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Omron Manuals
Controller
1S Series
User manual
Omron 1 S Series User Manual
With built-in ethercat communications and safety functionality
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Also See for 1 S Series
:
Startup manual
(103 pages)
,
Instruction manual
(89 pages)
,
Practices manual
(30 pages)
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Introduction
Manual Structure
Manual Configuration
Sections in this Manual
Table of Contents
Terms and Conditions Agreement
Safety Precautions
Items to Check after Unpacking
Related Manuals
Terminology
Revision History
Features and System Configuration
Outline
Features of 1S-Series Servo Drive Advance Type
Ethercat
Object Dictionary
System Configuration
Names and Functions
Servo Drive Part Names
Servo Drive Functions
Servomotor Part Names
Servomotor Functions
Shield Clamp Part Names
System Block Diagram
Applicable Standards
EU Directives
UL and Cul Standards
Korean Radio Regulations (KC)
Semi F47
Australian EMC Labeling Requirements (RCM)
EAC Requirements
Unit Versions
Confirmation Method
Unit Versions and Sysmac Studio Versions
Procedures to Start Operation
Overall Procedure
Procedure Details
Models and External Dimensions
Servo System Configuration
How to Read Model Numbers
Servo Drive
Servomotor
Integrated Cable
Decelerator
Model Tables
Servo Drive Model Table
Servomotor Model Tables
Servo Drive and Servomotor Combination Tables
Decelerator Model Tables
Servomotor and Decelerator Combination Tables
Table of Integrated Cables, Connectors, and Shield Clamps
External Regeneration Resistor and External Regeneration Resistance Unit Model Tables
Reactor Model Table
External and Mounting Dimensions
Servo Drive Dimensions
Servomotor Dimensions
Cable Outlet Direction of Integrated Connector
Cable Wiring Dimension for a Case of Servomotor Installing
Decelerator Dimensions
Dimensions of External Regeneration Resistors and External Regeneration Resistance Units
Reactor Dimensions
Specifications
Section 3 Specifications
Servo Drive Specifications
General Specifications
Characteristics
Ethercat Communications Specifications
Main Circuit and Motor Connections
Control I/O Connector (CN1) Specifications
Control Input Circuits
Control Input Details
Control Output Circuits
Control Output Details
Encoder Pulse Output Specifications
Safety Signal Connector (CN14) Specifications
Safe Brake Control Connector (CN15) Specifications
Brake Interlock Connector (CN12) Specifications
Encoder Connector (CN2) Specifications
Ethercat Communications Connector (RJ45) Specifications
USB Connector (CN7) Specifications
Power on Sequence
Overload Characteristics (Electronic Thermal Function)
Servomotor Specifications
General Specifications
Encoder Specifications
Characteristics
Decelerator Specifications
Cable and Connector Specifications
Integrated Cable Specifications
Combination of Integrated Cable and Extension Cable
Resistance to Bending of Integrated Cable
Ethercat Communications Cable Specifications
Specifications of External Regeneration Resistors and External Regeneration Resistance Units
General Specifications
Characteristics
Regeneration Resistance Units
External Regeneration Resistance Unit Specifications
Reactor Specifications
General Specifications
Characteristics
Terminal Block Specifications
Noise Filter Specifications
Installation Conditions
Servo Drive Installation Conditions
Servomotor Installation Conditions
Decelerator Installation Conditions
External Regeneration Resistance Unit Installation Conditions
External Regeneration Resistor and External Regeneration Resistance Unit Conditions
Wiring
Peripheral Equipment Connection Examples
Procedure for Wiring Connector-Type Terminal Blocks and for Mounting a Shield Clamp
Procedure for Attaching an Integrated Connector
Procedure for Change of Cable Outlet Direction for Integrated Cable
Wiring Conforming to EMC Directives
Peripheral Equipment Connection Examples
Selecting Connection Component
Regenerative Energy Absorption
Calculating the Regenerative Energy
Servo Drive Regeneration Absorption Capacity
Regenerative Energy Absorption by an External Regeneration Resistance Device
Connecting an External Regeneration Resistor
Adjustment for Large Load Inertia
Ethercat Communications
Display Area and Settings
Node Address Setting
Status Indicators
Structure of the CAN Application Protocol over Ethercat
Ethercat State Machine
Process Data Objects (Pdos)
PDO Mapping Settings
Sync Manager PDO Assignment Settings
Fixed PDO Mapping
Variable PDO Mapping
Safety PDO Mapping
Sync Manager PDO Mapping Assignment Settings
Service Data Objects (Sdos)
Synchronization Mode and Communications Cycle
Distributed Clock (DC) Mode
Free-Run Mode
Emergency Messages
Sysmac Device Features
Basic Control Functions
Outline of Control Functions
Basic Control and Control Methods
Control Method
Control Blocks
Block Diagram for Position Control
Block Diagram for Velocity Control
Block Diagram for Torque Control
Cyclic Synchronous Position Mode
Cyclic Synchronous Velocity Mode
Cyclic Synchronous Torque Mode
Profile Position Mode
Profile Velocity Mode
Homing Mode
Connecting with OMRON Controllers
Applied Functions
Section 7 Applied Functions
General-Purpose Input Signals
Objects Requiring Settings
Default Setting
Function Input Details
General-Purpose Output Signals
Objects Requiring Settings
Default Setting
Function Output Details
Drive Prohibition Functions
Objects Requiring Settings
Description of Operation
Software Position Limit Functions
Operating Conditions
Objects Requiring Settings
Description of Operation
Backlash Compensation
Operating Conditions
Objects Requiring Settings
Description of Operation
Brake Interlock
Objects Requiring Settings
Description of Operation
Operation Timing
Electronic Gear Function
Objects Requiring Settings
Operation Example
Torque Limit Switching
Operating Conditions
Objects Requiring Settings
Torque Limit Switching Method
Soft Start
Objects Requiring Settings
Soft Start Acceleration/Deceleration Time
Velocity Command First-Order Lag Filter
Gain Switching Function
Objects Requiring Settings
Mode Selection
Gain Switching in Position Control
Touch Probe Function (Latch Function)
Related Objects
Trigger Signal Settings
Operation Sequence
Encoder Dividing Pulse Output Function
Objects Requiring Settings
Dividing Ratio
Output Reverse Selection
Z-Phase Output
Dynamic Brake
Operating Conditions
Objects Requiring Settings
Description of Operation
Safety Function
Outline of Safety Functions
Description of Safety Functions
Configuration for Safety System
Network Connection and Settings
Operating Procedure for Safety Function
Safety Reaction Time for Safety Distance
Data Necessary for Designing Programs of each Controller
Pfh
Position/Velocity Data Monitored by Safety Functions
Precaution on Use
Procedure for Reset of Safety Error
Safety Program
Safe Torque off (STO) Function
STO Function Via Safety Input Signals
STO Function Via Ethercat Communications
STO with SBC Functions Via Ethercat Communications
Safe Stop 1 (SS1) Function
Objects Requiring Settings
Operation Procedure
Operation Timing
Example of Safety Program
Concurrent Use of SS1 Function and SBC Function
Safe Stop 2 (SS2) Function
Objects Requiring Settings
Operation Procedure
Operation Timing
Example of Safety Program
Safe Operating Stop (SOS) Function
Objects Requiring Settings
Operation Procedure
Operation Timing
Example of Safety Program
Safely-Limited Speed (SLS) Function
Objects Requiring Settings
Operation Procedure
Operation Timing
Example of Safety Program
Safely-Limited Position (SLP) Function
Configuration Example for SLP System
Objects Requiring Settings
Operation Procedure
Operation Timing
Example of Safety Program
Setting of Safety Origin Position
Safe Direction (SDI) Function
Objects Requiring Settings
Operation Procedure
Operation Timing
Example of Safety Program
Safe Brake Control (SBC) Function
Configuration Method for SBC
Required Settings for Objects
Operation Procedure
Connection Method
Connection Examples
Operation Timing
SBC Power Monitor
Safety Relay Stuck Error Detection
Safety Position/Velocity Validation Monitoring Function
Details about Validation Monitoring
Objects Requiring Settings
Operation Procedure
Operation Timing
Details on Servo Parameters
Section 9 Details on Servo Parameters
Object Description Format
Common Control Objects
3001 Hex: Machine
3002 Hex: Optimized Parameters
3011 Hex: Position Command Filter
3012 Hex: Damping Control
3014 Hex: Damping Filter 2
3020 Hex: Velocity Command
3021 Hex: Velocity Command Filter
3030 Hex: Torque Command
3031 Hex: Velocity Limit in Torque Control
3040 Hex: Profile Command
3041 Hex: Command Dividing Function
Control Method Objects
3112 Hex: ODF Velocity Feed-Forward
3113 Hex: ODF Torque Feed-Forward
3120 Hex: TDF Position Control
3121 Hex: TDF Velocity Control
Control Loop Objects
3210 Hex: Internal Position Command
3211 Hex: Position Detection
3212 Hex: Gain Switching in Position Control
3213 Hex: 1St Position Control Gain
3214 Hex: 2Nd Position Control Gain
3220 Hex: Internal Velocity Command
3221 Hex: Velocity Detection
3222 Hex: Gain Switching in Velocity Control
3223 Hex: 1St Velocity Control Gain
3224 Hex: 2Nd Velocity Control Gain
3230 Hex: Internal Torque Command
3231 Hex: Torque Detection
3232 Hex: Filter Switching in Torque Control
3233 Hex: 1St Torque Command Filter
3234 Hex: 2Nd Torque Command Filter
Torque Output Setting Objects
3320 Hex: Adaptive Notch Filter
3330 Hex: Torque Limit
Homing Objects
Applied Function Objects
3B10 Hex: Drive Prohibition
3B11 Hex: Software Position Limit
3B20 Hex: Stop Selection
3B50 Hex: Position Detection Function
3B51 Hex: Positioning Completion Notification
3B52 Hex: Positioning Completion Notification 2
3B60 Hex: Speed Detection Function
3B70 Hex: Vibration Detection
3B71 Hex: Runaway Detection
3B80 Hex: Load Characteristic Estimation
Error- and Warning-Related Objects
4000 Hex: Error Full Code
4021 Hex: Warning Output 1 Setting
4030 Hex: Information Customization
Monitoring-Related Objects
4110 Hex: Monitor Data Via PDO
4120 Hex: Ethercat Communications Error Count
4130 Hex: Safety Status Monitor
4150 Hex: Overload
Display-Related Objects
Power Device-Related Objects
4310 Hex: Regeneration
External Device-Related Objects
Encoder-Related Objects
9-14 I/O-Related Objects
4602 Hex: Function Output
4604 Hex: Control Input Change Count
4610 Hex: Brake Interlock Output
4620 Hex: Encoder Dividing Pulse Output
General-Purpose Input Setting Objects
Setting
4630 Hex: Positive Drive Prohibition Input
4631 Hex: Negative Drive Prohibition Input
4632 Hex: External Latch Input 1
4633 Hex: External Latch Input 2
4634 Hex: Home Proximity Input
4635 Hex: Positive Torque Limit Input
4636 Hex: Negative Torque Limit Input
4637 Hex: Error Stop Input
4638 Hex: Monitor Input 1
4639 Hex: Monitor Input 2
Hex: Monitor Input 3
Hex: Monitor Input 4
Hex: Monitor Input 5
Hex: Monitor Input 6
Hex: Monitor Input 7
Hex: Monitor Input 8
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AC Servomotors/Servo Drives
1S-series with Built-in
EtherCAT
Communications and
®
Safety Functionality
User's Manual
R88M-1AL/-1AM (AC Servomotors)
R88D-1SAN-ECT (AC Servo Drives)
I621-E1-01
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Table of Contents
Troubleshooting
Troubleshooting
679
Troubleshooting
693
Troubleshooting Using Error Displays
694
Troubleshooting Using AL Status Codes
719
Troubleshooting Using the Operation State
722
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This manual is also suitable for:
R88m-1am series
R88m-1al series
R88d-1san-ect series
R88d-1san02h-ect
R88d-1san04h-ect
R88d-1san08h-ect
...
Show all
R88d-1san15h-ect
R88d-1san10h-ect
R88d-1san20h-ect
R88d-1san30h-ect
R88d-1san10f-ect
R88d-1san15f-ect
R88d-1san20f-ect
R88d-1san30f-ect
R88m-1am20030t
R88m-1am20030t-s2
R88m-1am20030t-o
R88m-1am20030t-os2
R88m-1am40030t
R88m-1am40030t-s2
R88m-1am40030t-o
R88m-1am40030t-os2
R88m-1am75030t
R88m-1am75030t-s2
R88m-1am75030t-o
R88m-1am75030t-os2
R88m-1al1k030t
R88m-1al1k030t-s2
R88m-1al1k030t-o
R88m-1al1k030t-os2
R88m-1al1k530t
R88m-1al1k530t-s2
R88m-1al1k530t-o
R88m-1al1k530t-os2
R88m-1al2k030t
R88m-1al2k030t-s2
R88m-1al2k030t-o
R88m-1al2k030t-os2
R88m-1al2k630t
R88m-1al2k630t-s2
R88m-1al2k630t-o
R88m-1al2k630t-os2
R88m-1al75030c
R88m-1al75030c-s2
R88m-1al75030c-o
R88m-1al75030c-os2
R88m-1al1k030c
R88m-1al1k030c-s2
R88m-1al1k030c-o
R88m-1al1k030c-os2
R88m-1al1k530c
R88m-1al1k530c-s2
R88m-1al1k530c-o
R88m-1al1k530c-os2
R88m-1al2k030c
R88m-1al2k030c-s2
R88m-1al2k030c-o
R88m-1al2k030c-os2
R88m-1al3k030c
R88m-1al3k030c-s2
R88m-1al3k030c-o
R88m-1al3k030c-os2
R88m-1am20030t-b
R88m-1am20030t-bs2
R88m-1am20030t-bo
R88m-1am20030t-bos2
R88m-1am40030t-b
R88m-1am40030t-bs2
R88m-1am40030t-bo
R88m-1am40030t-bos2
R88m-1am75030t-b
R88m-1am75030t-bs2
R88m-1am75030t-bos2
R88m-1al1k030t-b
R88m-1al1k030t-bs2
R88m-1al1k030t-bo
R88m-1al1k030t-bos2
R88m-1al1k530t-b
R88m-1al1k530t-bs2
R88m-1al1k530t-bo
R88m-1al1k530t-bos2
R88m-1al2k030t-b
R88m-1al2k030t-bs2
R88m-1al2k030t-bo
R88m-1al2k030t-bos2
R88m-1al2k630t-b
R88m-1al2k630t-bs2
R88m-1al2k630t-bo
R88m-1al2k630t-bos2
R88m-1al75030c-bs2
R88m-1al75030c-bo
R88m-1al75030c-bos2
R88m-1al1k030c-b
R88m-1al1k030c-bs2
R88m-1al1k030c-bo
R88m-1al1k030c-bos2
R88m-1al1k530c-b
R88m-1al1k530c-bs2
R88m-1al1k530c-bo
R88m-1al1k530c-bos2
R88m-1al2k030c-b
R88m-1al2k030c-bs2
R88m-1al2k030c-bo
R88m-1al2k030c-bos2
R88m-1al3k030c-b
R88m-1al3k030c-bs2
R88m-1al3k030c-bo
R88m-1al3k030c-bos2
R88m-1am1k515t
R88m-1am1k515t-s2
R88m-1am1k515t-o
R88m-1am1k515t-os2
R88m-1am2k715t
R88m-1am2k715t-s2
R88m-1am2k715t-o
R88m-1am2k715t-os2
R88m-1am1k515c
R88m-1am1k515c-s2
R88m-1am1k515c-o
R88m-1am1k515c-os2
R88m-1am3k015c
R88m-1am3k015c-s2
R88m-1am3k015c-o
R88m-1am3k015c-os2
R88m-1am1k515t-b
R88m-1am1k515t-bs2
R88m-1am1k515t-bo
R88m-1am1k515t-bos2
R88m-1am2k715t-b
R88m-1am2k715t-bs2
R88m-1am2k715t-bo
R88m-1am2k715t-bos2
R88m-1am1k515c-b
R88m-1am1k515c-bs2
R88m-1am1k515c-bo
R88m-1am1k515c-bos2
R88m-1am3k015c-b
R88m-1am3k015c-bs2
R88m-1am3k015c-bo
R88m-1am3k015c-bos2
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