Omron R88M-K10030H-S2 Manuals

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Omron R88M-K10030H-S2 User Manual

Omron R88M-K10030H-S2 User Manual (484 pages)

AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS

Brand: Omron | Category: Servo Drives | Size: 12 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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Omron R88M-K10030H-S2 User Manual

Omron R88M-K10030H-S2 User Manual (458 pages)

Servo system with built-in MECHATROLINK-II

Brand: Omron | Category: Controller | Size: 11 MB

Table of Contents

Safety Precautions Document
6
Items to Check after Unpacking
13
Manual 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 Diagrams
  29
  - System Block Diagrams
    30
- Applicable Standards
  34
  - EC Directives
    34
  - UL and Cul Standards
    34
  - Functional Safety
    34
Chapter 2 Standard Models and External Dimensions

36
- Servo System Configuration
  36
- How to Read Model
  38
  - Servo Drive
    38
  - Servomotor
    39
- Standard Model List
  40
- External and Mounting Dimensions
  56
- EMC Filter Dimensions
  87
  - MECHATROLINK-II Repeater Units
    88
Chapter 3 Specifications

90
- Servo Drive Specifications
  90
  - General Specifications
    90
  - Characteristics
    91
  - Main Circuit and Motor Connections
    97
  - Control I/O Connector Specifications (CN1)
    102
  - Control Input Circuits
    104
  - Control Input Details
    105
  - Control Output Circuits
    107
  - Control Output Details
    108
  - Encoder Connector Specifications (CN2)
    112
  - External Encoder Connector Specifications (CN4)
    112
  - Monitor Connector Specifications (CN5)
    116
  - USB Connector Specifications (CN7)
    117
  - Safety Connector Specifications (CN8)
    118
- 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
  166
  - Specifications
    166
  - EMC Filter Specifications
    168
- MECHATROLINK-II Repeater Unit Specifications
  169
  - Specifications
    169
  - Repeater Unit Part Names
    170
  - Connection Method
    171
Chapter 4 System Design

174
Chapter 5 BASIC CONTROL Mode

220
- Position Control
  220
- Speed Control
  223
- Torque Control
  225
- Full Closing Control
  228
Chapter 6 Applied Functions

238
- Sequence I/O Signal
  238
  - Input Signals
    238
  - Output Signals
    241
- Forward and Reverse Drive Prohibition Functions
  243
  - Parameters Requiring Settings
    243
- Overrun Protection
  246
  - Operating Conditions
    246
  - Parameters Requiring Settings
    246
  - Operation Example
    247
- Backlash Compensation
  248
  - Parameters Requiring Settings
    248
- Brake Interlock
  250
  - Parameters Requiring Settings
    250
  - Operating Example
    251
- Electronic Gear Function
  255
  - Parameters Requiring Settings
    255
  - Operation Example
    257
- Torque Limit Switching
  258
  - Operating Conditions
    258
  - Parameters Requiring Settings
    258
- Soft Start
  260
- Gain Switching Function
  262
  - Parameters Requiring Settings
    263
  - Gain Switching Setting for each CONTROL Mode
    264
  - Timing by Gain Switching Setting
    269
  - Gain Switching 3 Function
    273
    
    Operating Conditions
    273
    
    Parameters Requiring Settings
    273
    
    Operation Example
    274
Chapter7 Safety Function

275
- Safe Torque off (STO) Function
  276
  - Functional Safety
    276
  - I/O Signal Specifications
    277
- Operation Example
  279
- Connection Examples
  281
Chapter 8 Parameters Details

284
- Basic Parameters
  284
- Gain Parameters
  291
- Vibration Suppression Parameters
  303
- Analog Control Parameters
  308
- Interface Monitor Setting Parameters
  314
- Extended Parameters
  325
- Special Parameters
  335
Chapter9 Operation

351
- Operational Procedure
  352
- Preparing for Operation
  353
  - Items to Check before Turning on the Power Supply
    353
  - Turning on the Power Supply
    355
  - Checking the Displays
    356
  - Absolute Encoder Setup
    357
- Trial Operation
  358
  - Preparation for Trial Operation
    358
  - Trial Operation by Using the CX-Drive
    358
Chapter 10 Adjustment Functions

360
- Analog Monitor
  360
  - Parameters Requiring Settings
    360
- Gain Adjustment
  363
  - Purpose of the Gain Adjustment
    363
  - Gain Adjustment Methods
    363
  - Gain Adjustment Procedure
    364
- Realtime Autotuning
  365
  - Parameters Requiring Settings
    366
  - Setting Realtime Autotuning
    366
  - Setting Machine Rigidity
    367
- Manual Tuning
  372
- Basic Settings
  372
- Outline of Operation
  380
- Anti-Vibration Control
  380
- Parameters Requiring Settings
  381
- Adaptive Filter
  384
  - Parameters Requiring Settings
    385
  - Operating Procedure
    386
- Notch Filter
  387
  - Parameters Requiring Settings
    388
- Disturbance Observer Function
  390
  - Operating Conditions
    390
  - Parameters Requiring Settings
    391
  - Operating Procedure
    391
- Friction Torque Compensation Function
  392
  - Operating Conditions
    392
  - Parameters Requiring Settings
    392
  - Operation Example
    393
- Hybrid Vibration Suppression Function
  394
  - 10-10Hybrid Vibration Suppression Function
    394
  - Operating Conditions
    394
  - Parameters Requiring Settings
    394
  - Operating Procedure
    394
- Feed-Forward Function
  395
  - 10-11Feed-Forward Function
    395
  - Parameters Requiring Settings
    395
  - Operating Procedure
    396
- Instantaneous Speed Observer Function
  398
  - Operating Conditions
    398
  - Parameters Requiring Settings
    398
  - Operating Procedure
    399
Chapter11 Error And Maintenance

401
- Error Processing
  402
- Warning
  405
  - Warning List
    405
- Alarms
  407
  - Emergency Stop Operation at Alarms
    415
- Troubleshooting
  417
  - Error Diagnosis Using the Alarm Displays
    417
  - Error Diagnosis Using the Operation Status
    429
- Periodic Maintenance
  437

Omron R88M-K10030H-S2 User Manual

Omron R88M-K10030H-S2 User Manual (438 pages)

AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS

Brand: Omron | Category: Servo Drives | Size: 16 MB

Table of Contents

Items to Check after Unpacking
14
Revision History
15
Structure of this Document
16
Table of Contents
18
Chapter 1 Features and System Configuration

26
- Outline
  26
- System Configuration
  28
- Names and Functions
  29
  - Servo Drive Part Names
    29
  - Servo Drive Functions
    30
- System Block Diagram
  31
- Applicable Standards
  32
  - EC Directives
    32
  - UL and Cul Standards
    32
  - Functional Safety
    32
Chapter 2 Models and External Dimensions

34
- Servo System Configuration
  34
- How to Read Model Numbers
  36
  - Servo Drive
    36
  - Servomotors
    37
- Model Tables
  38
- External and Mounting Dimensions
  52
- EMC Filter Dimensions
  70
Chapter 3 Specifications

72
Chapter 4 System Design

138
Chapter 5 Ethercat Communications

176
- Display Area and Settings
  176
  - Node Address Setting
    176
  - Status Indicators
    177
- Structure of the CAN Application Protocol over Ethercat
  178
- Ethercat State Machine
  179
- Process Data Objects (Pdos)
  180
  - PDO Mapping Settings
    180
  - Sync Manager PDO Assignment Settings
    181
  - Fixed PDO Mapping
    181
- Service Data Objects (Sdos)
  182
  - Abort Codes
    182
- Synchronization with Distributed Clocks
  183
  - Communications Cycle (DC Cycle)
    183
  - Response Time
    183
- Emergency Messages
  184
Chapter 6 Drive Profile

186
- Controlling the State Machine of the Servo Drive
  186
  - State Machine
    186
- Modes of Operation
  189
- Cyclic Synchronous Position Mode
  190
  - Block Diagram for Position Control Mode
    192
- Torque Limit
  193
  - Related Objects
    193
- Touch Probe Function (Latch Function)
  194
  - Related Objects
    194
  - Trigger Signal Settings
    194
- Fully-Closed Control
  197
  - Outline of Operation
    197
  - Objects Requiring Settings
    198
  - Parameter Block Diagram for Fully-Closed Control Mode
    203
  - Object Description Format
    205
  - Communication Objects
    206
  - PDO Mapping Objects
    212
  - Sync Manager Communication Objects
    214
  - Manufacturer Specific Objects
    218
  - Servo Drive Profile Object
    221
  - Reserved Objects
    237
- Connecting with OMRON Controllers
  238
  - Related Objects
    238
Chapter 7 Applied Functions

240
- Sequence I/O Signals
  240
  - Input Signals
    240
    
    Output Signals
    243
  - Forward and Reverse Drive Prohibition Functions
    245
    
    Objects Requiring Settings
    245
  - Overrun Protection
    248
    
    Operating Conditions
    248
    
    Objects Requiring Settings
    248
    
    Operation Example
    249
  - Backlash Compensation
    250
    
    Objects Requiring Settings
    250
  - Brake Interlock
    252
    
    Objects Requiring Settings
    252
    
    Operation Timing
    253
  - Electronic Gear Function
    257
    
    Objects Requiring Settings
    257
    
    Operation Example
    259
  - Torque Limit Switching
    260
    
    Operating Conditions
    260
    
    Objects Requiring Settings
    260
  - Gain Switching Function
    262
    
    Objects Requiring Settings
    263
    
    Gain Switching
    264
    
    Diagrams of Gain Switching Setting
    266
  - Gain Switching 3 Function
    269
    
    Operating Conditions
    269
    
    Objects Requiring Settings
    269
    
    Operation Example
    270
Chapter 8 Safety Function (Application Pending)

271
- Safe Torque off Function
  272
  - I/O Signal Specifications
    273
- Operation Example
  275
- Connection Examples
  277
Chapter 9 Details on Servo Parameter Objects

280
- Basic Settings
  280
- Gain Settings
  285
- Vibration Suppression Settings
  294
- Analog Control Objects
  300
- Interface Monitor Settings
  303
- Extended Objects
  311
- Special Objects
  317
- Reserved Objects
  329
Chapter 10 Operation

332
- Operational Procedure
  332
- Preparing for Operation
  333
- Trial Operation
  338
  - Preparations for Trial Operation
    338
  - Test Operation Via USB Communications from the CX-Drive
    339
Chapter 11 Adjustment Functions

342
- Analog Monitor
  342
  - Objects Requiring Settings
    342
- Gain Adjustment
  345
  - Purpose of the Gain Adjustment
    345
  - Gain Adjustment Methods
    345
  - Gain Adjustment Procedure
    346
- Realtime Autotuning
  347
  - Objects Requiring Settings
    348
  - Setting Realtime Autotuning
    348
  - Setting Machine Rigidity
    349
- Manual Tuning
  354
  - Basic Settings
    354
- Damping Control
  356
  - Outline of Operation
    356
  - Objects Requiring Settings
    356
- Adaptive Filter
  359
  - Objects Requiring Settings
    360
  - Operating Procedure
    361
- Notch Filters
  362
  - Objects Requiring Settings
    363
- Disturbance Observer Function
  365
  - Operating Conditions
    365
  - Objects Requiring Settings
    366
  - Operating Procedure
    366
- Friction Torque Compensation Function
  367
  - Operating Conditions
    367
  - Objects Requiring Settings
    367
  - Operation Example
    368
- Hybrid Vibration Suppression Function
  369
  - Operating Conditions
    369
  - Objects Requiring Settings
    369
  - Operating Procedure
    369
- Feed-Forward Function
  370
  - Objects Requiring Settings
    370
  - Operating Procedure
    371
  - Instantaneous Speed Observer Function
    373
    
    Operating Conditions
    373
    
    Objects Requiring Settings
    373
    
    Operating Procedure
    374
Chapter 12 Troubleshooting and Maintenance

376
- Troubleshooting
  376
- Errors
  382
  - Immediate Stop Operation at Errors
    386
- Troubleshooting
  388
  - Troubleshooting with Error Displays
    388
  - Troubleshooting Using the Operation State
    400
- Periodic Maintenance
  406
- Object List
  412
- Ethercat Terminology
  430
- Index
  430

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