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Omron R88D-KN20H-ECT-R User Manual

Omron R88D-KN20H-ECT-R User Manual (484 pages)

AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS

Brand: Omron | Category: Servo Drives | Size: 12.37 MB

Table of Contents

Items to Check after Unpacking
13
Revision History
14
Structure of this Document
15
Table of Contents
16
Chapter 1 Features and System Configuration

24
- Outline
  24
- System Configuration
  26
- Names and Functions
  27
  - Servo Drive Part Names
    27
  - Servo Drive Functions
    28
- System Block Diagram
  29
- Applicable Standards
  34
  - EC Directives
    34
  - UL and Cul Standards
    35
Chapter 2 Models and External Dimensions

38
- Servo System Configuration
  38
- How to Read Model Numbers
  40
  - Servo Drive
    40
  - Servomotors
    41
- Model Tables
  42
- External and Mounting Dimensions
  58
- EMC Filter Dimensions
  88
Chapter 3 Specifications

90
- Servo Drive Specifications
  90
- Overload Characteristics (Electronic Thermal Function)
  120
  - Overload Characteristics Graphs
    120
- Servomotor Specifications
  121
  - General Specifications
    121
  - Characteristics
    122
  - Encoder Specifications
    145
- Cable and Connector Specifications
  146
- External Regeneration Resistor Specifications
  169
  - External Regeneration Resistor Specifications
    170
- EMC Filter Specifications
  171
Chapter 4 System Design

174
Chapter 5 Ethercat Communications

222
- Display Area and Settings
  222
  - Node Address Setting
    222
  - Status Indicators
    223
- Structure of the CAN Application Protocol over Ethercat
  224
- Ethercat State Machine
  225
- Process Data Objects (Pdos)
  226
  - PDO Mapping Settings
    226
  - Sync Manager PDO Assignment Settings
    227
  - Fixed PDO Mapping
    227
- Service Data Objects (Sdos)
  228
  - Abort Codes
    228
- Synchronization with Distributed Clocks
  229
  - Communications Cycle (DC Cycle)
    229
- Emergency Messages
  230
Chapter 6 Drive Profile

232
- Controlling the State Machine of the Servo Drive
  232
  - State Machine
    232
- Modes of Operation
  235
- Cyclic Synchronous Position Mode
  236
  - Block Diagram for Position Control Mode
    238
- Torque Limit
  239
  - Related Objects
    239
- Touch Probe Function (Latch Function)
  240
  - Related Objects
    240
  - Trigger Signal Settings
    240
- Fully-Closed Control
  243
  - Outline of Operation
    243
  - Objects Requiring Settings
    244
  - Parameter Block Diagram for Fully-Closed Control Mode
    249
  - Object Description Format
    251
  - Communication Objects
    252
  - PDO Mapping Objects
    258
  - Sync Manager Communication Objects
    260
  - Manufacturer Specific Objects
    264
  - Servo Drive Profile Object
    267
  - Reserved Objects
    283
- Connecting with OMRON Controllers
  284
  - Related Objects
    284
Chapter 7 Applied Functions

286
- Sequence I/O Signals
  286
  - Input Signals
    286
  - Output Signals
    289
- Forward and Reverse Drive Prohibition Functions
  291
  - Objects Requiring Settings
    291
- Overrun Protection
  294
  - Operating Conditions
    294
  - Objects Requiring Settings
    294
  - Operation Example
    295
- Backlash Compensation
  296
  - Objects Requiring Settings
    296
- Brake Interlock
  298
  - Objects Requiring Settings
    298
  - Operation Timing
    299
- Electronic Gear Function
  303
  - Objects Requiring Settings
    303
  - Operation Example
    305
- Torque Limit Switching
  306
  - Operating Conditions
    306
  - Objects Requiring Settings
    306
- Gain Switching Function
  308
  - Objects Requiring Settings
    309
  - Gain Switching
    310
  - Diagrams of Gain Switching Setting
    312
- Gain Switching 3 Function
  315
  - Operating Conditions
    315
  - Objects Requiring Settings
    315
  - Operation Example
    316
Chapter 8 Safety Function

317
- Safe Torque off Function
  318
  - I/O Signal Specifications
    319
- Operation Example
  321
- Connection Examples
  323
Chapter 9 Details on Servo Parameter Objects

326
- Basic Settings
  326
- Gain Settings
  331
- Vibration Suppression Settings
  340
- Analog Control Objects
  346
- Interface Monitor Settings
  349
- Extended Objects
  357
- Special Objects
  363
- Reserved Objects
  375
Chapter 10 Operation

378
- Operational Procedure
  378
- Preparing for Operation
  379
- Trial Operation
  384
  - Preparations for Trial Operation
    384
  - Test Operation Via USB Communications from the CX-Drive
    385
Chapter 11 Adjustment Functions

388
- Analog Monitor
  388
  - Objects Requiring Settings
    388
- Gain Adjustment
  391
  - Purpose of the Gain Adjustment
    391
  - Gain Adjustment Methods
    391
  - Gain Adjustment Procedure
    392
- Realtime Autotuning
  393
  - Objects Requiring Settings
    394
  - Setting Realtime Autotuning
    394
  - Setting Machine Rigidity
    395
- Manual Tuning
  400
  - Basic Settings
    400
- Damping Control
  402
  - Outline of Operation
    402
  - Objects Requiring Settings
    402
- Adaptive Filter
  405
  - Objects Requiring Settings
    406
  - Operating Procedure
    407
- Notch Filters
  408
  - Objects Requiring Settings
    409
- Disturbance Observer Function
  411
  - Operating Conditions
    411
  - Objects Requiring Settings
    412
  - Operating Procedure
    412
- Friction Torque Compensation Function
  413
  - Operating Conditions
    413
  - Objects Requiring Settings
    413
  - Operation Example
    414
  - Hybrid Vibration Suppression Function
    415
    
    Operating Conditions
    415
    
    Objects Requiring Settings
    415
    
    Operating Procedure
    415
  - Feed-Forward Function
    416
    
    Objects Requiring Settings
    416
    
    Operating Procedure
    417
  - Instantaneous Speed Observer Function
    419
    
    Operating Conditions
    419
    
    Objects Requiring Settings
    419
    
    Operating Procedure
    420
Chapter 12 Troubleshooting and Maintenance

422
- Troubleshooting
  422
- Errors
  428
  - Immediate Stop Operation at Errors
    432
- Troubleshooting
  434
  - Troubleshooting with Error Displays
    434
  - Troubleshooting Using the Operation State
    446
- Periodic Maintenance
  452
- Object List
  458
- Ethercat Terminology
  476
- Index
  476

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