K40020F/C (400 W) • R88M-K60020F/C (600 W) • R88M-K1K020F/C (1 kW) Power supply voltage (N • m) Power supply voltage (N •...
  • Page 141 3-3 Servomotor Specifications 1,000-r/min Servomotors 200 VAC Model (R88M-) K90010H K2K010H K3K010H Item Unit K90010T K2K010T K3K010T Rated output * 2,000 3,000 Rated torque * N • m 8.59 19.1 28.7 Rated rotation speed r/min 1,000 Maximum rotation speed r/min 2,000 Momentary maximum N •...
  • Page 142 3-3 Servomotor Specifications 200 VAC Model (R88M-) K90010H K2K010H K3K010H Item Unit K90010T K2K010T K3K010T Allowable work per 1176 1372 1372 braking Allowable total work 1.5×10 2.9×10 2.9×10 Allowable angular rad/s 10,000 acceleration Brake limit 10 million times min. Rating Continuous Insulation class Type F...
  • Page 143 3-3 Servomotor Specifications 400 VAC Model (R88M-) K90010F K2K010F K3K010F Item Unit K90010C K2K010C K3K010C Brake inertia kg • m 1.35×10 4.7×10 4.7×10 Excitation voltage * 24 VDC ± 10% Power consumption (at 20°C) Current consumption 0.79±10% 1.3±10% 1.4±10% (at 20°C) Static friction torque N •...
  • Page 144 3-3 Servomotor Specifications Torque-Rotation Speed Characteristics for 1,000-r/min Servomotors 1,000-r/min Servomotors (200/400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. • R88M-K90010H/T/F/C • R88M-K2K010H/T/F/C • R88M-K3K010H/T/F/C (900 W) (2 kW) (3 kW) Power supply voltage (N •...

  • Page 145: Encoder Specifications

    3-3 Servomotor Specifications Encoder Specifications Incremental Encoder Specifications Item Specifications Encoder system Optical encoder 20 bits Number of output Phases A and B: 262,144 pulses/rotation pulses Phase Z: 1 pulse/rotation Power supply voltage 5 VDC ± 5% Power supply current 180 mA (max.) +S, −S Output signal...

  • Page 146: Cable And Connector Specifications

    3-4 Cable and Connector Specifications 3-4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between the Servo Drive and the Servomotor. Select the cable matching the Servomotor. The cables listed are flexible, shielded and have IP67 protection.
  • Page 147 3-4 Cable and Connector Specifications R88A-CRKC@NR Cable types (For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min Servomotors of 1 kW or more, [400 V] 3,000-r/min Servomotors, 2,000-r/min Servomotors and 1,000-r/min Servomotors) Outer diameter of Model Length (L) sheath...

  • Page 148: Absolute Encoder Battery Cable Specifications

    3-4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications Use the following Cable when using an absolute encoder. Cable Model Model Length (L) Weight R88A-CRGD0R3C 0.3 m Approx. 0.1 kg Connection Configuration and External Dimensions 43.5 43.5 90±5 Servo Drive side Servomotor side R88M-K@ R88D-K@...

  • Page 149: Motor Power Cable Specifications

    3-4 Cable and Connector Specifications Motor Power Cable Specifications These cables connect the Servo Drive and the Servomotor. Select the cable matching the Servomotor. The cables listed are flexible, shielded and have IP67 protection. Power Cables without Brakes (European Flexible Cables) R88A-CAKA@SR-E Cable types [100 V and 200 V] (For 3,000-r/min Servomotors of 50 to 750 W)
  • Page 150 3-4 Cable and Connector Specifications R88A-CAGB@SR-E Cable types 200 V: (For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min Servomotors of 900 W) 400 V: (For 3,000-r/min Servomotors of 750W to 2 kW, 2,000-r/min Servomotors of 400 W to 2 kW, 1,000-r/min Servomotors of 900 W) Outer diameter of Model...
  • Page 151 3-4 Cable and Connector Specifications R88A-CAGD@SR-E Cable types (For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 3 kW) Outer diameter of Model Length (L) sheath R88A-CAGD001-5SR-E 1.5 m R88A-CAGD003SR-E R88A-CAGD005SR-E 13.2 dia.
  • Page 152 3-4 Cable and Connector Specifications Power Cables with Brakes (European Flexible Cables) R88A-CAGB@BR-E Cable types 200 V: (For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min Servomotors of 900 W) Outer diameter of Model Length (L) sheath...
  • Page 153 3-4 Cable and Connector Specifications R88A-CAKF@BR-E Cable types 400 V: (For 3,000-r/min Servomotors of 750W to 2 kW, 2,000-r/min Servomotors of 400 W to 2 kW, 1,000-r/min Servomotors of 900 W) Outer diameter of Model Length (L) sheath R88A-CAKF001-5BR-E 1.5 m R88A-CAKF003BR-E R88A-CAKF005BR-E 12.5 dia.
  • Page 154 3-4 Cable and Connector Specifications R88A-CAGD@BR-E Cable types (For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 3 kW) Outer diameter of Model Length (L) sheath R88A-CAGD001-5BR-E 1.5 m R88A-CAGD003BR-E R88A-CAGD005BR-E 13.5 dia.
  • Page 155 3-4 Cable and Connector Specifications Brake Cables (European Flexible Cables) R88A-CAKA@BR-E Cable types 100 and 200 V: (For 3,000-r/min Servomotors of 50 to 750 W) Outer diameter of Model Length (L) sheath R88A-CAKA001-5BR-E 1.5 m R88A-CAKA003BR-E R88A-CAKA005BR-E 6.0 dia. R88A-CAKA010BR-E 10 m R88A-CAKA015BR-E 15 m...

  • Page 156: Connector Specifications

    3-4 Cable and Connector Specifications Connector Specifications 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. Dimensions Connector plug model 10126-3000PE (Sumitomo 3M) Connector case model 10326-52A0-008 (Sumitomo 3M) t = 18...
  • Page 157 3-4 Cable and Connector Specifications R88A-CNK02R (Servomotor side) Applicable motors 100-V, 3,000-r/min Servomotors of 50 to 400 W Use the following cable. 200-V, 3,000-r/min Servomotors of 50 to 750 W Applicable wire: AWG22 max. Insulating cover outer diameter: 1.3 mm dia. max. Outer diameter of sheath: 5 ±...
  • Page 158 3-4 Cable and Connector Specifications Power Cable Connector (R88A-CNK11A) This connector is used for power cables. Use it when preparing a power cable by yourself. Applicable motors 100-V, 3,000-r/min Servomotors of 50 to 400 W 200-V, 3,000-r/min Servomotors of 50 to 750 W Angle plug direction can be reversed.

  • Page 159: Ethercat Communications Cable Specifications

    3-4 Cable and Connector Specifications EtherCAT Communications Cable Specifications For the EtherCAT communications cable, use a cable with double, aluminum tape and braided shielding of category 5 or higher. Precautions for Correct Use The maximum length between nodes is 100 m. However, some cables are specified for less than 100 m.
  • Page 160 3-4 Cable and Connector Specifications Attaching the Connectors to the Cable Use straight wiring for the communications cable, as shown below. Pin No. Wire color Wire color Pin No. White-Green White-Green Green Green White-Orange White-Orange Blue Blue White-Blue White-Blue Orange Orange White-Brown White-Brown...
  • Page 161 3-4 Cable and Connector Specifications Wiring This example shows how to connect a CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 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.

  • Page 162: Analog Monitor Cable Specifications

    3-4 Cable and Connector Specifications Analog Monitor Cable Specifications Analog Monitor Cable (R88A-CMK001S) Connection Configuration and External Dimensions Symbol White Black Cable: AWG24 × 3C UL1007 Connector housing: 51004-0600 (Molex Japan) Connector terminal: 50011-8000 (Molex Japan) 3-73 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 163 3-4 Cable and Connector Specifications External Encoder Connector (R88A-CNK41L) Use this connector to connect to an external encoder in fully-closed control. (42.5) 13.6 (10.5) 10.4 Connector plug model MUF-PK10K-X (J.S.T. Mfg. Co., Ltd.) Pin Arrangement View from Inserted Portion View from Soldered Housing Surface 10 9 8 7 6 5 4 3 2 1 Safety I/O Signal Connector (R88A-CNK81S) Use this connector to connect to a safety device.

  • Page 164: Control Cable Specifications

    Connector case: EXT3 EXT3 10326-52A0-008 (Sumitomo 3M) EXT2 EXT2 EXT1 EXT1 Terminal Block Connector BATGND BATGND Connector socket: XG4M-2030 (OMRON) BKIRCOM BKIRCOM Strain relief: BKIR BKIR XG4T-2004 (OMRON) ALMCOM ALMCOM Cable Shell AWG28 × 3P + AWG28 × 7C UL2464 * Before you use the Servo Drive, confirm that the signals of Servo Drive connector are set as shown above.
  • Page 165 3-4 Cable and Connector 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...
  • Page 166 3-4 Cable and Connector Specifications XW2B-20G5 Dimensions Flat cable connector (MIL type plug) 112.5 φ Terminal block Note: The pitch of terminals is 8.5 mm. Precautions for Correct Use When using crimp terminals, use crimp terminals with the following dimensions. Fork terminal Round terminal φ3.7 mm...
  • Page 167 3-4 Cable and Connector Specifications XW2D-20G6 Dimensions (39.1) 17.6 2- φ 4.5 Precautions for Correct Use When using crimp terminals, use crimp terminals with the following dimensions. Round terminal Fork terminal φ3.2mm mm max. mm max. 3.2 mm Applicable crimp terminals Applicable wires Round terminals 1.25 to 3...
  • Page 168 3-4 Cable and Connector Specifications Terminal Block Wiring Example The example is for the XW2B-20G4, XW2B-20G5, and XW2D-20G6. +24 V +24 V +24 V STOP EXT3 EXT1 BKIR EXT2 BATGND BKIRCOM ALMCOM 24 VDC 24 VDC *1. Assign the brake interlock output (BKIR) to pin CN1-1. *2.

  • Page 169: External Regeneration Resistor Specifications

    3-5 External Regeneration Resistor Specifications 3-5 External Regeneration Resistor Specifications External Regeneration Resistor Specifications R88A-RR08050S Regeneration Resis- Nominal absorption for Heat radiation Thermal switch Model tance val- capacity 120°C tempera- condition output specifications ture rise Operating temperature: 150°C ± 5% NC contact Aluminum R88A-...

  • Page 170: External Regeneration Resistor Specifications

    3-5 External Regeneration Resistor Specifications R88A-RR22047S1 Regeneration Resis- Nomi- absorption for Heat radiation Thermal switch Model tance val- nal ca- 120°C tempera- condition output specifications pacity ture rise Operating temperature: 150°C ± 5% NC contact Aluminum R88A- Rated output (resistive 47 Ω...

  • Page 171: Emc Filter Specifications

    3-6 EMC Filter Specifications 3-6 EMC Filter Specifications Specifications Applicable servo Leakage cur- Filter model Rated current Rated voltage drive rent R88D-KN01H-ECT-R R88A-FIK102-RE 2.4 A R88D-KN02H-ECT-R R88D-KN04H-ECT-R R88A-FIK104-RE 4.1 A 250 VAC single- phase R88D-KN08H-ECT-R R88A-FIK107-RE 6.6 A R88D-KN10H-ECT-R R88A-FIK114-RE 14.2 A R88D-KN15H-ECT-R 3.5 mA...
  • Page 173 System Design This chapter explains the installation conditions, wiring methods (including wiring conforming to EMC Directives), and regenerative energy calculation methods for the Servo Drive and Servomotor. It also explains the performance of External Regeneration Resistors. 4-1 Installation Conditions ..........4-1 4-2 Wiring................4-6 4-3 Wiring Conforming to EMC Directives......4-20 4-4 Regenerative Energy Absorption......4-41...

  • Page 174: Installation Conditions

    4-1 Installation Conditions 4-1 Installation Conditions Servo Drive Installation Conditions 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 175: Servomotor Installation Conditions

    4-1 Installation Conditions Ambient Temperature Control Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of reliability. When the drive is installed in a closed space, such as a box, the ambient temperature may rise due to temperature rise in each unit.
  • Page 176 4-1 Installation Conditions Connecting to Mechanical Systems For the allowable axial loads for motors, refer to Characteristics on page 3-2. If an axial load greater than that specified is Ball screw center line applied to a motor, it may reduce the limit of the motor bearings and may break the motor shaft.
  • Page 177 4-1 Installation Conditions Oil-water Measures Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through-shaft part. The operating conditions of the Servomotor with an oil seal are as follows: Keep the oil level below the lip of the oil seal.

  • Page 178: Decelerator Installation Conditions

    4-1 Installation Conditions Decelerator Installation Conditions Using Another Company's Decelerator (Reference) If the system configuration requires another company's decelerator to be used in combination with an OMNUC G5-series Servomotor, select the decelerator so that the loads on the motor shaft (i.e., both the radial and thrust loads) are within the allowable ranges. (Refer to Characteristics on page 3-2 for details on the allowable loads for the motors.) Also, select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded.

  • Page 179: Wiring

    24 VDC EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For ALMCOM example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated inductive 24 VDC load is 2 A (24 VDC).
  • Page 180 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V) For example, MY2 relay 24 VDC by OMRON can be used with all ALMCOM G5-series motors with brakes because its rated inductive load is 2 A (24 VDC). 24 VDC BKIR *3.
  • Page 181 Wiring Conforming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 relay /ALM by OMRON can be used with all 24 VDC G5-series motors with brakes because its ALMCOM rated induction load is 2 A (24 VDC).
  • Page 182 (*4) Regeneration Resistor *1. Recommended products are listed in 4-3, Wiring Conforming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 relay by OMRON /ALM can be used with all G5-series motors with 24 VDC...
  • Page 183 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 relay /ALM 24 VDC by OMRON can be used with all ALMCOM G5-series motors with brakes because its rated inductive load is 2 A (24 VDC). 24 VDC *3.
  • Page 184 (*4) Regeneration Resistor *1. Recommended products are listed in 4-3, Wiring Conforming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 relay by OMRON /ALM can be used with all G5-Series motors with 24 VDC...

  • Page 185: Main Circuit And Motor Connections

    4-2 Wiring Main Circuit and Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R/ R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/ R88-KN10H-ECT-R/-KN15H-ECT-R Main Circuit Connector Specifications (CNA) Sym- Name Function R88D-KN@L-ECT-R 50 to 400 W : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz 200 to 400 W: 3-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz Main circuit power supply R88D-KN@H-ECT-R...
  • Page 186 4-2 Wiring R88D-KN20H-ECT-R Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KN@H-ECT-R (2 kW) : input 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz Control circuit power R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253 supply input V) 50/60 Hz Motor Connector Specifications (CNB)
  • Page 187 4-2 Wiring R88D-KN30H-ECT-R/-KN50H-ECT-R Terminal Block Specifications Symbol Name Function Main circuit power supply R88D-KN@H-ECT-R (3 to 5 kW): 3-phase 200 to 230 VAC (170 input to 253 V) 50/60 Hz Control circuit power R88D-KN@H-ECT-R: Single-phase 200 to 230 VAC (170 to 253 supply input V) 50/60 Hz External Regeneration...
  • Page 188 4-2 Wiring Control Circuit Connector Specifications (CNC) Sym- Name Function 24 V Control circuit power 24 VDC (21.6 to 26.4 V) supply input External Regeneration Resistor Connector Specifications (CND) Sym- Name Function External Regeneration Normally B2 and B3 are shorted. Do not short B1 and B2. Doing Resistor connection so may result in malfunctioning.
  • Page 189 Frame ground (FG) Wire size AWG 14 − Screw size Tightening torque N•m *1. Connect OMRON Power Cables to the motor connection terminals. *2. Use the same wire size for B1 and B2. 200 VAC Input Drive Wire Sizes: R88D-KN@@H-ECT-R Model (R88D-) KN01H- KN02H-...
  • Page 190 *1. The first value is for single-phase input power and the second value is for 3-phase input power. *2. Connect an OMRON power cable to the motor connection terminals. *3. Use the same wire size for B1 and B2.
  • Page 191 *1. Use the same wire sizes for B1 and B2. *2. Connect an OMRON power cable to the motor connection terminals. Wire Sizes and Allowable Current (Reference) The following table shows the allowable current when there are 3 power supply wires. Use a current below these specified values.
  • Page 192 4-2 Wiring 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 (Example of R88D-KN02H-ECT-R) 1. 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 193: Wiring Conforming To Emc Directives

    4-3 Wiring Conforming to EMC Directives 4-3 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 OMNUC G5-series products to the EMC directives.
  • Page 194 Okaya Electric 3SUP-HQ10-ER-6 3-phase 200 VAC (10 A) Noise filter Industries Co., Ltd. 3SUP-HU30-ER-6 3-phase 200 VAC (30 A) 3SUP-HL50-ER-6B 3-phase 200 VAC (50 A) − Servo Drive OMRON − Servomotor OMRON − Clamp core ZCAT3035-1330 − Clamp core Schaffner RJ8035...
  • Page 195 4-3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend using a noise filter for the Servo Drive. Servo Drive Noise filter for power supply input Rated Leakage current Manufac- Phase Model Model current (60 Hz) max. turer R88D-KNA5L-ECT-R SUP-EK5-ER-6...
  • Page 196 4-3 Wiring Conforming to EMC Directives Separate the input and output. The effect of the noise filter is small. AC input AC output AC input Ground Ground AC output Use twisted-pair cables for the power supply cables, or bind the cables. Twisted-pair cables Bound cables Servo Drive...
  • Page 197 4-3 Wiring Conforming to EMC Directives 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 Cover Noise filter 3SUP-HU50-ER-6 Ground terminal Attachment screw for cover Cover Noise filter 4-24 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 198 4-3 Wiring Conforming to EMC Directives Circuit Diagrams SUP-EK5-ER-6 3SUP-HU10-ER-6/3SUP-HU30-ER-6 3SUP-HU-ER-6 3SUP-HL50-ER-6B LINE LOAD 4-25 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 199 4-3 Wiring Conforming to EMC Directives 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. Case Structure Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces are electrically conductive.

  • Page 200: Selecting Connection Component

    4-3 Wiring Conforming to EMC Directives 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.
  • Page 201 4-3 Wiring Conforming to EMC Directives Inrush current (Ao-p) Servo Drive model Main circuit power Control circuit pow- supply er supply R88D-KN06F-ECT-R R88D-KN10F-ECT-R R88D-KN15F-ECT-R R88D-KN20F-ECT-R R88D-KN30F-ECT-R R88D-KN50F-ECT-R Leakage Breaker Select leakage breakers designed for protection against ground faults. Because switching takes place inside the Servo Drives, high-frequency current leaks from the SW elements of the Servo Drive, the armature of the motor, and the cables.
  • Page 202 4-3 Wiring Conforming to EMC Directives 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) 4-29 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 203 4-3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend using a noise filter for the Servo Drive. Noise filter for power supply input Drive model Rated Leakage current Manufac- Model Phase current (60 Hz) max turer R88D-KNA5L-ECT-R Single-...
  • Page 204 4-3 Wiring Conforming to EMC Directives 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 ±3.0 ±1.0 2- φ 5.5 2-φ5.5×7 Ground terminal Attachment screw for cover M3 Cover Noise filter unit...
  • Page 205 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 3G3AX-ZCL1 OMRON For Drive output and power cable 3G3AX-ZCL2 OMRON For Drive output and power cable ESD-R-47B...
  • Page 206 4-3 Wiring Conforming to EMC Directives External Dimensions 3G3AX-ZCL1 3G3AX-ZCL2 3-M4 180±2 2-M5 160±2 ESD-R-47B ZCAT3035-1330 17.5 φ 5.1 4-33 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 207 4-3 Wiring Conforming to EMC Directives 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) 4-34 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 208 4-3 Wiring Conforming to EMC Directives 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 Diodes Diodes are used for relatively small loads Use a fast-recovery diode with a short...
  • Page 209 4-3 Wiring Conforming to EMC Directives Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder's noise resistance. Always use the specified encoder cables. Do not roll cables. If cables are long and are rolled, mutual induction and inductance will increase and cause malfunctions.
  • Page 210 4-3 Wiring Conforming to EMC Directives 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 211 4-3 Wiring Conforming to EMC Directives Selecting Other Parts for Noise Resistance 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.
  • Page 212 Manufacturer Model Comment current 3G3AX-NF001 3G3AX-NF002 12 A 3G3AX-NF003 25 A OMRON For inverter output 3G3AX-NF004 50 A 3G3AX-NF005 75 A 3G3AX-NF006 100 A Note 1. Motor output lines cannot use the same noise filters for power supplies. Note 2. General noise filters are made for power supply frequencies of 50/60 Hz. If these noise filters are connected to output of the Servo Drive, a very large (about 100 times larger) leakage current may flow through the noise filter's capacitor.
  • Page 213 4-3 Wiring Conforming to EMC Directives 3G3AX-NF003/-NF004/-NF005/-NF006 4- φ 6.5 Dimensions (mm) Model − − 3G3AX-NF003 3G3AX-NF004 3G3AX-NF005 3G3AX-NF006 4-40 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 214: Regenerative Energy Absorption

    4-4 Regenerative Energy Absorption 4-4 Regenerative Energy Absorption The Servo Drives have internal regeneration process circuitry, which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the motor is too large.
  • Page 215 4-4 Regenerative Energy Absorption Vertical Axis Downward movement Motor operation Upward movement −N Motor output torque In the output torque graph, acceleration in the forward direction (rising) is shown as positive, and acceleration in the reverse direction (falling) is shown as negative. The regenerative energy values in each region can be derived from the following equations.

  • Page 216: Servo Drive Regeneration Absorption Capacity

    4-4 Regenerative Energy Absorption Servo Drive Regeneration Absorption Capacity Amount of Internal Regeneration Absorption in Servo Drives This absorbs regenerative energy internally with built-in capacitors. Servo Drive If the regenerative energy is too large to be processed internally, an overvoltage error occurs and operation cannot continue.

  • Page 217: Regenerative Energy Absorption With An External Regeneration Resistor

    4-4 Regenerative Energy Absorption 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 218: Connecting An External Regeneration Resistor

    4-4 Regenerative Energy Absorption Connecting an External Regeneration Resistor R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN01H-ECT-R/ R88D-KN02H-ECT-R/-KN04H-ECT-R Normally B2 and B3 are open. If an External Regeneration Resistor is necessary, connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below. Servo Drive Thermal switch output θ...
  • Page 219 4-4 Regenerative Energy Absorption Combining External Regeneration Resistors Regeneration absorption 20 W 40 W 70 W 140 W capacity R88A-RR08050S R88A-RR08050S R88A-RR22047S R88A-RR22047S Model R88A-RR080100S R88A-RR080100S R88A-RR22047S1 R88A-RR22047S1 Resistance 50 Ω/100 Ω 25 Ω/50 Ω 47 Ω 94 Ω value Connection method Regeneration...
  • Page 221 EtherCAT Communications This chapter describes EtherCAT communications under the assumption that the Servo Drive is connected to a CJ1W-NC281/NC481/NC881/NCF81/NC482/ NC882 Position Control Unit. 5-1 Display Area and Settings ...........5-1 5-2 Structure of the CAN Application Protocol over EtherCAT ......5-3 5-3 EtherCAT State Machine ..........5-4 5-4 Process Data Objects (PDOs)........5-5 5-5 Service Data Objects (SDOs)........5-7 5-6 Synchronization with Distributed Clocks....5-8...

  • Page 222: Display Area And Settings

    5-1 Display Area and Settings 5-1 Display Area and Settings Status indicators @ RUN Rotary switches for @ ERR node address setting @ L/A IN @ L/A OUT Node Address Setting The rotary switches in the display area are used to set the EtherCAT node address. Description Rotary switch setting Connection to CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882...

  • Page 223: Status Indicators

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

  • Page 224: Structure Of The Can Application Protocol Over Ethercat

    5-2 Structure of the CAN Application Protocol over EtherCAT 5-2 Structure of the CAN Application Protocol over EtherCAT The structure of the CAN application protocol over EtherCAT (CoE) for an OMNUC G5-series Servo Drive with built-in EtherCAT communications is described in this section. Servo Drive Application layer Servo drive application...

  • Page 225: Ethercat State Machine

    5-3 EtherCAT State Machine 5-3 EtherCAT State Machine The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT Master. Init Pre-Operational Safe-Operational Operational SDO com- PDO re- State munica- transmis- Description ception tions sion Init Communications are being initialized. possible.

  • Page 226: Process Data Objects (Pdos)

    5-4 Process Data Objects (PDOs) 5-4 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 227: Sync Manager Pdo Assignment Settings

    5-4 Process Data Objects (PDOs) 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 0 of the Sync manager PDO assignment table. In this table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.

  • Page 228: Service Data Objects (Sdos)

    5-5 Service Data Objects (SDOs) 5-5 Service Data Objects (SDOs) OMNUC 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 229: Synchronization With Distributed Clocks

    5-6 Synchronization with Distributed Clocks 5-6 Synchronization with Distributed Clocks A mechanism called a distributed clock (DC) is used to synchronize EtherCAT communications. The DC mode is used for OMNUC 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.

  • Page 230: Emergency Messages

    5-7 Emergency Messages 5-7 Emergency Messages When an error or warning occurs in a OMNUC 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 setting Diagnosis history (10F3 hex). The default setting is to not send emergency messages.
  • Page 231 6-3 Cyclic Synchronous Position Mode......6-5 6-4 Torque Limit ..............6-8 6-5 Touch Probe Function (Latch Function) ....6-9 6-6 Fully-closed Control ...........6-12 6-7 Object Dictionary ............6-19 6-8 Connecting with OMRON Controllers.......6-53 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 232: Controlling The State Machine Of The Servo Drive

    6-1 Controlling the State Machine of the Servo Drive 6-1 Controlling the State Machine of the Servo Drive The state of OMNUC G5-series Servo Drives with built-in EtherCAT communications is controlled by using the Controlword (6040 hex). Control state is given in the Statusword (6041 hex).
  • Page 233 6-1 Controlling the State Machine of the Servo Drive State Descriptions States Description Not ready to switch on The control circuit power supply is turned ON and initialization is being executed. Switch on disabled Initialization has been completed. Servo Drive parameters can be set. Ready to switch on The main circuit power supply can be turned ON.
  • Page 234 6-1 Controlling the State Machine of the Servo Drive *3 Bit 7: Operation when Fault reset bit turns ON. Fault state: Errors are reset and the Servo Drive returns to its initialized state. If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset. State other than Fault state: If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.

  • Page 235: Modes Of Operation

    6-2 Modes of Operation 6-2 Modes of Operation OMNUC G5-series Servo Drives with built-in EtherCAT communications support the following Modes of operation. csp: Cyclic synchronous position mode The operation mode is set in Modes of operation (6060 hex). It is also given in Modes of operation display (6061 hex).

  • Page 236: Cyclic Synchronous Position Mode

    6-3 Cyclic Synchronous Position Mode 6-3 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 torque control are performed by the Servo Drive.
  • Page 237 6-3 Cyclic Synchronous Position Mode Related Objects Sub- Default Index Name Access Size Unit Setting range index setting Controlword 0 to FFFF 6040 hex 0 to FFFF hex 0000h Modes of − 6060 hex INT8 0 to 10 operation −2,147,483,648 to Target position Command 607A hex...

  • Page 238: Block Diagram For Position Control Mode

    6-3 Cyclic Synchronous Position Mode Block Diagram for Position Control Mode The following block diagram is for position control using an R88D-KN@@@-ECT-series Servo Drive. 6062 hex 4015 hex 4016 hex 607A hex 4017 hex Position demand Velocity Demand Motor Velocity Target position Motor Velocity value [command...

  • Page 239: Torque Limit

    6-4 Torque Limit 6-4 Torque Limit OMNUC G5-series Servo Drives can limit the torque using various methods. The following objects are used to limit the torque using EtherCAT communications. For details refer to Torque Limit Switching on page 7-21. Related Objects Index Name Description...

  • Page 240: Touch Probe Function (Latch Function)

    6-5 Touch Probe Function (Latch Function) 6-5 Touch Probe Function (Latch Function) The latch function latches the position actual value when an external latch input signal or the encoder's phase-Z signal turns ON. OMNUC G5-series Servo Drives can latch two positions. Related Objects Index Name...
  • Page 241 6-5 Touch Probe Function (Latch Function) General-purpose Input Assignment in (1) 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 (2) Latch 1 Latch 2...
  • Page 242 6-5 Touch Probe Function (Latch Function) 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 6-11 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 243: Fully-Closed Control

    6-6 Fully-closed Control 6-6 Fully-closed Control An externally provided encoder is used to directly detect the position of the control target and feedback the detected machine position to perform position control. This way, controls can be performed without being affected by ball screw error, temperature changes, etc. You can achieve highly accurate positioning by configuring a fully-closed control system.

  • Page 244: Objects Requiring Settings

    6-6 Fully-closed Control Objects Requiring Settings Index Sub-index Name Description Reference Rotation Direction Set the relation between the command page 9-1 3000 hex Switching direction and the motor rotation direction. Control Mode Select the control mode. page 9-2 3001 hex Selection Motor revolutions Set the numerator of the electronic gear...
  • Page 245 6-6 Fully-closed Control Electronic Gear Function (6091-01 Hex, 6091-02 Hex) This function sets the position command for the position control part to the value that is calculated by multiplying the command from the Host Controller with the electronic gear ratio. Index Name Description...
  • Page 246 6-6 Fully-closed Control *2 These are the directions in which the Servo Drive counts the pulses from an external encoder with a 90° phase difference outputs. Count-down direction Count-up direction EXB is 90° ahead of EXA. EXB is 90° behind EXA. t1 >...
  • Page 247 6-6 Fully-closed Control External Feedback Pulse Dividing Ratio Setting (3324 Hex, 3325 Hex) Set the dividing ratio for the encoder resolution and external encoder resolution. Index Name Description Setting range Unit − External Set the numerator of the external feedback 0 to 1,048,576 Feedback Pulse pulse divider setting.
  • Page 248 6-6 Fully-closed Control Hybrid Error Setting (3328 Hex, 3329 Hex) The difference between the encoder position and external encoder position is detected, and if the difference exceeds the value of Hybrid Following Error Counter Overflow Level (3328 hex), an error occurs. Index Name Description...

  • Page 249: Parameter Block Diagram For Fully-Closed Control Mode

    6-6 Fully-closed Control Parameter Block Diagram for Fully-closed Control Mode The following is a block diagram for fully-closed control using an R88D-KN@@@-ECT-Series Servo Drive. 6062 hex 4015 hex 4016 hex 607A hex 4017 hex Position demand Velocity Demand Motor Velocity Target position Motor Velocity value [command...
  • Page 250 Definitions of variables that can be used by all 1000 to 1FFF hex servers for designated communications. Manufacturer Specific Area 1 Variables with common definitions for all OMRON 2000 to 2FFF hex products. Manufacturer Specific Area 2 Variables with common definitions for all OMNUC 3000 to 5FFF hex G5-series Servo Drives (servo parameters).

  • Page 251: Object Description Format

    6-7 Object Dictionary 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>...

  • Page 252: Communication Objects

    6-7 Object Dictionary Format When There Is Sub-indexing The object description format with subindices is shown below. <Object name> <Index> Modes of Operation Sub-index 0 Number of entries Range <Range> Unit <Unit> Default Attribute <Attribute> <Default > Size <Size> Access <Access>...
  • Page 253 6-7 Object Dictionary 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 Set Values Description Description Generic error Communication error Current error Device profile specific error...
  • Page 254 6-7 Object Dictionary This is not used by OMNUC G5-series Servo Drives. Manufacturer software version 100A hex − − Range Unit Default Attribute Size 20 bytes (VS) Access PDO map Not possible *1. The version number is saved in “V*.**”. Gives the version of the Servo Drive software.
  • Page 255 6-7 Object Dictionary Index Sub-index Description 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 Positive torque limit value 60E1 hex...
  • Page 256 6-7 Object Dictionary Identity object 1018 hex Sub-index 0 Number of entries − − − Range Unit Default 04 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 1 Vender ID − − − Range Unit Default 0000 0083 hex Attribute Size...
  • Page 257 6-7 Object Dictionary Backup parameter mode 10F0 hex Sub-index 0 Number of entries − − − Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 1 Backup parameter checksum − − − − Range Unit Default...

  • Page 258: Pdo Mapping Objects

    6-7 Object Dictionary 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 1 provide information about the application object being mapped. Index Sub-index Bit length...
  • Page 259 6-7 Object Dictionary 1B01 hex 258th TxPDO mapping parameter Sub-index 0 Number of objects − − − Range Unit Default 09 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 1 1st object − − − Range Unit Default 603F 0010 hex...

  • Page 260: Sync Manager Communication Objects

    6-7 Object Dictionary Sync Manager Communication Objects Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory. Sync manager communication type 1C00 hex Sub-index 0 Number of used sync manager channels − − − Range Unit Default 04 hex Attribute Size...
  • Page 261 6-7 Object Dictionary Sync manager 1 PDO assignment 1C11 hex Sub-index 0 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 262 6-7 Object Dictionary SM2 synchronization 1C32 hex Sub-index 0 Number of synchronization parameters − − − Range Unit Default 20 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 1 Synchronization type − − − Range Unit Default 0002 hex Attribute...
  • Page 263 6-7 Object Dictionary SM3 synchronization 1C33 hex Sub-index 0 Number of synchronization parameters − − − Range Unit Default 20 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 1 Synchronization type − − − Range Unit Default 0002 hex Attribute...

  • Page 264: Manufacturer Specific Objects

    6-7 Object Dictionary Manufacturer Specific Objects This section describes objects specific to OMNUC G5-series Servo Drives with built-in EtherCAT communications. OMNUC G5-series Servo Drive parameters (Pn@@@) are allocated to objects 3000 to 3999 hex. Index 3@@@ hex corresponds to OMNUC G5-series Servo Drive parameter Pn@@@.
  • Page 265 6-7 Object Dictionary Statusword 1 4000 hex − − Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes (U16) Access PDO map Possible This object gives the present state of the Servo Drive. Bit Descriptions Name Symbol Code Description...
  • Page 266 6-7 Object Dictionary *2. When Servo Ready is 0, one of the following operations is being processed. It changes to 1 when all processing has been completed. : Writing to object using SDO mailbox communications. : Executing Config (4100 hex). : Resetting Warning/Error.

  • Page 267: Servo Drive Profile Object

    6-7 Object Dictionary Servo Drive Profile Object This section describes the CiA402 drive profile supported by OMNUC 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 268 6-7 Object Dictionary 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 269 6-7 Object Dictionary Bit Descriptions Name Description Ready to switch on These bits give the state. For details, refer to State Coding on page 6-3. Switched on Operation enabled Fault Voltage enabled Quick Stop Switch on disabled Warning This bit indicates that warning status exists. Operation continues without changing the status.
  • Page 270 6-7 Object Dictionary 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 enable → ready to switch on) operation during shutdown. Description of Set Values Decelerating After stopping...
  • Page 271 6-7 Object Dictionary 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 during Disable operation (operation enable → switched on). Description of Set Values Decelerating After stopping...
  • Page 272 6-7 Object Dictionary Fault reaction option code 605E hex −7 to 0 − −1 Range Unit Default Attribute Size 2 bytes (INT16) Access PDO map Not possible This object sets the behavior when an error occurs. Description of Set Values Decelerating After stopping value...
  • Page 273 6-7 Object Dictionary Modes of operation 6060 hex − Range 0 to 10 Unit Default Attribute Size 1 byte (INT8) Access PDO map Possible This object sets the operation mode. The default value is 0 (Not specified). Set the operation mode from the master after the power supply is turned ON.
  • Page 274 6-7 Object Dictionary This object gives the present position. Following error window 6065 hex 0 to 134217728, Command Range Unit Default 100000 Attribute 4294967295 units Size 4 bytes (U32) Access PDO map Not possible This object sets the threshold for following errors. If it is set to 4,294,967,295 (FFFF FFFF hex), detection of following errors is disabled.
  • Page 275 6-7 Object Dictionary This object sets the target position in the Cyclic synchronous position mode. Home offset 607C hex −1073741823 to Command Range Unit Default Attribute 1073741823 units Size 4 bytes (INT32) Access PDO map Not possible This object sets the amount of offset from the origin of the absolute encoder or absolute external encoder to the zero position of the Position actual value (6064 hex).
  • Page 276 6-7 Object Dictionary These objects set the gear ratio. Set the numerator of the electronic gear in the object for sub-index 1 (Motor revolutions). If the set value is 0, the encoder resolution will be set as the numerator. Set the denominator of the electronic gear in the object for sub-index 2 (Shaft revolutions). Set the gear ratio to between 1/1,000 and 1,000.
  • Page 277 6-7 Object Dictionary Torque offset 60B2 hex −5000 to 5000 Range Unit 0.1% Default Attribute Size 2 bytes (INT16) Access PDO map Possible The value obtained by adding the value of this object (60B2 hex) and the torque feed-forward value calculated from the Control effort (60FA hex) and related objects (3112 hex and 3113 hex) is used as a torque feed-forward input value for the torque command which is calculated by comparing the Control effort (60FA hex) and the speed feedback.
  • Page 278 6-7 Object Dictionary 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). Bit Descriptions Code Description Latch 1 is disabled.
  • Page 279 6-7 Object Dictionary Positive torque limit value 60E0 hex Range 0 to 5000 Unit 0.1% Default 5000 Attribute Size 2 bytes (U16) Access PDO map Not possible This object sets the forward torque limit. It is limited by the maximum torque of the connected motor. For details refer to Torque Limit Switching on page 7-21.
  • Page 280 6-7 Object Dictionary Signal name Symbol Code Description − − − 3 to 15 Reserved Encoder Phase Z Phase-Z signal not Detection detected during communication cycle Phase-Z signal detected during communication cycle External Latch Input 1 EXT1 External Latch Input 2 EXT2 External Latch Input 3 EXT3...
  • Page 281 6-7 Object Dictionary Digital outputs 60FE hex Sub-index 0 Number of entries − − − Range Unit Default 02 hex Attribute Size 1 byte (U8) Access PDO map Not possible Sub-index 1 Physical outputs 0000 0000 to FFFF − Range Unit Default 0000 0000 hex...
  • Page 282 6-7 Object Dictionary Bit Descriptions for Sub-index 2 Signal name Symbol Code Description Set brake Mask (Brake Interlock Set brake disable output BKIR Output Mask) Set brake enable output − − − 1 to 15 Reserved Remote Output 1 Mask R-OUT1 disable output R-OUT1 R-OUT1 enable output...

  • Page 283: Reserved Objects

    6-7 Object Dictionary Supported drive modes 6502 hex 0000 0080 − − − Range Unit Default 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) 0: Not supported vl (Velocity mode) 0: Not supported...

  • Page 284: Connecting With Omron Controllers

    6-8 Connecting with OMRON Controllers 6-8 Connecting with OMRON Controllers This section describes the settings required to connect with an OMRON EtherCAT-compatible CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 Position Control Unit Related Objects Objects listed in the following table must be used without changing them from their default values.
  • Page 285 Applied Functions This chapter outlines the applied functions such as the electronic gear, gain switching and soft start, and explains the settings. 7-1 Sequence I/O Signals ...........7-1 7-2 Forward and Reverse Drive Prohibition Functions ...7-6 7-3 Overrun Protection ............7-9 7-4 Backlash Compensation ..........7-11 7-5 Brake Interlock............7-13 7-6 Electronic Gear Function ...........7-18 7-7 Torque Limit Switching ..........7-21...

  • Page 286: Sequence I/O Signals

    7-1 Sequence I/O Signals 7-1 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 Control I/O Connector Specifications (CN1) on page 3-13. 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 287 7-1 Sequence I/O Signals 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 7-2. Index Name Explanation Reference Set the IN1 input function allocation. This 3400 hex Input Signal Selection 1 object is based on hexadecimal.(The display...
  • Page 288 7-1 Sequence I/O Signals 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 Forward Drive Prohibition Input 01 hex 81 hex Reverse Drive Prohibition Input 02 hex 82 hex Immediate Stop Input...

  • Page 289: Output Signals

    7-1 Sequence I/O Signals Output Signals You can allocate output signal functions to the output pins for the control I/O connector (CN1). If a G-series Servo Drive is being replaced with a G5-series Servo Drive, use the G5-series Servo Drive to with the default settings. Output Signal Default Setting The allocations of the default output signals are as follows.
  • Page 290 7-1 Sequence I/O Signals Example: Position control or fully-closed control: Position command output (0B hex) 0007 050B hex Position control/fully-closed control Function Number Table The set values to be used for allocations are as follows: Set value Signal name Symbol NO (or normally open) NC (or normally close) contact...

  • Page 291: Forward And Reverse Drive Prohibition Functions

    7-2 Forward and Reverse Drive Prohibition Functions 7-2 Forward and Reverse Drive Prohibition Functions If the Forward Drive Prohibition Input (POT) or the Reverse Drive Prohibition Input (NOT) is turned OFF, the motor will stop rotating. You can thus prevent the motor from rotation outside of the movement range of the device by using limit inputs from the device connected to the Servo Drive.
  • Page 292 7-2 Forward and Reverse Drive Prohibition Functions Drive Prohibition Input Selection (3504 Hex) Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition Input (NOT). Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch.
  • Page 293 7-2 Forward and Reverse Drive Prohibition Functions *1.If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No. 38.0) will occur as soon as either the Forward or Reverse Drive Prohibition Input becomes open. The subsequent operation conforms not to the set value, but to the setting of the Fault reaction option code (605E hex).

  • Page 294: Overrun Protection

    7-3 Overrun Protection 7-3 Overrun Protection This function detects an Overrun Limit Error (Error No. 34.0) and stops the Servomotor if the motor exceeds the allowable operating range set for the Overrun Limit Setting (3514 hex) with respect to the position command input. The function can also prevent the Servomotor from clash into the machine edge due to vibration.

  • Page 295: Operation Example

    7-3 Overrun Protection Operation Example No Position Command Input (Servo ON) No position command is entered. The Servomotor'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, or the shaded area in the drawing below, due to vibration.

  • Page 296: Backlash Compensation

    7-4 Backlash Compensation 7-4 Backlash Compensation The function compensates for backlash for position control and fully-closed control. Objects Requiring Settings Index Name Description Reference page Backlash Select whether to enable or disable backlash 3704 hex Compensation compensation during position control. page 9-46 Selection Set the compensation direction.
  • Page 297 7-4 Backlash Compensation Precautions for Correct Use To determine the actual position of the Servomotor, offset the Servomotor position data acquired via EtherCAT communications by the backlash compensation amount. Backlash compensation is performed on the first position command in the set direction after the servo is turned ON.

  • Page 298: Brake Interlock

    7-5 Brake Interlock 7-5 Brake Interlock This function lets you set the output timing for the brake interlock output (BKIR) that activates the holding brake when the servo is turned ON, an error occurs, or the servo is turned OFF. The brake can also be controlled via EtherCAT communications.

  • Page 299: Operation Timing

    7-5 Brake Interlock 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 300 7-5 Brake Interlock Servo ON/OFF Operation Timing When Motor Is Operating Based on these operation timings, regenerative energy is produced if the motor rotation stops abnormally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down. Servo ON/OFF Servo OFF Servo ON...
  • Page 301 7-5 Brake Interlock Operation Timing When an Error Occurs (Servo ON) Error status Normal Error 0.5 to 5 ms Motor power supply Power supply No power supply Dynamic brake relay DB Released DB engaged Servo ready READY output (READY) Error Output (/ALM) Normal Error When object 3438 hex...
  • Page 302 7-5 Brake Interlock 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 Dynamic brake relay Brake Engaged Brake Released...

  • Page 303: Electronic Gear Function

    Function Setting Error (Error No. 93.4) will occur if the electronic gear is enabled. When connected to an OMRON CJ1W-NC@81/@82 Position Control Unit, the electronic gear ratio is set in the Position Control Unit. Set the electronic gear ratio in the Servo Drive to 1:1.
  • Page 304 7-6 Electronic Gear Function Gear ratio Setting (6091-01 and 6091-02 Hex) Motor Shaft revolutions revolutions Description (6091-01 (6091-02 hex) hex) When the Motor revolutions (6091-01 hex) is 0, the processing changes with the set value of Shaft revolutions (6091-02 hex). Position command Encoder resolution*1 Position command Shaft revolutions (6091-02 hex)

  • Page 305: Operation Example

    7-6 Electronic Gear Function Operation Example The example uses a motor with a 20- bit encoder (1,048,576 pulses per rotation) When the Motor Revolutions (6091-01 Hex) Is Set to 0 If you set 6091-02 hex to 2,000, the operation is the same as the 2,000 (pulses/rotation) Servomotor.

  • Page 306: Torque Limit Switching

    7-7 Torque Limit Switching 7-7 Torque Limit Switching This function switches the torque limit according to the operation direction, and depending on the Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the Forward/Reverse Torque Limit Input Commands from EtherCAT communications. This function is used in the following conditions.
  • Page 307 7-7 Torque Limit Switching Torque Limits in Position Control Mode or Fully-closed Control Mode The term Torque FF refers to the torque feed-forward function. Position Control/Fully-closed Control Forward torque limit value Reverse torque limit value value Torque FF PCL ON PCL OFF NCL ON NCL OFF...

  • Page 308: Gain Switching Function

    7-8 Gain Switching Function 7-8 Gain Switching Function This function switches the position loop and speed loop gain. 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 inertia changes or you want to change the responsiveness depending on whether the motor is stopping or operating, you can perform optimal control by using gain switching.

  • Page 309: Objects Requiring Settings

    7-8 Gain Switching Function Objects Requiring Settings Index Name Description Reference Realtime Autotuning Mode Set the operation mode for realtime autotuning. 3002 hex Selection Realtime autotuning cannot be used if the gain switching page 9-2 function is being used. Gain Switching Input Set whether to enable or disable the gain switching function.

  • Page 310: Gain Switching

    7-8 Gain Switching Function Gain Switching Refer to Chapter 9 Details on Servo Parameter Objects for details on gain-related objects. Position Control Mode and Fully-closed Control Mode In the Position Control mode and Fully-closed Control Mode, operation varies as follows according to switching mode in Position Control (3115 hex).
  • Page 311 7-8 Gain Switching Function *6. When the set value is 10, the meanings of the Gain Switching Delay Time in Position Control, the Gain Switching Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the normal case. (Refer to Figure E). Figure A Figure C Rotation...

  • Page 312: Diagrams Of Gain Switching Setting

    7-8 Gain Switching Function Diagrams of Gain Switching Setting Switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs at the following timing. For the position loop gain, switching occurs based on the setting of 3119 hex. The details of the gain switching settings vary depending on the control mode used.
  • Page 313 7-8 Gain Switching Function Gain Switching Mode = 5 or 9: Switching by Speed Command or Actual Motor Speed Speed command or actual motor speed 3118 hex 3118 hex 3117 hex 3116 hex Gain 1 Gain 1 Gain 2 Note: The “speed command” is the Motor Control Effort (401A hex) [r/min]. Gain Switching Mode = 6: Switching by Pulse Position Error The gain is switched according to the pulse position error [encoder pulses/external encoder pulses].
  • Page 314 7-8 Gain Switching Function Gain Switching Mode = 10: Switching by Combination of Whether There Is a Position Command and Actual Motor Speed Switching to the gain 2 occurs when a position command is received. If there is no position command but the absolute value of the actual motor speed remains less than the difference of the Gain Switching Level in Position Control (3117 hex) minus the Gain Switching Hysteresis in Position Control (3118 hex) [r/min] for the time specified in the Gain Switching Delay Time in Position Control (3116 hex), the gain switches to gain 1.

  • Page 315: Gain Switching 3 Function

    7-9 Gain Switching 3 Function 7-9 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). It switches the gain right before a stop. The positioning time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time.

  • Page 316: Operation Example

    7-9 Gain Switching 3 Function Operation Example When the conventional gain switching function works correctly, set the time to use Gain 3 in Gain 3 Effective Time (3605 hex), and the magnification of Gain 3 against Gain 1 in the Gain 3 Ratio Setting (3606 hex).

  • Page 317: Chapter 8 Safety Function

    Safety Function This function stops the Servomotor 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...........8-1 8-2 Operation Example ............8-4 8-3 Connection Examples ..........8-6 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 318: Safe Torque Off Function

    8-1 Safe Torque OFF Function 8-1 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 through the input signals from a safety device, such as a safety controller or safety sensor, that is connected to the safety connector (CN8).

  • Page 319: I/O Signal Specifications

    8-1 Safe Torque OFF Function I/O Signal Specifications Safety Input Signals There are 2 safety input circuits to operate the STO function. Control mode Signal Symbol Description name number Posi- Fully- Speed Torque tion closed Safety √ √ √ √ CN8-4 •...
  • Page 320 8-1 Safe Torque OFF Function 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 321: Operation Example

    8-2 Operation Example 8-2 Operation Example Operation Timings to a Safety Status Servo ON/OFF Servo ON Servo OFF STO status Safety input 1 Normal status Safety input 2 max 5 ms Motor power is Power supply No power supply supplied. max 6 ms EDM output 0.5 to 5 ms...
  • Page 322 8-2 Operation Example Timing of Return from Safety Status Servo ON /OFF Servo OFF command Servo ON 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 323: Connection Examples

    8-3 Connection Examples 8-3 Connection Examples Connection with a Safety Controller (Two Safety Inputs and One EDM Output) Safety Controller Safety output (source) G9SP-series Servo Drive Safety Controller Safety output 1 SF1+ Safety input SF1− Safety output 2 SF2+ SF2− EDM+ Test output Safety input...
  • Page 325 Details on Servo Parameter Objects This chapter explains the settings of each object. 9-1 Basic Settings ...............9-1 9-2 Gain Settings..............9-6 9-3 Vibration Suppression Settings ........9-15 9-4 Analog Control Objects..........9-21 9-5 Interface Monitor Settings .........9-24 9-6 Extended Objects ............9-32 9-7 Special Objects ............9-38 9-8 Reserved Objects ............9-50 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 326: Basic Settings

    9-1 Basic Settings 9-1 Basic Settings 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. Do not change the objects marked "reserved."...
  • Page 327 9-1 Basic Settings Control Mode Selection 3001 hex Setting Default Data − 0 to 6 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the control mode to be used. Explanation of Set Values Set value Description 0 to 5 Semi-closed control (position control)*1...
  • Page 328 9-1 Basic Settings ←Machine rigidity→ High ←Servo gain→ High 3003h 0.1 - - - - - - - - - - - - - - - 31 ←Responsiveness→ High Refer to 11-3 Realtime Autotuning on page 11-6. Precautions for Correct Use If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting the machine to shock.
  • Page 329 9-1 Basic Settings Regeneration Resistor Selection 3016 hex Setting Default Data − 0 to 3 Unit range setting 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. The setting is different whether the Regeneration Resistor built in the Drive is directly used, or it is removed and replaced by an external regeneration resistor.
  • Page 330 9-1 Basic Settings Explanation of Set Values Set value Description Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor is 10%. Reserved Reserved Reserved Reserved OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 331: Gain Settings

    9-2 Gain Settings 9-2 Gain Settings Refer to 11-2 Gain Adjustment on page 11-4 for the settings for gain adjustment. Position Loop Gain 1 3100 hex Setting Default Data 0 to 30000 Unit 0.1/s range setting attribute Size 2 bytes (INT16) Access PDO map Not possible.
  • Page 332 9-2 Gain Settings If the speed loop gain and position loop gain are optimally set, the motor operation for the command delays 2/Kp at acceleration and delays 3/Kp at deceleration. Motor speed Position command Motor operation Time Speed Loop Gain 1 3101 hex Setting Default...
  • Page 333 9-2 Gain Settings Speed Loop Integral Time Constant 1 3102 hex Setting Default Data 1 to 10000 Unit 0.1 ms range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. *1. The default setting is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V. Set the speed loop integral time constant.
  • Page 334 9-2 Gain Settings Speed Loop Gain 2 3106 hex Setting Default Data 1 to 32767 Unit 0.1 Hz range setting 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. Set the responsiveness of the second speed loop.
  • Page 335 9-2 Gain Settings 3111 hex Speed Feed-forward Command Filter Setting Default Data 0 to 6400 Unit 0.01 ms range setting 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. Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed-forward is set high.
  • Page 336 9-2 Gain Settings Switching Mode in Position Control 3115 hex Setting Default Data − 0 to 10 Unit range setting attribute Size 2 bytes (INT16) Access 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 337 9-2 Gain Settings *6. When the set value is 10, meanings of the Gain Switching Delay Time in Position Control, the Gain Switching Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the normal case. (Refer to Figure E). Figure A Figure C Speed V...
  • Page 338 9-2 Gain Settings Gain Switching Level in Position Control 3117 hex Setting Default Data − 0 to 20000 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. This object is enabled when the Switching Mode in Position Control (3115 hex) is 3, 5, 6, 9 or 10. It sets the judgment level for switching between gain 1 and gain 2.
  • Page 339 9-2 Gain Settings Position Loop Gain 1 < Position Loop Gain 2 Position Loop Gain 2 Position Loop Gain 1 Position Gain Switching Time (3119 hex) Position Position Position Loop Gain 1 Loop Gain 2 Loop Gain 1 Precautions for Correct Use When the position loop gain is switched to a smaller value (e.g., when switching from gain 2 to gain 1 in the above figure), Position Gain Switching Time (3119 hex) is ignored and the gain is switched immediately.

  • Page 340: Vibration Suppression Settings

    9-3 Vibration Suppression Settings 9-3 Vibration Suppression Settings Adaptive Filter Selection 3200 hex Setting Default Data − 0 to 4 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the operation of the adaptive filter. Refer to 11-6 Adaptive Filter on page 11-18.
  • Page 341 9-3 Vibration Suppression Settings Notch 2 Frequency Setting 3204 hex Setting Default Data 50 to 5000 Unit 5000 range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the notch frequency of resonance suppression notch filter 2. The notch filter function is disabled if this object is set to 5000.
  • Page 342 9-3 Vibration Suppression Settings Set the notch depth of resonance suppression notch filter 3. Increasing the setting value shortens the notch depth and the phase lag. While the adaptive filter is enabled, this object is set automatically. Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21. Notch 4 Frequency Setting 3210 hex Setting...
  • Page 343 9-3 Vibration Suppression Settings Damping Frequency 1 3214 hex Setting Default Data 0 to 2000 Unit 0.1 Hz range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set damping frequency 1 to suppress vibration at the end of the load in damping control. Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
  • Page 344 9-3 Vibration Suppression Settings Damping Filter 3 Setting 3219 hex Setting Default Data 0 to 1000 Unit 0.1 Hz range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. First set Frequency 3 (3218 hex). Then reduce the setting if torque saturation occurs or Damping increase the setting to increase operation speed.
  • Page 345 9-3 Vibration Suppression Settings Position Command Filter Time Constant 3222 hex Setting Default Data 0 to 10000 Unit 0.1 ms range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. The Position Command Filter Time Constant is the first-order lag filter that is inserted after the electronic gear ratio for the command input.

  • Page 346: Analog Control Objects

    9-4 Analog Control Objects 9-4 Analog Control Objects External Feedback Pulse Type Selection 3323 hex csp full Setting Default Data − 0 to 2 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Select the external encoder type. Be sure that the setting conforms to the external encoder which is actually used.
  • Page 347 9-4 Analog Control Objects External Feedback Pulse Dividing Numerator 3324 hex csp full Setting Default Data − 0 to 1048576 Unit range setting attribute Size 4 bytes (INT32) Access PDO map Not possible. External Feedback Pulse Dividing Denominator 3325 hex csp full Setting Default...
  • Page 348 9-4 Analog Control Objects External Feedback Pulse Phase-Z Setting 3327 hex csp full Setting Default Data − 0 to 1 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set to enable or disable phase-Z disconnection detection when an external encoder with a 90° phase difference output is used.

  • Page 349: Interface Monitor Settings

    9-5 Interface Monitor Settings 9-5 Interface Monitor Settings Input Signal Selection 1 3400 hex Setting Default 0094 9494 Data − 0 to 00FF FFFF hex Unit range 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 3-17, as well as 7-1 Sequence I/O Signals on page 7-1.
  • Page 350 9-5 Interface Monitor Settings Sequence I/O Signals on page 7-1. Input Signal Selection 7 3406 hex Setting Default 0020 2020 Data − 0 to 00FF FFFF hex Unit range setting attribute Size 4 bytes (INT32) Access PDO map Not possible. Set the function and logic for general-purpose input 7 (IN7).
  • Page 351 9-5 Interface Monitor Settings Analog Monitor 1 Selection 3416 hex Setting Default Data − 0 to 21 Unit range setting 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 352 9-5 Interface Monitor Settings Analog Monitor 2 Selection 3418 hex Setting Default Data − 0 to 21 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. In the same way as for Analog Monitor 1, analog signals of various monitors can be output from the analog monitor connector on the front panel.
  • Page 353 9-5 Interface Monitor Settings Output range Data output value Output voltage [V] 10 V Feedback 0 to 10 V Motor Speed (5 V as a center) 2,500 [r/min] -2,500 -10 V Zero Speed Detection 3434 hex Setting Default Data 10 to 20000 Unit r/min range...
  • Page 354 9-5 Interface Monitor Settings Brake Timing when Stopped 3437 hex Setting Default Data 0 to 10000 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the time required for the Servomotor to be de-energized (servo free) after the brake interlock output (BKIR) turns OFF (i.e., brake held), when servo OFF status is entered while the Servomotor is stopped.
  • Page 355 9-5 Interface Monitor Settings For the operation time, refer to 7-5 Brake Interlock on page 7-13. Brake Threshold Speed During Operation 3439 hex Setting Default Data 30 to 3000 Unit r/min range setting attribute Size 2 bytes (INT16) Access PDO map Not possible.
  • Page 356 9-5 Interface Monitor Settings Explanation of Set Values Description value Output by all types of warnings Overload warning Excessive regeneration warning Battery warning Fan warning Encoder communications warning Encoder overheating warning Vibration warning Service life warning External encoder error warning External encoder communications error warning Data setting warning Command warning...

  • Page 357: Extended Objects

    9-6 Extended Objects 9-6 Extended Objects Drive Prohibition Input Selection 3504 hex Setting Default Data − 0 to 2 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition Input (NOT).
  • Page 358 9-6 Extended Objects Stop Selection for Drive Prohibition Input 3505 hex Setting Default Data − 0 to 2 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the drive conditions during deceleration and after stopping, when the Forward or Reverse Drive Prohibition Input is enabled.
  • Page 359 9-6 Extended Objects Undervoltage Error Selection 3508 hex Setting Default Data − 0 to 1 Unit range setting 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 Set Values Explanation value...
  • Page 360 9-6 Extended Objects Overspeed Detection Level Setting 3513 hex Setting Default Data 0 to 20000 Unit r/min range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the overspeed detection level. The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this object is set to 0.
  • Page 361 9-6 Extended Objects Position Setting Unit Selection 3520 hex Setting Default Data − 0 to 1 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Select the setting unit of Position Completion Range 2 (3442 hex) and Following error window (6065 hex).
  • Page 362 9-6 Extended Objects Forward External Torque Limit 3525 hex Setting Default Data 0 to 5000 Unit 0.1% 5000 range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. *1. It is limited by the maximum torque of the connected motor. Set the forward external torque limit for the torque limit switching input.

  • Page 363: Special Objects

    9-7 Special Objects 9-7 Special Objects Gain 3 Effective Time 3605 hex Setting Default Data 0 to 10,000 Unit 0.1 ms range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set effective time of gain 3 of 3-step gain switching. Refer to 7-9 Gain Switching 3 Function on page 7-30.
  • Page 364 9-7 Special Objects In the default settings, only the command compensation for communications errors for CSP is enabled. The number 64 decimal is 1000 0000 when represented as bits. Refer to 11-8 Disturbance Observer Function on page 11-24 and 11-12 Instantaneous Speed Observer Function on page 11-32.
  • Page 365 9-7 Special Objects Immediate Overspeed Detection Level Setting at Stop 3615 hex Setting Default Data 0 to 20,000 Unit r/min range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. If the motor speed exceeds the set value during an immediate stop resulting from an error, an Overspeed 2 Error (Error No.
  • Page 366 9-7 Special Objects Realtime Autotuning Estimated Speed Selection 3631 hex Setting Default Data − 0 to 3 Unit range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the speed to estimate the load characteristic while the realtime autotuning is enabled. The higher the set value is, the earlier the load characteristic change is followed, but the estimated variation against the disturbance becomes greater.
  • Page 367 9-7 Special Objects Name Description Select whether to update three objects, Torque Command Value Offset (3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse Direction Torque Offset (3609 hex), with the load characteristic estimation result. 0: Use the present set value. 1: Disable the torque compensation.
  • Page 368 9-7 Special Objects Hybrid Vibration Suppression Gain 3634 hex csp full Setting Default Data 0 to 30,000 Unit 0.1/s range setting attribute Size 2 bytes (INT16) Access PDO map Not possible. Set the hybrid vibration suppression gain during fully-closed control. In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
  • Page 369 9-7 Special Objects Warning Warning Warning name Warning condition Mask Setting number (3638 hex) Overload warning The load ratio is 85% or more of the protection Bit 7 level. Excessive regeneration The regeneration load ratio is 85% or more of the Bit 5 warning level.
  • Page 370 9-7 Special Objects Explanation of Set Value Set value Indicated item Description Normal state Displays "−−" during Servo-OFF, and "00" during Servo ON. Mechanical angle Displays a value between 0 and FF hex. The value 0 indicates the zero position of the encoder. The value increments when the motor rotates in the counterclockwise (CCW) direction.
  • Page 371 9-7 Special Objects Backlash Compensation Selection 3704 hex − Setting range 0 to 2 Unit Default setting Data Attribute Size 2 bytes (INT16) Access PDO map Not possible. Select to enable or disable the backlash compensation during position control. Set the compensation direction when compensation is enabled.
  • Page 372 9-7 Special Objects Bit Descriptions Latch 1 Latch 2 Bit 0 Bit 1 Trigger signal 1 Bit 8 Bit 9 Trigger signal 2 EXT1 EXT1 EXT2 EXT2 EXT3 EXT3 Phase-Z signal Phase-Z signal Warning Hold Selection 3759 hex − Setting range 0000 to FFFF hex Unit Default setting...
  • Page 373 9-7 Special Objects Error setting The following table shows the error which you can mask by setting each error mask bit of the Communications Control (3800 hex). To mask an error, set the corresponding error bit to 1. Communications Control Error No.
  • Page 374 9-7 Special Objects Precautions for Correct Use EtherCAT communications status will be 0 for limit signals that are disabled. The status will also be 0 if an origin return has not been performed. Origin Range 3803 hex − Setting range 0 to 250 Unit Default setting...

  • Page 375: Reserved Objects

    9-8 Reserved Objects 9-8 Reserved Objects The following objects are reserved. Do not use them. Index Name 3120 hex Switching Mode in Speed Control 3121 hex Gain Switching Delay Time in Speed Control 3122 hex Gain Switching Level in Speed Control 3123 hex Gain Switching Hysteresis in Speed Control 3124 hex...
  • Page 377 Operation This chapter explains the operating procedures and how to operate in each mode. 10-1 Operational Procedure ..........10-1 10-2 Preparing for Operation ..........10-2 10-3 Trial Operation ............10-7 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 378: Operational Procedure

    10-1 Operational Procedure 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 379: Preparing For Operation

    10-2 Preparing for 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. It also explains the setup procedure required if using a motor with an absolute encoder.

  • Page 380: Turning On The Power Supply

    10-2 Preparing for 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 rotary switches. Status indicators @ RUN Rotary switches for...

  • Page 381: Checking The Displays

    10-2 Preparing for Operation 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).
  • Page 382 10-2 Preparing for 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.

  • Page 383: Absolute Encoder Setup

    10-2 Preparing for Operation Absolute Encoder Setup You must set up the absolute encoder if using a motor with an absolute encoder. The setup is required when you turn ON the power supply for the first time, when an Absolute Encoder System Down Error (Error No.

  • Page 384: Trial Operation

    10-3 Trial 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 Chapter 12 Troubleshooting and Maintenance to eliminate the cause.

  • Page 385: Test Operation Via Usb Communications From The Cx-Drive

    10-3 Trial Operation Test Operation via USB Communications from the CX-Drive 1. Use the Connector CN1. 2. Supply 12 to 24 VDC to the control signal connector pins +24 VIN and COM. 3. Turn ON the Servo Drive power. 4. Connect a USB cable to the USB connector (CN7). 5.
  • Page 387 Adjustment Functions This chapter explains the functions, setting methods, and items to note regarding various gain adjustments. 11-1 Analog Monitor............11-1 11-2 Gain Adjustment ............11-4 11-3 Realtime Autotuning ..........11-6 11-4 Manual Tuning............11-13 11-5 Damping Control ............11-15 11-6 Adaptive Filter ............11-18 11-7 Notch Filters ............11-21 11-8 Disturbance Observer Function ......11-24...

  • Page 388: Analog Monitor

    11-1 Analog Monitor 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 389 11-1 Analog Monitor Description 3416 hex and Output gain when 3417 3418 hex set Monitoring item Unit hex and 3419 hex are set value to 0 Motor Load Ratio Forward Torque Limit Reverse Torque Limit Speed Limit Value r/min Inertia Ratio −...
  • Page 390 11-1 Analog Monitor *4. The direction of monitor data, either forward or reverse, is the direction set in the Rotation Direction Switching (3000 hex). However, CCW is the forward direction for the absolute encoder 1-rotation data. A normal value is output from the incremental encoder after the first phase Z. Analog Monitor Output Setting (3421 Hex) Select the direction for analog monitor output voltage.

  • Page 391: Gain Adjustment

    11-2 Gain Adjustment 11-2 Gain Adjustment OMNUC 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. 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 392: Gain Adjustment Procedure

    Operation OK? (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. Use couplings that have a high rigidity, and that are designed for servo systems.

  • Page 393: Realtime Autotuning

    11-3 Realtime Autotuning 11-3 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime, and operates the machine by automatically setting the gain according to the estimated load inertia. At the same time, it can lower the resonance and vibration if the adaptive filter is enabled. Refer to 11-6 Adaptive Filter on page 11-18 for details about adaptive filters.

  • Page 394: Objects Requiring Settings

    11-3 Realtime Autotuning Objects Requiring Settings Index Name Explanation Reference Realtime Autotuning Set the operation mode for the realtime autotuning. 3002 hex page 9-2 Mode Selection Realtime Autotuning Set the responsiveness when the realtime autotuning is 3003 hex page 9-2 Machine Rigidity Setting enabled.

  • Page 395: Setting Machine Rigidity

    11-3 Realtime Autotuning Setting Machine Rigidity 1. Set the Realtime Autotuning Machine Rigidity Setting (3003 hex) according to the table below. Start from the lower machine rigidity number and check the operation. Realtime Autotuning Machine configuration and drive method Machine Rigidity Setting (3003 hex) Ball screw direct coupling 12 to 24 Ball screw and timing belt...
  • Page 396 11-3 Realtime Autotuning Realtime Autotuning (RTAT) Object Table AT Machine Rigidity Setting (3003 hex) Index Name 3004 hex Inertia Ratio Estimated load inertia ratio 3100 hex Position Loop Gain 1 3101 hex Speed Loop Gain 1 Speed Loop Integral Time Constant 3102 hex 3700 2800 2200 1900 1600 1200 Speed Feedback Filter Time...
  • Page 397 11-3 Realtime Autotuning AT Machine Rigidity Setting (3003 hex) Index Name 3004 hex Inertia Ratio Estimated load inertia ratio 3100 hex Position Loop Gain 1 3101 hex Speed Loop Gain 1 3102 hex Speed Loop Integral Time Constant 1 600 Speed Feedback Filter Time 3103 hex Constant 1...
  • Page 398 11-3 Realtime Autotuning AT Machine Rigidity Setting (3003 hex) Index Name 3004 hex Inertia Ratio Estimated load inertia ratio 3100 hex Position Loop Gain 1 1080 1350 1620 2060 2510 3050 3770 3101 hex Speed Loop Gain 1 1150 1400 1700 2100 Speed Loop Integral Time Constant 3102 hex Speed Feedback Filter Time...
  • Page 399 11-3 Realtime Autotuning AT Machine Rigidity Setting (3003 hex) Index Name 3004 hex Inertia Ratio Estimated load inertia ratio 3100 hex Position Loop Gain 1 4490 5000 5600 6100 6600 7200 8100 9000 3101 hex Speed Loop Gain 1 2500 2800 3100 3400 3700 4000 4500 5000 Speed Loop Integral Time Constant 3102 hex Speed Feedback Filter Time...

  • Page 400: Manual Tuning

    11-4 Manual Tuning 11-4 Manual Tuning As described before, the OMNUC G5-series have a realtime autotuning function. Readjustment, however, is required if realtime autotuning cannot adjust the gain properly for same reasons: there is a restriction by load conditions, or a necessity to ensue optimum responsiveness and stability for each load.
  • Page 401 11-4 Manual Tuning Position Control/Fully-closed 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 402: Damping Control

    11-5 Damping Control 11-5 Damping Control Outline of Operation If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration. This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are from 1 to 200 Hz.
  • Page 403 11-5 Damping Control Precautions for Correct Use Stop operation before changing the objects or switching with DFSEL. Damping control may not function properly or the effect may not be apparent under the following conditions. Item Conditions under which the effect of damping control is inhibited •...
  • Page 404 11-5 Damping Control 3. Make the damping filter settings. Make damping filter settings (1: 3215 hex, 2: 3217 hex, 3: 3219 hex, 4: 3221 hex). First, set the filter to 0 and check the torque waveform during operation. The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure.

  • Page 405: Adaptive Filter

    11-6 Adaptive Filter 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 torque command.

  • Page 406: Objects Requiring Settings

    11-6 Adaptive Filter Objects Requiring Settings Index Name Description Reference Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation. 0: Adaptive filter disabled 1: One adaptive filter enabled. The objects related to notch Adaptive Filter filter 3 are automatically updated.

  • Page 407: Operating Procedure

    11-6 Adaptive Filter Operating Procedure 1. Set the Adaptive Filter Selection (3200 hex). Select adaptive filter 1 or 2 in the Adaptive Filter Selection (3200 hex). 2. Start actual operation. Enter an operation command and start the actual operation. 3. The Notch Filters 3 and 4 are automatically set. When the influence of a resonance point appears in the motor speed, the Notch Filters 3 and 4 objects are set automatically according to the number of adaptive filters.

  • Page 408: Notch Filters

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

  • Page 409: Objects Requiring Settings

    11-7 Notch Filters Objects Requiring Settings Index Name Description Reference Set the center frequency of notch filter 1. Notch 1 Frequency 3201 hex The notch filter is enabled at 50 to 4,999 Hz, and disabled page 9-15 Setting if 5,000 Hz is set. Select the width of the notch filter 1 frequency.
  • Page 410 11-7 Notch Filters Notch Filter Width and Depth Width Setting This is the ratio of the frequency bandwidth at a damping factor of -3 [dB] relative to the center frequency when the depth is 0. This value should conform to the left column in the table below. 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.

  • Page 411: Disturbance Observer Function

    11-8 Disturbance Observer Function 11-8 Disturbance Observer Function You can lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value. Disturbance torque − Internal torque command Motor+load Add to the direction that Feedback Torque command negates the Motor Speed...

  • Page 412: Objects Requiring Settings

    11-8 Disturbance Observer Function Objects Requiring Settings Index Name Description Reference 3610 hex Function Expansion Settings Set the bits related to the disturbance observer. page 9-38 Disturbance Torque Set the compensation gain for disturbance 3623 hex page 9-40 Compensation Gain torque.

  • Page 413: Friction Torque Compensation Function

    11-9 Friction Torque Compensation Function 11-9 Friction Torque Compensation Function Two types of friction torque compensations can be set to reduce the influence of mechanical frictions. One is the unbalanced load compensation that offsets the constantly applied unbalance torque. The other is the dynamic friction compensation that changes the offset direction in accordance with the operating direction.

  • Page 414: Operation Example

    11-9 Friction Torque Compensation Function Operation Example The friction torque compensation is applied in the input direction of the position command as shown in the drawing below. Command speed Forward 3608 hex (Forward Direction Torque Offset) 3607 hex 3609 hex (Torque command (Reverse Direction value offset)

  • Page 415: Hybrid Vibration Suppression Function

    11-10 Hybrid Vibration Suppression Function 11-10 Hybrid Vibration Suppression Function This function suppresses the vibration that is caused by the amount of the torsion between the motor and the load in the Fully-closed Control Mode. You can use this function to increase the gain setting.

  • Page 416: Feed-Forward Function

    11-11 Feed-forward Function 11-11 Feed-forward Function The feed-forward function come in 2 types: speed feed-forward and torque feed-forward. The speed feed-forward can minimize the position error and increase the responsiveness during position or fully-closed 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 417: Operating Procedure

    11-11 Feed-forward Function Operating Procedure Speed Feed-forward Operating Method 1. Set the Speed Feed-forward Command Filter (3111 hex). Set it to approx. 50 (0.5 ms). 2. 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 418 11-11 Feed-forward Function Torque Feed-forward Operating Method 1. Set the Inertia Ratio (3004 hex). Set the inertia ratio as correctly as possible. If the inertia ratio is calculated for the selected motor, input the calculated value. If the inertia ratio is not known, perform autotuning and set the inertia ratio. 2.

  • Page 419: Instantaneous Speed Observer Function

    11-12 Instantaneous Speed Observer Function 11-12 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 Internal torque Motor Effort...

  • Page 420: Operating Procedure

    11-12 Instantaneous Speed Observer Function Operating Procedure 1. Set the Inertia Ratio (3004 hex). Set the inertia ratio as correctly as possible. If the Inertia Ratio (3004 hex) is obtained in realtime auto gain tuning, use the set value. If the inertia ratio is calculated for the selected motor, input the calculated value. If the inertia ratio is not known, perform autotuning and set the inertia ratio.
  • Page 421 Troubleshooting and Maintenance This chapter describes the items to check when problems occur, troubleshooting using the error displays, troubleshooting based on the operating conditions, and periodic maintenance. 12-1 Troubleshooting ............12-1 12-2 Warnings ..............12-4 12-3 Errors ................12-7 12-4 Troubleshooting ............12-13 12-5 Periodic Maintenance..........12-31 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 422: Troubleshooting

    12-1 Troubleshooting 12-1 Troubleshooting 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. Checking the Power Supply Voltage Check the voltage at the power supply input terminals. Main Circuit Power Supply Input Terminals (L1, L2, L3) R88D-KN@L-ECT-R (50 to 400 W): Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz...

  • Page 423: Precautions When A Problem Occurs

    12-1 Troubleshooting 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, so always take the following precautions. You should assume that anything not described in this manual is not possible with this product. Precautions Disconnect the wiring before checking for cable breakage.
  • Page 424 12-1 Troubleshooting Replacing the Servo Drive 1. Take a record of all object settings. Use the CX-Drive or other software and take a record of the settings of all objects. 2. Replace the Servo Drive. 3. Set the objects. Use the CX-Drive or other software and set all of the objects. 4.
  • Page 425 12-2 Warnings 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 426 12-2 Warnings Warning List General Warnings Warning Output Warning Warning Warning name Warning condition Selection Mask Setting number (3440 hex, (3638 hex) 3441 hex) Overload The load ratio is 85% or more of the A0 hex Bit 7 Warning protection level. Excessive The regeneration load ratio is 85% or A1 hex...
  • Page 427 12-2 Warnings Warnings Related to EtherCAT Communications Warning Output Communications Warning Warning Selection Warning condition Control number name (3440 hex, (3800 hex) 3411 hex) Data Setting An object setting is out of range. B0 hex Bit 4 Warning Command Object operating conditions are not Warning satisfied.

  • Page 428: Errors

    12-3 Errors 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 Refer to Troubleshooting with Error Displays on page 12-13 for troubleshooting errors. Reset the error using one of the following methods.
  • Page 429 12-3 Errors Error List Error No. (hex) Attribute Error detection function Can be Immediate Main History reset stop Control Power Supply Undervoltage − √ − √ √ − Overvoltage Main Power Supply Undervoltage − √ − (insufficient voltage between P and N) Main Power Supply Undervoltage (AC cutoff −...
  • Page 430 12-3 Errors Error No. (hex) Attribute Error detection function Can be Immediate Main History reset stop Overrun Limit Error √ √ − Object Error − − − 0 to 2 Object Corrupted − − − 0 to 2 − √ −...
  • Page 431 12-3 Errors Error No. (hex) Attribute Error detection function Can be Immediate Main History reset stop √ − − Node Address Setting Error √ − − ESC Initialization Error √ − − SII Verification Error √ √ − Communications Setting Error √...

  • Page 432: Immediate Stop Operation At Errors

    12-3 Errors Immediate Stop Operation at Errors The immediate stop function controls the motor and stop it immediately if an error that supports for immediate stopping occurs. Related Objects Index Name Explanation Reference Fault reaction option Set the state during deceleration and after stopping 605E hex page 6-41 code...
  • Page 433 12-3 Errors Immediate Stop Operation Speed [r/min] Motor speed Speed command Speed deemed as stop [30 r/min] Time Error No error Error occurs for immediate stop Torque limit Normal torque limit Normal torque limit Immediate Stop Torque (3511 hex) (measure to reduce shock for immediate stops) Overspeed Normal operation Normal operation...

  • Page 434: Troubleshooting

    12-4 Troubleshooting 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. Troubleshooting with Error Displays Error List Error No. (hex) Name Cause Measures...
  • Page 435 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Main Circuit If the Undervoltage Error Selection (3508 Measure the voltage between the Power Sup- hex) is set to 1, a momentary power connector (L1, L2, and L3) lines. ply Undervolt- interruption occurred between L1 and L3 for longer than the value specified for the (Undervolt-...
  • Page 436 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Overcurrent The current flowing through the converter exceeded the specified value. • The Servo Drive is faulty (faulty circuit, • Disconnect the Servomotor cable, and faulty IGBT part, etc.). turn ON the servo. If the problem immediately recurs, replace the Servo Drive with a new one.
  • Page 437 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Overload When the feedback value for torque Check if torque (current) waveforms command exceeds the overload level oscillate or excessively oscillates specified in the Overload Detection Level vertically during analog output or Setting (3512 hex), overload protection is communications.
  • Page 438 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Encoder A disconnection was detected because Wire the encoder correctly as shown in the Communica- communications between the encoder wiring diagram. Correct the connector pin tions Discon- and the Servo Drive were stopped more connections.
  • Page 439 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Absolute The multi-rotation counter for the absolute • Check to see if the multi-rotation counter Value encoder was cleared during USB for the absolute encoder was cleared Cleared communications by the CX-Drive. during USB communications by the CX- Drive.
  • Page 440 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Interface There is a duplicate setting in the input Allocate the functions to the connector Input signal (IN1, IN2, IN3, and IN4) function pins correctly. Duplicate allocations. Allocation Error 1 Interface There is a duplicate setting in the input Input signal (IN5, IN6, IN7, and IN8) function...
  • Page 441 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Drive When the Drive Prohibition Input Check for any problems with the switches, Prohibition Selection (3504 hex) was set to 0, both the wires, and power supplies that are Input Error 1 Forward Drive Prohibition Input (POT) and connected to the Forward Drive the Reverse Drive Prohibition Input (NOT)
  • Page 442 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Encoder CS A logic error was detected in the CS signal Replace the Servomotor. Signal Error for serial incremental encoder. The encoder is faulty. External A disconnection was detected because Wire the external encoder correctly as Encoder communications between the external shown in the connection diagram.
  • Page 443 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Immediate An Immediate Stop (STOP) signal was Check the Immediate Stop (STOP) signal Stop Input entered. wiring. Error Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12-24. Encoder Data Initialization of internal position data was •...
  • Page 444 12-4 Troubleshooting Error No. (hex) Name Cause Measures Main Other errors • An error signal was detected due to • Turn OFF the power once, and turn it excess noise or some other problem. ON again. • An error was reset when safety input 1 •...
  • Page 445 12-4 Troubleshooting Troubleshooting Errors Related to EtherCAT Communications Error number Name Error timing Cause Measures Main EtherCAT Occurs A communications state change Check the specifications of the state change during command was received for communications state change error operation. which the current command for the host controller.

  • Page 446: Troubleshooting Using The Operation State

    12-4 Troubleshooting 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 447 12-4 Troubleshooting Symptom Probable cause Items to check Measures The servo locks but the The host controller does not For a position command, Enter position and speed Servomotor does not give a command. check to see if the speed and data.
  • Page 448 12-4 Troubleshooting Symptom Probable cause Items to check Measures The Servomotor rotates in The value set in the Rotation Check the set value of object Change the set value of the reverse direction from Direction Switching (3000 3000 hex. object 3000 hex. the command.
  • Page 449 12-4 Troubleshooting Symptom Probable cause Items to check Measures The Servomotor does not The load inertia is too large. • Check the load inertia. • Review the load inertia. stop or is hard to stop • Check the Servomotor • Replace the even if the servo is turned rotation speed.
  • Page 450 12-4 Troubleshooting Symptom Probable cause Items to check Measures The Servomotor or the The Position Loop Gain 1 Review the setting of object Use the CX-Drive or the load generates abnormal (3100 hex) is too large. 3100 hex. analog monitor to noise or vibration.
  • Page 451 12-4 Troubleshooting Symptom Probable cause Items to check Measures Vibration is occurring at Inductive noise is occurring. Check to see if the drive Shorten the control signal the same frequency as control signal lines are too lines. the power supply. long.

  • Page 452: Periodic Maintenance

    12-5 Periodic 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. Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly.

  • Page 453: Servo Drive Life Expectancy

    5 years is recommended. Upon request, OMRON will inspect the Servo Drive and Servomotor and determine if part replacement is required.

  • Page 454: Replacing The Absolute Encoder Battery

    12-5 Periodic Maintenance Replacing the Absolute Encoder Battery Replace the Absolute Encoder Backup Battery Unit if it has been used for more than 3 years or if an Absolute Encoder System Down Error (Error No. 40) has occurred. Replacement Battery Model and Specifications Item Specifications Name...
  • Page 455 12-5 Periodic Maintenance Battery Unit Mounting Method 1. Prepare the replacement Battery Unit (R88A-BAT01G). R88A-BAT01G 2. Remove the Battery Unit box cover. Raise the tabs and remove the cover. 3. Put the Battery Unit into the battery box. Insert the Battery Unit. Plug in the connector.
  • Page 457 Appendix The appendix provides a list of objects and EtherCAT terminology. A-1 Object List ..............A-1 A-2 EtherCAT Terminology..........A-19 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

  • Page 458: Object List

    A-1 Object List A-1 Object List 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. See below for the data attributes.
  • Page 459 A-1 Object List Corresponding Relevant Default setting Setting range Unit Pn number control modes − − − 0002 0192 hex − − − − − − R88D-KN@@@-ECT − − − − Contains a number − − − indicating the Servo Drive software version.
  • Page 460 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM − − − − Diagnosis history 0 hex Number of entries 1 byte (U8) Not possible. Not possible. 1 hex Maximum messages 1 byte (U8) Not possible. Not possible. 2 hex Newest message 1 byte (U8) Not possible.
  • Page 461 A-1 Object List Corresponding Relevant Default setting Setting range Unit Pn number control modes − − − − − − − − 13 hex − − 00 hex 00 to 0E hex − − 06 hex 06 to 13 hex −...
  • Page 462 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM − − − − Sync manager 2 PDO assignment 1C12 0 hex Number of assigned RxPDOs 1 byte (U8) Not possible. Not possible. 1 hex Assigned PDO 1 2 bytes (U16) Not possible.
  • Page 463 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes − − − − − − − − 01 hex − − − 1701 hex − − − − − − − − 01 hex −...
  • Page 464 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM 3101 hex 0 hex Speed Loop Gain 1 2 bytes (INT16) Not possible. Possible. 3102 hex 0 hex Speed Loop Integral Time Constant 1 2 bytes (INT16) Not possible.
  • Page 465 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes 180 / 270 1 to 32767 0.1 Hz Pn101 210 / 310 1 to 10000 0.1 ms Pn102 − 0 to 5 Pn103 84 / 126 0 to 2500 0.01 ms Pn104...
  • Page 466 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM 3204 hex 0 hex Notch 2 Frequency Setting 2 bytes (INT16) Not possible. Possible. 3205 hex 0 hex Notch 2 Width Setting 2 bytes (INT16) Not possible. Possible.
  • Page 467 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes 5000 50 to 5000 Pn204 − 0 to 20 Pn205 − 0 to 99 Pn206 5000 50 to 5000 Pn207 − 0 to 20 Pn208 −...
  • Page 468 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM 3407 hex 0 hex Input Signal Selection 8 4 bytes (INT32) Not possible. Possible. 3410 hex 0 hex Output Signal Selection 1 4 bytes (INT32) Not possible. Possible.
  • Page 469 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes − 002E 2E2E hex 0 to 00FF FFFF hex Pn407 − 0003 0303 hex 0 to 00FF FFFF hex Pn410 − 0002 0202 hex 0 to 00FF FFFF hex Pn411 0 to 21 Pn416...
  • Page 470 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM 3608 hex 0 hex Forward Direction Torque Offset 2 bytes (INT16) Not possible. Possible. 3609 hex 0 hex Reverse Direction Torque Offset 2 bytes (INT16) Not possible. Possible.
  • Page 471 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes -100 to 100 Pn608 -100 to 100 Pn609 − 0 to 127 Pn610 csp semi 50 to 100 Pn611 0 to 1000 Pn614 0 to 20000 r / min Pn615 0 to 100...
  • Page 472 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM 605C hex 0 hex Disable operation option code 2 bytes (INT16) Not possible. Possible. 605E hex 0 hex Fault reaction option code 2 bytes (INT16) Not possible. Possible.
  • Page 473 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes −5 to 0 − − −7 to 0 − − − − 0 to 10 − − 0 to 10 −2147483648 to 2147483647 − Command units Encoder units/external −2147483648 to 2147483647 −...
  • Page 474 A-1 Object List Data Saving to Index Name Size PDO map attribute EEPROM 60BA hex 0 hex Touch probe pos1 pos value 4 bytes (INT32) TxPDO Not possible. 60BC hex 0 hex Touch probe pos2 pos value 4 bytes (INT32) TxPDO Not possible.
  • Page 475 A-1 Object List Correspond- Relevant Default setting Setting range Unit ing Pn number control modes −2147483648 to 2147483647 − Command units −2147483648 to 2147483647 − Command units − 5000 0 to 5000 0.1% − 5000 0 to 5000 0.1% −536870912 to 536870912 −...

  • Page 476: Ethercat Terminology

    A-2 EtherCAT Terminology A-2 EtherCAT Terminology Use the following list of EtherCAT terms for reference. Abbrevia- Term Description tion − object Abstract representation of a particular 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 477 Index OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
  • Page 478 Index ....Numerics brake cables (global non-flexible cables) 2-16 ........... brake interlock 7-13 ......Brake Interlock Output (BKIR) 3-21 1,000-r/min Servomotors ..........brake power supply 4-32 ............ model table ......rotation speed characteristics 3-55 ..........Servo Drives 2-11 2,000-r/min Servomotors ............
  • Page 479 Index ............noise resistance 4-36 Forward External Torque Limit Input (PCL) 3-19 ........... encoder cable specifications 3-57 friction torque compensation function 11-26 ..........encoder cables (European flexible cables) 2-12 3-57 fully-closed control 6-12 ..........encoder cables (global flexible cables) 2-16 supported external encoders 6-14...
  • Page 480 Index ................Input Signal Selection 2 (3401 hex) 9-24 object list ....Input Signal Selection 3 (3402 hex) 9-24 ......... operational procedure 10-1 ....Input Signal Selection 4 (3403 hex) 9-24 ........ Origin Proximity Input (DEC) 3-18 ....Input Signal Selection 5 (3404 hex) 9-24 overload characteristics (electronic thermal function) 3-31 ....
  • Page 481 Index ............functions Disturbance Observer Filter Setting (3624 hex) 9-40 ........general specifications Disturbance Torque Compensation Gain ................... installation conditions (3623 hex) 9-40 ..........life expectancy 12-32 Electric Current Response Setting (3611 hex) 9-39 ..........model number Error Detection Allowable Time Setting (3614 hex) 9-39 ............
  • Page 482 Index ....Damping Filter 1 Setting (3215 hex) 9-18 ....Damping Filter 2 Setting (3217 hex) 9-18 ....Damping Filter 3 Setting (3219 hex) 9-19 ....Damping Filter 4 Setting (3221 hex) 9-19 ....Damping Filter Selection (3213 hex) 9-17 ....
  • Page 483 Buyer indemnifies Omron against all related costs or expenses. rights of another party. 10. Force Majeure. Omron shall not be liable for any delay or failure in delivery 16. Property; Confidentiality. Any intellectual property in the Products is the exclu-...
  • Page 484 OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br OMRON EUROPE B.V. • Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. • +31 (0) 23 568 13 00 • www.industrial.omron.eu Authorized Distributor: Controllers & I/O •...

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