Omron 1S Series Startup Manual

Ac servo system ss1/sls safety sub-functions

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AC Servo System 1S-series SS1/SLS Safety Sub-Functions

Startup Guide

R88M-1L[]/-1M[] (AC Servomotors)

R88D-1SN[]-ECT-51 (AC Servo Drives)

NJ/NX-series CPU Unit

NX-series Safety Unit

Sysmac Studio

I926-E1-01

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Summary of Contents for Omron 1S Series

Page 1 AC Servo System 1S-series SS1/SLS Safety Sub-Functions Startup Guide R88M-1L[]/-1M[] (AC Servomotors) R88D-1SN[]-ECT-51 (AC Servo Drives) NJ/NX-series CPU Unit NX-series Safety Unit Sysmac Studio I926-E1-01...
Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual.
Page 3 Introduction The Servo System 1S-Series Servo Drive with Built-in EtherCAT Communications and SS1/SLS Safety Sub-Functions Startup Guide (hereinafter, may be referred to as “this Guide”) describes the procedures for installation and setup of a 1S-Series Servo Drive wtih Built-in EtherCAT Communications and SS1/SLS Safety Sub-Functions (hereinafter, may be referred to as 1S-Series Servo Drive with SS1/SLS Safety Sub-Functions), where an NJ/NX-series CPU Unit is used in combination with1S-series AC Servomotors/Servo Drives with SS1/SLS Safety Sub-Functions and NX-series Safety Unit, by using the Sysmac Studio.
Page 4 Special Information The icons that are used in this Guide are described below. Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required. This information is provided to increase understanding or make operation easier.
Page 5 Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product;...
Page 6 It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Page 7 When building a system, check the specifications for all devices and equipment that will make • up the system and make sure that the OMRON products are used well within their rated specifications and performances. Safety measures, such as safety circuits, must be implemented in order to minimize the risks in the event of a malfunction.
Page 8 Related Manuals The following manuals are related. Use these manuals for reference. Manual name Cat. Model Application Description 1S-series AC I696 R88D-1S□-ECT- Learning detailed Describes how to install and Servomotors/Servo specifications of a 1S- wire the Servo Drive, set Drives with Built-in R88M-1□...
Page 9 Describes the motion control Control Instructions NX502-1□00 specifications of the instructions. Reference Manual NX102-□□□□ motion control NX1P2-□□□□ instructions that are NJ501-□□□□ provided by OMRON. NJ301-□□□□ NJ101-□□□□ NJ/NX-series W503 NX701-□□□□ Learning about the Describes concepts on Troubleshooting NX502-1□00 errors that may be...
Page 10 Manual name Cat. Model Application Description NX-series Safety Z930 NX-SL□□□□ Learning how to use Describe the hardware, setup Control Units User’s NX-SI□□□□ the NX-series Safety methods and functions of the Manual NX-SO□□□□ Control Units. NX-series Safety Control Units. NJ/NX-series CPU W501 NX701-□□□□...
Page 11 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. I926-E1-01 Cat. No. Revision code Revision code Date Revised content July 2024 Original production...
Page 12 CONTENTS Introduction ······························································································· 3 Intended Audience ....................3 Applicable Products ....................3 Special Information ....................4 Terms and Conditions Agreement··································································· 5 Precautions ······························································································· 7 Trademarks ......................7 Software Licenses and Copyrights ................7 Related Manuals ························································································ 8 Revision History ························································································ 11 Servo system configuration and peripheral products ··································...
Page 13 1. Servo system configuration and peripheral products 1.1. Outline The 1S-series AC Servo Drives with Built-in EtherCAT communications and SS1/SLS Safety Sub- Functions support 100-Mbps EtherCAT. When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit or CJ1W-NC EtherCAT-compatible Position Control Unit, you can construct a high-speed and □...
Page 14 1.2. Servo System constructed in this guide This Guide contains instructions from assembling the hardware that makes up a servo system to constructing a system for safety functions and performing debugging on the system. The servo system is built through the following steps: ...
Page 15 1.3. System configuration The following figure shows the system configuration and devices that are used in this Guide. The system configuration is shown in the following figure. Error clear button Safety Key Selector Switch NJ-series NJ501 CPU Unit Safety-door Switch Emergency Stop Pushbutton Switch Safety reset button...
Page 16 AC Servo Drive R88D-1SN[]-51 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications AC Servomotor R88M-1[] and SS1/SLS Safety Sub-Functions Power cables R88A-CA[] User's Manual (I696) Encoder Cables R88A-CR[] Error clear button A3[] Safety Key Selector Switch A22TK[] Safety-door Switch D4NS[] Emergency Stop Pushbutton Switch A22[] Automation Software...
Page 17 2. Before You Begin ■ Unpack Drive/Motor Unpack motor package. The package includes only motor and instruction sheet. Cables are provided separately. Unpack drive package. This product comes with the following accessories. • INSTRUCTION MANUAL × 1 copy • INSTRUCTION MANUAL（supplementation） × 1 copy •...
Page 18 3. Performing setup This section explains from assembling the hardware that makes up the servo system to adding the STO function via FSoE and creating a motor control program. The next section 4. Adding a Safety Function describes how to add safety functions other than the STO function. The operation of the servo system set up in this section is explained below.
Page 19 Input device State Operation 1. Error clear button Enable error reset command Disable error reset command Normal Run Servomotor at normal speed. 2. Safety Key Selector operating mode Switch Safety active Enable the assigned Safety Sub-Function. ※Used in Chapter 4. mode ※Assignment procedure is described in chapter 4.
Page 20 3.1. Installation and Wiring This section describes installation and wiring using the R88D-1SN01L-ECT-51. For further about Installation and Wiring other than R88D-1SN01L-ECT-51, please refer to AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications and SS1/SLS Safety Sub-Functions User's Manual (Cat. No. I696) Chapter 4 Configuration and Wiring. ■...
Page 21 ■ Servo driver installation In case of using the shield clamp, please fixe it in advance with the existing screw Approach the drive from top to down. Tight the upper part. Tight the down part.
Page 22 ■ Motor installation (step 2, 3 order depends on your mechanical implementation) Please handle the motor carefully & do not apply heavy impacts or loads during transport, installation, or removal of the motor. Please fixe and connect the motor to the mechanical system Note: At first, please check motor operation without any load.
Page 23 ■ Wiring Overview Please remove power connector (CNA) from the drive. Please wire the 24V control power supply. (stripped wires or ferrules can be used) Please connect wires with the spring opener. Please wire the AC power supply. Please remove the motor connector (CNC) from the drive.
Page 24 Please wire U, V, W of the motor. (stripped wires) Please screw the PE wire of the main power to the drive. Please plug back above connectors to the drive. (Power and Motor) Please fixe the FG wire from the motor cable to the drive In case of using the shield clamp, please attach the cable to the clamp in order to connect the shielded section.
Page 25 ■ I/0, Safety Wiring By default, STO function is inhibited and bypassed with jumpers In case of using STO by hardwire, Please make the proper wiring between the safety controller and the drive Servo Drive...
Page 26 In case of using STO by hardwire for multiple servo drives, please make the proper wiring between the safety controller and drives. Servo Drive 2 Servo Drive 1 Note: When G9SP-series safety controller is used, you can connect up to four 1S-series Servo Drives...
Page 27 When general I/Os are required, please make the proper wiring. Here is an example of latch input 1: Servo Drive connector view: Additional Information For further details about wiring method, please refer to AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications and SS1/SLS Safety Sub-Functions User's Manual (Cat.
Page 28 3.2. System configuration with NJ and NX safety controller ■ EtherCAT node address configuration Please configure the EtherCAT node address of the drive to 1. Note: You can configure the node address depending on your application In case of using NX safety, please configure the node address of the NX coupler to 2. Note: You can configure the node address depending on your application Please connect EtherCAT cables to devices CN10 EtherCAT IN: EtherCAT cable from NJ EtherCAT Master...
Page 29 3.3. Sysmac Studio project creation 3.3.1. Creating a Network Configuration Select the NJ501-1500 Controller from the list. Note: When using the motor sizing tool results file, refer to the Adding a Servo Drive and Axis from Motor Sizing Tool Results under Appendices. Double-click EtherCAT under Configurations and Setup in the Multiview Explorer.
Page 30 Change the device name of the Servo Drive to E_Axis0. Select the Servo Drive and select Edit PDO Mapping Settings. Note1: If you want to edit the PDO mapping, please take it offline in advance. Select a safety input/output. (17th ）...
Page 31 Additional Information If the physical EtherCAT network configuration is already connected, you can automatically create the virtual network configuration on the Sysmac Studio from the physical network configuration. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the procedure.
Page 32 Right-click Axis0 (axis 0) in the Multiview Explorer and select Edit from the menu. The Axis Basic Settings view is displayed on the Axis Parameter Settings Tab Page in the Edit Pane. Select Servo axis for the Axis type setting. Select the Servo Drive to use for the Output device 1 setting.
Page 33 Set the parameters on the Axis Parameter Settings Tab Page. The following figure shows the axis parameters for the unit conversion settings. Unit of display: pulse Command pulse count per motor rotation: 8,388,608 pulse/rev Work travel distance per motor rotation: 8,388,608 pulse/rev Operation Settings Maximum velocity:...
Page 34 3.3.3. Setting the Network Configuration Double-click NX-ECC203. Drag a system unit device to the location where you want to add it in the CPU and Expansion Racks Tab Page. In this example, drag the NX-PF0630 Additional I/O Power Supply Unit. Drag a safety CPU device to the location where you want to add it in the CPU and Expansion Racks Tab Page.
Page 35 Drag a safety digital input device to the location where you want to add it in the CPU and Expansion Racks Tab Page. In this example, drag the NX-SID800 Safety Input Unit. Drag a digital input device to the location where you want to add it in the CPU and Expansion Racks Tab Page.
Page 36 3.3.4. Setting to Transfer Data from the Standard Controller to the Safety Controller Select new_SafetyCPU0 from the list. Double-click Exposed Variables. Add the ErrorClearFromNX BOOL variable to Input (Input to the Safety CPU Unit). Select new_Controller_0 from the list. Open the I/O Map and create device variables. Port Variable name ErrorClearFromNX...
Page 37 3.3.5. Setting the Safety Controller This section describes how to set safety input devices. Select new_SafetyCPU0 from the list. Double-click Parameters. Drag a Safety-door Switch to the desired I/O terminal. Drag two safety key selector switches for single channel to the desired I/O terminals. Note1: Used in Chapter 4.
Page 38 Drag an emergency stop pushbutton switch to the desired I/O terminal. Drag a reset switch to the desired I/O terminal. Double-click I/O Map. Create device variables for the safety input devices. Port Variable name Si00 Logical Value SI_DoorSwitch Si02 Logical Value SI_KeySelectorSwitch1 Si03 Logical Value SI_KeySelectorSwitch2...
Page 39 Double-click SRA Parameters. Deactivate safety functions except for the STO function. Clear the selections of the Active Check Boxes for SS1 instance1 to deactivate the unused safety functions.
Page 40 3.3.6. Creating a Safety Program Create a safety program by following the steps below: 1. Create device variables. 2. Create a safety program using the Automatic Programming function. 3. Modify the created safety program. 1. Create device variables. Select new_SafetyCPU0 from the list and double-click I/O Map. Create device variables.
Page 41 2. Create a safety program using the Automatic Programming function. Click Automatic Programming from the Insert Menu. Set the reset signal to SI_ResetSignal in the Basic Settings Field. Set SI_E-Stop and SI_DoorSwitch in the Input Settings Field. Set E_Axis0_STO in the Output Settings Field. Set the Use EDM Column to TRUE.
Page 42 Double-click AutoProgram1. The program shown below appears. Add the code to assign ErrorClearFromNX to the ResetSignalFromNX local variable.
Page 43 Add the following code. This is used to enable the function block that uses safety functions of the Servo Drive. Set the input parameter to the Activate input variable to N3_Safety_Connection_Status in the SF_GuardMonitoring function block. When the FSoE communications are established for the NX-SID800 Safety Input Unit, this function block is enabled.
Page 44 Set the input parameter to the Activate input variable to E_Axis0_Status and the input parameter to the Reset input variable to SI_ResetSignal_Out and the input parameter to the S_EDM1/S_EDM2 input variable to E_Axis0_STO_Active in the SF_EDM function block When the FSoE communications are established between the safety controller and Servo Drive and there is no error of safety functions in the Servo Drive, this function block is enabled.
Page 45 Check that the created program is the same as shown below.
Page 46 Delete Program0. Connect to the standard controller. Change the connection method. Test the connection. Confirm that Test OK is displayed and connect to the standard controller. Transfer to the standard controller. Click the Synchronization Button to synchronize with the standard controller. Transfer to the standard controller.
Page 47 Download the safety application. Select new_SafetyCPU0 from the list. Click the PROGRAM Mode Button to switch to PROGRAM mode. Click the DEBUG Mode Button to enter DEBUG mode. Click the Start Debugging Button to start DEBUG mode. Click the Safety Validation Button. The safety application is now ready to run.
Page 48 The FSoE communications are now established. The FS indicator is lit in green.
Page 49 3.3.7. Checking Operation of the STO Function  Checking operation of the STO function using the Emergency Stop Pushbutton Switch Press the safety rest button. Press the Emergency Stop Pushbutton Switch. Check that the 7-segment LED display shows ‘st’. Release the Emergency Stop Pushbutton Switch and press the safety rest button. Check that STO is released and the 7-segment LED display shows ‘--’.
Page 50  Checking operation of STO function using Safety-door Switch Press the safety rest button. Open the guard with the Safety-door Switch. Check that the 7-segment LED display shows ‘st’. Close the guard and press the safety reset switch. Check that STO is released and the 7-segment LED display shows ‘--’.
Page 51 Only if you are using a motor with absolute encoder, Selects the operating method for the absolute encoder. Absolute encoder can be used as an incremental encoder if needed. When the OMRON Controller is used, it is recommended to keep the default value ‘Use as absolute...
Page 52 Set up the absolute encoder (if required). Use this function when clearing the multiple rotation data or when replacing a Servomotor in the actual machine. Resetting multiple rotation data Click the Clear system Button. The following message appears: Restart the drive to complete the operation. Click the Yes Button.
Page 53 Select the motor rotation direction and transfer the settings to the Servo Drive. Perform a test run to check the behavior of the Servomotor. Click the Apply Button in the Test Run tab page and then click the Servo ON Button to start the test run.
Page 54 Set input signals and transfer the settings to the Servo Drive. Perform a test run to confirm that the settings are correct. The Error Stop Input (ESTP) is ON by default. Turn it OFF as follows if necessary. When ESTP is ON, the Error No. 87.00 is displayed on the Servo Drive. Set output signals if necessary and transfer the settings to the Servo Drive.
Page 55 3.5. Gain tuning The 1S series provides two auto-tuning functions. For details on the procedures, refer to Easy Tuning and Advanced Auto-Tuning respectively. 3.5.1. Easy Tuning This function adjusts the gain automatically while the Servomotor is actually operated based on commands from the Controller or operation conditions that are set on the Sysmac Studio.
Page 56 4. Profile and Criteria Set the motion profile generator. 5. Set the criteria for finishing auto tuning. Click the Next Button. When you select Manual for stabilization time, gain will be increased gradually until  the stabilization time reaches the specified time. Specify the following error for the position window to determine that the positioning is completed.
Page 57 6. Click the Start Button. Be careful because the Servomotor will start running. Easy Tuning has been completed. Click the Next Button. 7. Click the Start Trace Button. The Servomotor will run, and the traced data will be displayed in the graph area. Click the Next Button.
Page 58 8. Check the tuning results of the gain parameters. Click the Save to EEPROM Button to save the gain parameters. Click the Finish Button.
Page 59 3.5.2. Advanced Auto-Tuning This function uses FFT measurement data-based simulation to adjust the gain and filter settings automatically. Repeating actual Servomotor operation is not necessary, and a fine adjustment is possible in a short period of time.  How to Perform Advanced Auto-Tuning Over view Below example explain the way to tune a 1S servo drive and motor with Advanced...
Page 60 Configuration (Wizard Step 1) Please select your control mode Please estimate the load characteristics by pushing start (the motor will move) If Easy Tuning has been performed already, please select “use present setting” Load characteristics have been updated Click Next Advanced Auto-Tuning (Wizard Step 2) Set the tuning finish criteria and the tuning level.
Page 61 Advanced Auto-Tuning has been completed. Click Next Frequency response simulation (Wizard Step 3) The Advanced Auto-Tuning results will be displayed in Bode diagrams. Check the result. If you are satisfied with it, proceed to step 12 (Wizard step 5). If you need more tuning, perform step 6.
Page 62 Adjust gain and simulate Adjust the gain to a proper value and push “refresh simulation” FROM Pink curve is the measured value Red curve is the simulated value...
Page 63 Adjust notch filters and simulate After increasing gains, the gain simulation shows a peak near 0dB. This peak shows a resonance frequency: Activate the cursor to measure the frequency Activate the 1 notch filter to remove this resonance frequency at 2411 Hz:...
Page 64 Increase gain with Maps and simulate After activating the notch filter, gain can be increased and performance improved FROM Before notch filter adjustment Click Next Time response simulation (Wizard step 4) In time response simulation, the motion profile can be simulated. Please push “Simulate Motion Profile”...
Page 65 If your application required a small tracking error, here is an example of position following gain adjustment: FROM Following error has been reduced. When satisfied with the simulation result, please transfer parameters to the drive Click Next Check behavior (Wizard step 5) Push start trace (the motor will move following the previous configuration in Wizard step 3) (motion profile in Wizard step 3)
Page 66 If satisfied, please click next...
Page 67 Results (Wizard step 6) Save to EEPROM Finish...
Page 68 3.6. Creating a Motor Control Program  Creating a Standard Program Open the I/O Map and create a device variable. Port Variable name STO command active for R88D-1SN01L- E_Axis0_STO_command_active ECT-51 Create the following code: 1. The Servo is turned ON or OFF. 2.
Page 69 6. When the Servo Drive goes into the STO state, the Servo ON command and the motor start command are turned OFF. Transfer to the standard controller. Click the Transfer To Controller Button. Transfer to the standard controller.
Page 70  Checking Operation Press the safety rest button. Double-click Section0 to display the section. Right-click CmdSrvOn and select Set/Reset − Set. Check that the 7-segment LED display shows ‘oE.’. Right-click CmdVelStart and select Set/Reset − Set. Check that the Servomotor rotates at about 1200 r/min.
Page 71 Press the Emergency Stop Pushbutton Switch. Check that the 7-segment LED display shows ‘st’. Release the Emergency Stop Pushbutton Switch and press the safety rest button. Check that STO is released and the 7-segment LED display shows ‘--’.
Page 72 4. Adding a Safety Function This section describes how to add a safety function to the servo system built in 3. Performing setup. Refer to the section of the safety function to add. 4.1. Adding the Safe Stop 1 (SS1) Function This section describes how to add the SS1 function to the project created in 3.
Page 73 Input device State Operation 1. Error clear button Enable error reset command Disable error reset command 2. Safety Key Selector Normal Run Servomotor at normal velocity. Switch operating mode Safety active Make Servomotor decelerate to a stop and activate STO mode function using SS1 function.
Page 74 4.1.1. Setting the Safety Controller Select new_SafetyCPU0 from the list. Double-click SRA Parameters and click the Safety Function Assignment Settings Button. Check the No. 1 checkbox and assign ‘SS1 instance1’ to No. 8. Click the Button to display the SS1 Detailed Settings view. You can also use the Button to display the SS1 Detailed Settings view.
Page 75 Set SS1 parameters. In this guide, set them as follows. Name Value Unit SS1 time to STO 1 1500 Open the I/O Map and create device variables. Port Variable name SS1 command1 Active for R88D-1SN01L- E_Axis0_SS1_command1_Active ECT-51 SS1 command1 for R88D-1SN01L-ECT-51 E_Axis0_SS1_command1 Create a safety program.
Page 76 Set the input to the STO function here.
Page 77 4.1.2. Setting the Standard Controller Select new_Controller_0 from the list. Double-click I/O Map. Create device variables. Port Variable name SS1 command1 for R88D-1SN01L-ECT-51 E_Axis0_SS1_command_1 SS1 command1 active for R88D-1SN01L- E_Axis0_SS1_command_1_active ECT-51...
Page 78 Create code for the standard program. Add the code to change the command velocity. • When the SS1 function is active, reduce the command velocity to 0 r/min. When the SS1 function is active, reduce the command velocity to 0 [r/min] (0% of command velocity).
Page 79 Transfer to the standard controller. Select new_Controller_0 from the list. Connect to the standard controller. Click the Synchronization Button to synchronize with the standard controller. Transfer to the standard controller.
Page 80 Download the safety application. Select new_SafetyCPU0 from the list. Click the PROGRAM Mode Button to switch to PROGRAM mode. Click the DEBUG Mode Button to enter DEBUG mode. Click the Start Debugging Button to start DEBUG mode. Click the Safety Validation Button. Click the OK Button.
Page 81 4.1.3. Checking Operation of the SBC Function Interlocked with the SS1 Function Check that the Safety Key Selector Switch is in normal operating mode. Press the safety reset button. Double-click Section0 to display the section. Right-click CmdSrvOn and select Set/Reset – Set. Check that the 7-segment LED display shows ‘oE.’.
Page 82 Operate the Safety Key Selector Switch to switch to safety active mode. The Servomotor decelerates to a stop and the Servo Drive goes into STO state. Check that the brake is applied. (Make sure that no SBC stuck-at-high error is detected.) Check that the 7-segment LED display shows ‘st’.
Page 83 4.2. Adding the Safely-limited Speed (SLS) Function This section describes how to add the SLS function to the project created in 3. Performing setup. The operation of the servo system set up in this section is explained below. When the error clear button is pressed, the errors of the standard controller and Servo Drive are reset.
Page 84 Input device State Operation 1. Error clear button Enable error reset command Disable error reset command 2. Safety Normal Run Servomotor at 1200 [r/min] and deactivate SLS function. Selector Switch operating mode Safety active Run Servomotor at 300 [r/min] and activate SLS function. mode When velocity exceeds SLS velocity limit, Servo Drive goes into STO state and Excessive Limit Value Error occurs.
Page 85 Precautions for Correct Use While using the SLS function, errors may occur during normal operation depending on the operating conditions and operating environment. For further details, please refer to AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications and SS1/SLS Safety Sub-Functions User's Manual (Cat. No.
Page 86 4.2.1. Setting the Safety Controller 1. Select new_SafetyCPU0 from the list. 2. Double-click SRA Parameters and click the Safety Function Assignment Settings Button. 3. Assign SLS instance1. Clear the selection of the Active Check Box. Select SLS instance1. 4. Click the Button or the Button to display the SLS Detailed Settings view.
Page 87 5. Set SLS parameters. In this Guide, set as follows: Name Value Unit SLS time to velocity monitoring 1 1000 SLS velocity limit 1 r/min Error Detection Activate In SLS Activate Deactivate(SLS1) 6. Open the I/O Map and create device variables. Port Variable name SLS command1 Active for R88D-1SN01L-...
Page 88 Create a safety program. Add the following code to AutoProgram1. When change of the operating mode of the Safety Key Selector Switch to safety active mode is detected, the SLS function is activated.
Page 89 Add the code to deactivate the STO function activated by the Safety-door Switch when the SLS function is active.
Page 90 4.2.2. Setting the Standard Controller Select new_Controller_0 from the list Double-click I/O Map. Create device variables. Port Variable name SLS command 1 for R88D-1SN01L-ECT-51 E_Axis0_SLS_command_1 SLS command 1 active for R88D-1SN01L- E_Axis0_SLS_command_1_active ECT-51...
Page 91 Create a standard program. Add the code to change the command velocity. • When the SLS function is active, reduce the command velocity to 300 r/min. • When the SLS function is inactive, increase the command velocity to 1200 r/min. Add the code to change the command velocity here.
Page 92 Transfer to the standard controller. Select new_Controller_0 from the list. Connect to the standard controller. Click the Synchronization Button to synchronize with the standard controller. Transfer to the standard controller. Download the safety application. Select new_SafetyCPU0 from the list. Click the PROGRAM Mode Button to switch to PROGRAM mode. Click the DEBUG Mode Button to enter DEBUG mode.
Page 93 Click the Safety Validation Button. The safety application is now ready to run. Click the Run Button. The FSoE communications are now established. The FS indicator is lit in green.
Page 94 4.2.3. Checking Operation of the SLS Function Check that the Safety Key Selector Switch is in normal operating mode. Press the safety rest button. Double-click Section0 to display the section. Right-click CmdVelStart and select Set/Reset − Set. Check that the Servomotor rotates at about 1200 r/min. Operate the Safety Key Selector Switch to switch to safety active mode.
Page 95 Open the guard with the Safety-door Switch. Check that the 7-segment LED display still shows ‘SF’. Close the guard and press the safety reset switch. Operate the Safety key Selector Switch to switch to normal operating mode. Check that the Servomotor rotates at about 1200 r/min. Check that the 7-segment LED display shows ‘oE.’.
Page 96 ANNEX Adding a Servo Drive and Axis from Motor Sizing Tool Results Import the motor sizing tool results file. Note: Refer to the Motor Sizing Tool Startup Guide (Cat. No. I820) for learning how to create sizing results. Devices were imported successfully. Check that the EtherCAT configuration has been updated.
Page 97 Test run and data trace 1. Please right click to the drive and select “test run” 2. Please click “step” tab, adjust motion profile and apply 3. Activate the servo ON 4. Please right click to the “data trace settings” and add a new trace 5.
Page 98 7. Adjust the trigger condition 8. Push record button Sysmac Studio is now waiting for the trigger 9. Place the Test run and Data trace windows side-by-side with docking window feature Push start in test run, data traces will appear cyclically...
Page 99 Manual tuning ■ Manual tuning guide Please right click to the drive and select “setup and tuning” Please select Manual Tuning Manual tuning window is displayed It includes rigidity settings, gain parameters and drive test run...
Page 100 In order to check the behavior of the motor, Please right click to the “data trace settings” and add a new trace Chose cyclic mode Adjust the sampling interval Adjust the trigger condition Disable parameters reading Push record button Sysmac Studio is now waiting for the trigger Place the Test run and Manual tuning windows side-by-side with docking window feature...
Page 101 Configure the motion profile and click Apply Activate the Servo ON and Push Start Be careful, the motor will move in the forward and reverse direction. The data trace is now triggered and result displayed. Each time the motor will move, traces will appear cyclically.
Page 102 12. It is possible to increase gain values by changing the rigidity settings Push transfer to send the gain parameters to the drive. 13. Please repeat step 10,11 and 12 until achieving the desired performance If vibrations appear, please reduce the rigidity settings. If required, it is possible to increase responsiveness by applying notch filters in Advanced Auto-Tuning mode and adjusting gains.
Page 103 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 ©OMRON Corporation 2024 All Rights Reserved. OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. In the interest of product improvement, 438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, specifications are subject to change without notice.

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R88m-1l series R88m-1m series R88d-1sn ect-51 series Nj series Nx series