Omron R88M-1AL Series Manuals

Manuals and User Guides for Omron R88M-1AL Series. We have 3 Omron R88M-1AL Series manuals available for free PDF download: User Manual, Startup Manual, Instruction Manual

Omron R88M-1AL Series User Manual (976 pages)

With Built-in EtherCAT Communications and Safety Functionality

Brand: Omron | Category: Controller | Size: 19 MB

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
External and Mounting Dimensions

99
Section 3 Specifications

143
Servo Drive Specifications

143
Servomotor Specifications

171
- General Specifications
  171
- Encoder Specifications
  172
- Characteristics
  173
Decelerator Specifications

184
Cable and Connector Specifications

187
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
- Wiring
  
  232
- Wiring Conforming to EMC Directives
  
  250
  - Peripheral Equipment Connection Examples
    251
  - Selecting Connection Component
    257
- Regenerative Energy Absorption
  
  262
- 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
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
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
- 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
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
- Error- and Warning-Related Objects
  
  575
- 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
- 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
Section 10 Operation

636
Operational Procedure

636
Preparing for Operation

637
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
- 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
Section 13 Maintenance and Inspection

730
- Periodic Maintenance
  
  730
- Servo Drive Lifetime
  
  731
- Servomotor Lifetime
  
  732
Appendices

733
- Cia 402 Drive Profile
  
  734
- 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
- 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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Table of Contents

Introduction

Manual Structure

Manual Configuration

Sections in this Manual

Terms and Conditions Agreement

Safety Precautions

Items to Check after Unpacking

Related Manuals

Terminology

Revision History

Outline

System Configuration

Names and Functions

System Block Diagram

Applicable Standards

Unit Versions

Procedures to Start Operation

Servo System Configuration

How to Read Model Numbers

Model Tables

External and Mounting Dimensions

Section 3 Specifications

Servo Drive Specifications

Servomotor Specifications

Decelerator Specifications

Cable and Connector Specifications

Specifications of External Regeneration Resistors and External Regeneration Resistance Units

Reactor Specifications

Noise Filter Specifications

Installation Conditions

Wiring

Wiring Conforming to EMC Directives

Regenerative Energy Absorption

Adjustment for Large Load Inertia

Display Area and Settings

Structure of the CAN Application Protocol over Ethercat

Ethercat State Machine

Process Data Objects (Pdos)

Service Data Objects (Sdos)

Synchronization Mode and Communications Cycle

Emergency Messages

Sysmac Device Features

Outline of Control Functions

Control Blocks

Cyclic Synchronous Position Mode

Cyclic Synchronous Velocity Mode

Cyclic Synchronous Torque Mode

Profile Position Mode

Profile Velocity Mode

Homing Mode

Connecting with OMRON Controllers

Section 7 Applied Functions

General-Purpose Input Signals

General-Purpose Output Signals

Drive Prohibition Functions

Software Position Limit Functions

Backlash Compensation

Brake Interlock

Electronic Gear Function

Torque Limit Switching

Soft Start

Gain Switching Function

Touch Probe Function (Latch Function)

Encoder Dividing Pulse Output Function

Dynamic Brake

Outline of Safety Functions

Safe Torque off (STO) Function

Safe Stop 1 (SS1) Function

Safe Stop 2 (SS2) Function

Safe Operating Stop (SOS) Function

Safely-Limited Speed (SLS) Function

Safely-Limited Position (SLP) Function

Safe Direction (SDI) Function

Safe Brake Control (SBC) Function

Safety Position/Velocity Validation Monitoring Function

Section 9 Details on Servo Parameters

Object Description Format