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R88M-K75030T
Omron R88M-K75030T Manuals
Manuals and User Guides for Omron R88M-K75030T. We have
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Omron R88M-K75030T manuals available for free PDF download: User Manual
Omron R88M-K75030T 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
Outline of the OMNUC G5 Series
24
Features of OMNUC G5-Series Servo Drives
24
What Is Ethercat
25
Object Dictionary
25
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
Servo Drive Model Table
42
Servomotor Model Tables
43
Servo Drive and Servomotor Combination Tables
47
Cable and Peripheral Device Model Tables
49
External and Mounting Dimensions
58
Servo Drive Dimensions
58
Servomotor Dimensions
68
External Regeneration Resistor Dimensions
87
EMC Filter Dimensions
88
Chapter 3 Specifications
90
Servo Drive Specifications
90
General Specifications
90
Characteristics
91
Ethercat Communications Specifications
95
Main Circuit and Motor Connections
96
Ethercat Communications Connector Specifications (RJ45)
101
Control I/O Connector Specifications (CN1)
102
Control Input Circuits
105
Control Input Details
106
Control Output Circuits
108
Control Output Details
109
Encoder Connector Specifications (CN2)
112
External Encoder Connector Specifications (CN4)
112
Analog 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
Encoder Cable Specifications
146
Absolute Encoder Battery Cable Specifications
148
Motor Power Cable Specifications
149
Connector Specifications
156
Ethercat Communications Cable Specifications
159
Analog Monitor Cable Specifications
162
Control Cable Specifications
164
External Regeneration Resistor Specifications
169
External Regeneration Resistor Specifications
170
EMC Filter Specifications
171
Chapter 4 System Design
174
Installation Conditions
174
Servo Drive Installation Conditions
174
Servomotor Installation Conditions
175
Decelerator Installation Conditions
178
Wiring
179
Peripheral Equipment Connection Examples
179
Main Circuit and Motor Connections
185
Wiring Conforming to EMC Directives
193
Wiring Method
193
Selecting Connection Component
200
Regenerative Energy Absorption
214
Calculating the Regenerative Energy
214
Servo Drive Regeneration Absorption Capacity
216
Regenerative Energy Absorption with an External Regeneration Resistor
217
Connecting an External Regeneration Resistor
218
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
Items to Check before Turning on the Power Supply
379
Turning on the Power Supply
380
Checking the Displays
381
Absolute Encoder Setup
383
Setting up an Absolute Encoder from the CX-Drive
383
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
Preliminary Checks When a Problem Occurs
422
Precautions When a Problem Occurs
423
Replacing the Servomotor or Servo Drive
423
Errors
428
Immediate Stop Operation at Errors
432
Troubleshooting
434
Troubleshooting with Error Displays
434
Troubleshooting Using the Operation State
446
Periodic Maintenance
452
Servomotor Life Expectancy
452
Servo Drive Life Expectancy
453
Replacing the Absolute Encoder Battery
454
Object List
458
Ethercat Terminology
476
Index
476
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Omron R88M-K75030T 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
Outline of the OMNUC G5 Series
26
Features of OMNUC G5-Series Servo Drives
26
What Is Ethercat
27
Object Dictionary
27
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
Servo Drive Model Table
38
Servomotor Model Tables
39
Servo Drive and Servomotor Combination Tables
41
Cable and Peripheral Device Model Tables
43
External and Mounting Dimensions
52
Servo Drive Dimensions
52
Servomotor Dimensions
58
External Regeneration Resistor Dimensions
69
EMC Filter Dimensions
70
Chapter 3 Specifications
72
Servo Drive Specifications
72
General Specifications
72
Characteristics
73
Ethercat Communications Specifications
76
Main Circuit and Motor Connections
77
Ethercat Communications Connector Specifications (RJ45)
79
Control I/O Connector Specifications (CN1)
80
Control Input Circuits
83
Control Input Details
84
Control Output Circuits
86
Control Output Details
87
Encoder Connector Specifications (CN2)
90
External Encoder Connector Specifications (CN4)
90
Monitor Connector Specifications (CN5)
94
USB Connector Specifications (CN7)
95
Safety Connector Specifications (CN8)
96
Overload Characteristics (Electronic Thermal Function)
98
Overload Characteristics Graphs
98
Servomotor Specifications
99
General Specifications
99
Characteristics
100
Encoder Specifications
112
Cable and Connector Specifications
113
Encoder Cable Specifications
113
Motor Power Cable Specifications
115
Connector Specifications
120
Ethercat Communications Cable Specifications
123
Analog Monitor Cable Specifications
126
Control Cable Specifications
128
External Regeneration Resistor Specifications
133
External Regeneration Resistor Specifications
134
EMC Filter Specifications
135
Chapter 4 System Design
138
Installation Conditions
138
Servo Drive Installation Conditions
138
Servomotor Installation Conditions
139
Decelerator Installation Conditions
142
Wiring
143
Peripheral Equipment Connection Examples
143
Main Circuit and Motor Connections
146
Wiring Conforming to EMC Directives
151
Wiring Method
151
Selecting Connection Component
155
Regenerative Energy Absorption
169
Calculating the Regenerative Energy
169
Servo Drive Regeneration Absorption Capacity
171
Regenerative Energy Absorption with an External Regeneration Resistor
172
Connecting an External Regeneration Resistor
173
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
Items to Check before Turning on the Power Supply
333
Turning on the Power Supply
334
Checking the Displays
335
Absolute Encoder Setup
337
Setting up an Absolute Encoder from the CX-Drive
337
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
Preliminary Checks When a Problem Occurs
376
Precautions When a Problem Occurs
377
Replacing the Servomotor or Servo Drive
377
Errors
382
Immediate Stop Operation at Errors
386
Troubleshooting
388
Troubleshooting with Error Displays
388
Troubleshooting Using the Operation State
400
Periodic Maintenance
406
Servomotor Life Expectancy
406
Servo Drive Life Expectancy
407
Replacing the Absolute Encoder Battery
408
Object List
412
Ethercat Terminology
430
Index
430
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