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Omron R88M-K60020F-B User Manual

Omron R88M-K60020F-B User Manual (438 pages)

AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS

Brand: Omron | Category: Servo Drives | Size: 16.86 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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