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R88D-1SAN15H-ECT
Omron R88D-1SAN15H-ECT Manuals
Manuals and User Guides for Omron R88D-1SAN15H-ECT. We have
2
Omron R88D-1SAN15H-ECT manuals available for free PDF download: User Manual, Instruction Manual
Omron R88D-1SAN15H-ECT User Manual (976 pages)
With Built-in EtherCAT Communications and Safety Functionality
Brand:
Omron
| Category:
Controller
| Size: 19.71 MB
Table of Contents
Introduction
3
Manual Structure
4
Manual Configuration
6
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
18
Safety Precautions
20
Items to Check after Unpacking
31
Related Manuals
39
Terminology
43
Revision History
45
Features and System Configuration
47
Outline
48
Features of 1S-Series Servo Drive Advance Type
48
Ethercat
49
Object Dictionary
50
System Configuration
51
Names and Functions
52
Servo Drive Part Names
52
Servo Drive Functions
56
Servomotor Part Names
59
Servomotor Functions
61
Shield Clamp Part Names
62
System Block Diagram
63
Applicable Standards
67
EU Directives
67
UL and Cul Standards
68
Korean Radio Regulations (KC)
69
Semi F47
69
Australian EMC Labeling Requirements (RCM)
69
EAC Requirements
69
Unit Versions
70
Confirmation Method
70
Unit Versions and Sysmac Studio Versions
70
Procedures to Start Operation
71
Overall Procedure
71
Procedure Details
73
Models and External Dimensions
79
Servo System Configuration
80
How to Read Model Numbers
82
Servo Drive
82
Servomotor
83
Integrated Cable
84
Decelerator
85
Model Tables
87
Servo Drive Model Table
87
Servomotor Model Tables
88
Servo Drive and Servomotor Combination Tables
90
Decelerator Model Tables
91
Servomotor and Decelerator Combination Tables
93
Table of Integrated Cables, Connectors, and Shield Clamps
94
External Regeneration Resistor and External Regeneration Resistance Unit Model Tables
97
Reactor Model Table
98
External and Mounting Dimensions
99
Servo Drive Dimensions
99
Servomotor Dimensions
101
Cable Outlet Direction of Integrated Connector
121
Cable Wiring Dimension for a Case of Servomotor Installing
122
Decelerator Dimensions
124
Dimensions of External Regeneration Resistors and External Regeneration Resistance Units
133
Reactor Dimensions
134
Specifications
141
Section 3 Specifications
143
Servo Drive Specifications
143
General Specifications
143
Characteristics
144
Ethercat Communications Specifications
148
Main Circuit and Motor Connections
149
Control I/O Connector (CN1) Specifications
154
Control Input Circuits
156
Control Input Details
157
Control Output Circuits
158
Control Output Details
159
Encoder Pulse Output Specifications
159
Safety Signal Connector (CN14) Specifications
160
Safe Brake Control Connector (CN15) Specifications
164
Brake Interlock Connector (CN12) Specifications
165
Encoder Connector (CN2) Specifications
166
Ethercat Communications Connector (RJ45) Specifications
166
USB Connector (CN7) Specifications
167
Power on Sequence
167
Overload Characteristics (Electronic Thermal Function)
168
Servomotor Specifications
171
General Specifications
171
Encoder Specifications
172
Characteristics
173
Decelerator Specifications
184
Cable and Connector Specifications
187
Integrated Cable Specifications
187
Combination of Integrated Cable and Extension Cable
207
Resistance to Bending of Integrated Cable
208
Ethercat Communications Cable Specifications
209
Specifications of External Regeneration Resistors and External Regeneration Resistance Units
212
General Specifications
212
Characteristics
212
Regeneration Resistance Units
212
External Regeneration Resistance Unit Specifications
214
Reactor Specifications
215
General Specifications
215
Characteristics
215
Terminal Block Specifications
216
Noise Filter Specifications
217
Installation Conditions
220
Servo Drive Installation Conditions
220
Servomotor Installation Conditions
223
Decelerator Installation Conditions
227
External Regeneration Resistance Unit Installation Conditions
231
External Regeneration Resistor and External Regeneration Resistance Unit Conditions
231
Wiring
232
Peripheral Equipment Connection Examples
233
Procedure for Wiring Connector-Type Terminal Blocks and for Mounting a Shield Clamp
243
Procedure for Attaching an Integrated Connector
246
Procedure for Change of Cable Outlet Direction for Integrated Cable
248
Wiring Conforming to EMC Directives
250
Peripheral Equipment Connection Examples
251
Selecting Connection Component
257
Regenerative Energy Absorption
262
Calculating the Regenerative Energy
262
Servo Drive Regeneration Absorption Capacity
265
Regenerative Energy Absorption by an External Regeneration Resistance Device
266
Connecting an External Regeneration Resistor
267
Adjustment for Large Load Inertia
268
Ethercat Communications
269
Display Area and Settings
270
Node Address Setting
270
Status Indicators
271
Structure of the CAN Application Protocol over Ethercat
273
Ethercat State Machine
274
Process Data Objects (Pdos)
275
PDO Mapping Settings
275
Sync Manager PDO Assignment Settings
276
Fixed PDO Mapping
276
Variable PDO Mapping
279
Safety PDO Mapping
280
Sync Manager PDO Mapping Assignment Settings
282
Service Data Objects (Sdos)
283
Synchronization Mode and Communications Cycle
284
Distributed Clock (DC) Mode
284
Free-Run Mode
284
Emergency Messages
285
Sysmac Device Features
286
Basic Control Functions
291
Outline of Control Functions
292
Basic Control and Control Methods
292
Control Method
293
Control Blocks
295
Block Diagram for Position Control
295
Block Diagram for Velocity Control
297
Block Diagram for Torque Control
299
Cyclic Synchronous Position Mode
300
Cyclic Synchronous Velocity Mode
302
Cyclic Synchronous Torque Mode
304
Profile Position Mode
306
Profile Velocity Mode
311
Homing Mode
314
Connecting with OMRON Controllers
315
Applied Functions
319
Section 7 Applied Functions
321
General-Purpose Input Signals
321
Objects Requiring Settings
322
Default Setting
324
Function Input Details
325
General-Purpose Output Signals
326
Objects Requiring Settings
326
Default Setting
328
Function Output Details
329
Drive Prohibition Functions
333
Objects Requiring Settings
333
Description of Operation
334
Software Position Limit Functions
335
Operating Conditions
335
Objects Requiring Settings
335
Description of Operation
336
Backlash Compensation
338
Operating Conditions
338
Objects Requiring Settings
338
Description of Operation
339
Brake Interlock
340
Objects Requiring Settings
340
Description of Operation
342
Operation Timing
343
Electronic Gear Function
347
Objects Requiring Settings
347
Operation Example
347
Torque Limit Switching
348
Operating Conditions
348
Objects Requiring Settings
348
Torque Limit Switching Method
349
Soft Start
350
Objects Requiring Settings
350
Soft Start Acceleration/Deceleration Time
350
Velocity Command First-Order Lag Filter
351
Gain Switching Function
352
Objects Requiring Settings
352
Mode Selection
354
Gain Switching in Position Control
355
Touch Probe Function (Latch Function)
356
Related Objects
356
Trigger Signal Settings
358
Operation Sequence
359
Encoder Dividing Pulse Output Function
360
Objects Requiring Settings
361
Dividing Ratio
361
Output Reverse Selection
362
Z-Phase Output
362
Dynamic Brake
363
Operating Conditions
363
Objects Requiring Settings
363
Description of Operation
364
Safety Function
367
Outline of Safety Functions
369
Description of Safety Functions
369
Configuration for Safety System
370
Network Connection and Settings
373
Operating Procedure for Safety Function
374
Safety Reaction Time for Safety Distance
377
Data Necessary for Designing Programs of each Controller
378
Pfh
381
Position/Velocity Data Monitored by Safety Functions
382
Precaution on Use
385
Procedure for Reset of Safety Error
386
Safety Program
387
Safe Torque off (STO) Function
388
STO Function Via Safety Input Signals
389
STO Function Via Ethercat Communications
398
STO with SBC Functions Via Ethercat Communications
402
Safe Stop 1 (SS1) Function
405
Objects Requiring Settings
407
Operation Procedure
409
Operation Timing
410
Example of Safety Program
413
Concurrent Use of SS1 Function and SBC Function
414
Safe Stop 2 (SS2) Function
420
Objects Requiring Settings
421
Operation Procedure
423
Operation Timing
424
Example of Safety Program
427
Safe Operating Stop (SOS) Function
428
Objects Requiring Settings
428
Operation Procedure
429
Operation Timing
430
Example of Safety Program
433
Safely-Limited Speed (SLS) Function
434
Objects Requiring Settings
436
Operation Procedure
438
Operation Timing
439
Example of Safety Program
444
Safely-Limited Position (SLP) Function
445
Configuration Example for SLP System
445
Objects Requiring Settings
447
Operation Procedure
450
Operation Timing
451
Example of Safety Program
454
Setting of Safety Origin Position
455
Safe Direction (SDI) Function
468
Objects Requiring Settings
468
Operation Procedure
469
Operation Timing
470
Example of Safety Program
476
Safe Brake Control (SBC) Function
478
Configuration Method for SBC
479
Required Settings for Objects
481
Operation Procedure
482
Connection Method
483
Connection Examples
485
Operation Timing
486
SBC Power Monitor
486
Safety Relay Stuck Error Detection
487
Safety Position/Velocity Validation Monitoring Function
489
Details about Validation Monitoring
489
Objects Requiring Settings
490
Operation Procedure
490
Operation Timing
491
Details on Servo Parameters
495
Section 9 Details on Servo Parameters
499
Object Description Format
499
Common Control Objects
501
3001 Hex: Machine
507
3002 Hex: Optimized Parameters
508
3011 Hex: Position Command Filter
512
3012 Hex: Damping Control
513
3014 Hex: Damping Filter 2
515
3020 Hex: Velocity Command
517
3021 Hex: Velocity Command Filter
518
3030 Hex: Torque Command
519
3031 Hex: Velocity Limit in Torque Control
519
3040 Hex: Profile Command
520
3041 Hex: Command Dividing Function
521
Control Method Objects
523
3112 Hex: ODF Velocity Feed-Forward
523
3113 Hex: ODF Torque Feed-Forward
524
3120 Hex: TDF Position Control
525
3121 Hex: TDF Velocity Control
526
Control Loop Objects
528
3210 Hex: Internal Position Command
528
3211 Hex: Position Detection
529
3212 Hex: Gain Switching in Position Control
529
3213 Hex: 1St Position Control Gain
530
3214 Hex: 2Nd Position Control Gain
531
3220 Hex: Internal Velocity Command
531
3221 Hex: Velocity Detection
532
3222 Hex: Gain Switching in Velocity Control
533
3223 Hex: 1St Velocity Control Gain
533
3224 Hex: 2Nd Velocity Control Gain
534
3230 Hex: Internal Torque Command
535
3231 Hex: Torque Detection
535
3232 Hex: Filter Switching in Torque Control
535
3233 Hex: 1St Torque Command Filter
536
3234 Hex: 2Nd Torque Command Filter
537
Torque Output Setting Objects
538
3320 Hex: Adaptive Notch Filter
540
3330 Hex: Torque Limit
549
Homing Objects
551
Applied Function Objects
555
3B10 Hex: Drive Prohibition
555
3B11 Hex: Software Position Limit
556
3B20 Hex: Stop Selection
558
3B50 Hex: Position Detection Function
567
3B51 Hex: Positioning Completion Notification
567
3B52 Hex: Positioning Completion Notification 2
568
3B60 Hex: Speed Detection Function
569
3B70 Hex: Vibration Detection
570
3B71 Hex: Runaway Detection
571
3B80 Hex: Load Characteristic Estimation
572
Error- and Warning-Related Objects
575
4000 Hex: Error Full Code
575
4021 Hex: Warning Output 1 Setting
578
4030 Hex: Information Customization
580
Monitoring-Related Objects
581
4110 Hex: Monitor Data Via PDO
581
4120 Hex: Ethercat Communications Error Count
582
4130 Hex: Safety Status Monitor
582
4150 Hex: Overload
590
Display-Related Objects
592
Power Device-Related Objects
593
4310 Hex: Regeneration
593
External Device-Related Objects
596
Encoder-Related Objects
598
9-14 I/O-Related Objects
604
4602 Hex: Function Output
604
4604 Hex: Control Input Change Count
605
4610 Hex: Brake Interlock Output
607
4620 Hex: Encoder Dividing Pulse Output
608
General-Purpose Input Setting Objects
610
Setting
610
4630 Hex: Positive Drive Prohibition Input
611
4631 Hex: Negative Drive Prohibition Input
611
4632 Hex: External Latch Input 1
611
4633 Hex: External Latch Input 2
612
4634 Hex: Home Proximity Input
612
4635 Hex: Positive Torque Limit Input
612
4636 Hex: Negative Torque Limit Input
613
4637 Hex: Error Stop Input
613
4638 Hex: Monitor Input 1
613
4639 Hex: Monitor Input 2
614
Hex: Monitor Input 3
614
Hex: Monitor Input 4
614
Hex: Monitor Input 5
615
Hex: Monitor Input 6
615
Hex: Monitor Input 7
615
Hex: Monitor Input 8
616
General-Purpose Output Setting Objects
617
Setting
617
4650 Hex: Error Output
618
4651 Hex: Servo Ready Output
618
4652 Hex: Positioning Completion Output 1
618
4653 Hex: Positioning Completion Output 2
619
4654 Hex: Velocity Attainment Detection Output
619
4655 Hex: Torque Limit Output
619
4656 Hex: Zero Speed Detection Output
620
4657 Hex: Velocity Conformity Output
620
4658 Hex: Warning Output 1
620
4659 Hex: Warning Output 2
621
Hex: Velocity Limiting Output
621
Hex: Error Clear Attribute Output
621
Hex: Remote Output 1
622
Hex: Remote Output 2
622
Hex: Remote Output 3
622
Hex: Zone Notification Output 1
623
4660 Hex: Zone Notification Output 2
623
4661 Hex: Position Command Status Output
623
4662 Hex: Distribution Completed Output
624
4663 Hex: External Brake Interlock Output
624
Safety Related Object
626
4F00 Hex: Safety Origin Position Setting
626
4F02 Hex: Discrepancy Distance Measurement
629
4F03 Hex: Safety Motor Rotation Direction Selection
630
4F19 Hex: Safety Present Position
633
4F1A Hex: Safety Present Motor Velocity
633
4F20 Hex: Safety Function Disable Setting
634
Operation
635
Section 10 Operation
636
Operational Procedure
636
Preparing for Operation
637
Items to Check before Turning on the Power Supply
637
Turning on the Power Supply
638
Checking the Displays
639
Absolute Encoder Setup
641
Setting up an Absolute Encoder from the Sysmac Studio
641
Test Run
642
Preparations for Test Run
642
Test Run Via USB Communications from the Sysmac Studio
643
Confirmation of Safety Functions
644
Preparation before Confirmation of Safety Function
644
Confirmation of Safety Function
644
Adjustment Functions
647
Outline of Adjustment Functions
649
Adjustment Methods
649
Adjustment Procedure
650
Easy Tuning
652
Objects that Are Set
652
Executing Easy Tuning
654
Advanced Tuning
655
Objects that Are Set
655
Executing Advanced Tuning
656
Manual Tuning
657
Objects that Are Set
657
Executing Manual Tuning
657
Data Trace
658
Fft
659
Damping Control
660
Objects Requiring Settings
660
Operating Procedure
662
Setting Frequency with Sysmac Studio
663
Load Characteristic Estimation
664
Objects Requiring Settings
665
Setting Load Characteristic Estimation Function
666
Adaptive Notch Filter
667
Objects Requiring Settings
667
Operating Procedure
668
Notch Filters
669
Objects Requiring Settings
670
Notch Filter Width and Depth
671
Friction Torque Compensation Function
672
Operating Conditions
672
Objects Requiring Settings
672
Operation Example
673
Feed-Forward Function
675
Feed-Forward Control in TDF Control
675
Feed-Forward Control in ODF Control
677
Troubleshooting
679
Actions for Problems
680
Preliminary Checks When a Problem Occurs
680
Precautions When a Problem Occurs
681
Replacing the Servomotor or Servo Drive
682
Warnings
684
Related Objects
684
Warning List
686
Errors
688
Error List
688
Deceleration Stop Operation at Errors
691
Information
692
Related Objects
692
Information List
692
Troubleshooting
693
Troubleshooting Using Error Displays
694
Troubleshooting Using al Status Codes
719
Troubleshooting Using the Operation State
722
Maintenance and Inspection
729
Section 13 Maintenance and Inspection
730
Periodic Maintenance
730
Servo Drive Lifetime
731
Servomotor Lifetime
732
Appendices
733
Cia 402 Drive Profile
734
A-1-1 Controlling the State Machine of the Servo Drive
734
A-1-2 Modes of Operation
736
A-1-3 Modes of Operation and Applied/Adjustment Functions
737
A-1-4 Changing the Mode of Operation
737
A-1-5 Homing Mode Specifications
739
Coe Objects
744
A-2-1 Object Dictionary Area
744
A-2-2 Data Type
744
Object Description Format
745
A-2-4 Communication Objects
746
PDO Mapping Objects
751
A-2-6 Sync Manager Communication Objects
766
A-2-7 Manufacturer Specific Objects
770
Servo Drive Profile Object
773
A-2-9 Safety Function Objects
793
Object List
809
Sysmac Error Status Codes
848
A-4-1 Error List
848
A-4-2 Error Descriptions
864
Use Case of Safety Function
938
A-5-1 Function to Stop Servomotor
938
A-5-2 Monitoring Function
949
A-5-3 Function Block for 1S-Series Servo Drives Advance Type
960
Response Time in Ethercat Process Data Communications
969
A-6-1 Input Response Time
969
A-6-2 Output Response Time
969
Version Information
970
A-7-1 Relationship between Unit Versions and Sysmac Studio Versions
970
Index
971
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Omron R88D-1SAN15H-ECT Instruction Manual (89 pages)
AC Servomotors, AC Servo Drives
Brand:
Omron
| Category:
Servo Drives
| Size: 2.93 MB
Table of Contents
Terms and Conditions Agreement
2
Definition of Precautionary Information
4
Operation Check
6
Transporting and Unpacking
8
Precautions for Safe Use
9
Precautions for Correct Use
9
Mounting Direction
16
Operating Environment Conditions
16
Ambient Temperature Control
16
Wiring Diagram
17
Overload Characteristics (Electronic Thermal Function)
17
Terminal Block Wire Sizes
22
Overload Protection (Electronic Thermal Function)
30
External and Mounting Dimensions
39
Korean Radio Regulations (KC)
41
Maintenance
43
Product Disposal
43
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