All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Page 3
Introduction
Thank you for purchasing a 1S-series Servo Drive. This User’s Manual describes the installation and
wiring methods of the 1S-series Servo Drives and parameter setting method which is required for the
operation, as well as troubleshooting and inspection methods.
Intended Audience
This User’s Manual is intended for the following personnel, who must also have electrical knowledge
(certified electricians or individuals who have equivalent knowledge).
• Personnel in charge of introducing the FA equipment
• Personnel in charge of designing the FA systems
• Personnel in charge of installing and connecting the FA equipment
• Personnel in charge of managing the FA systems and facilities
Introduction
Notice
This User’s Manual contains information you need to know to correctly use the 1S-series Servo Drives
and peripheral equipment.
Before using the Servo Drive, read this User’s Manual and gain a full understanding of the information
provided herein.
After you finished reading this User’s Manual, keep it in a convenient place so that it can be referenced
at any time.
Make sure this User’s Manual is delivered to the end user.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
1
Page 4
Manual Structure
7 Applied Functions
7 - 30
1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9Soft Start Function
This function sets the acceleration and deceleration against the velocity command input inside the
Servo Drive and uses these values for speed control.
With this function, soft starts are possible when the step rotation velocity commands are input. To
reduce any impacts made by acceleration changes, you can also use the velocity command filter
(first-order lag).
For a step velocity command input, set the time until the velocity command reaches 1,000 r/min in
Acceleration Time.
Similarly, set the time until the velocity command slows from 1,000 r/min down to 0 r/min in Deceleration Time.
Acceleration Time (ms) = Vc/1,000 r/min × Acceleration Time × 0.1 ms
Deceleration Time (ms) = Vc/1,000 r/min × Deceleration Time × 0.1 ms
7-9-1 Objects Requiring Settings
Index
(hex)
Subindex
(hex)
NameDescription
Refer-
ence
3021
–
Velocity Command Filter
–
P. 9 -1 9
01 Acceleration TimeSets the acceleration time during accelera-
tion.
P. 9 -1 9
02 Deceleration TimeSets the deceleration time during decelera-
tion.
P. 9 -1 9
03 IIR Filter EnableSelects whether to enable or disable the
IIR filter in the velocity command filter.
0: Disabled
1: Enabled
P. 9 -2 0
04 Filter Cutoff FrequencySets the cutoff frequency for the IIR filter. P. 9-20
7-9-2 Soft Start Acceleration/Deceleration Time
Time
Velocity command [r/min]
Acceleration Time × 0.1 ms Deceleration Time × 0.1 ms
1,000 [r/min]
Velocity command before
acceleration control
(step type command)
Velocity command after
acceleration control
(trapezoidal type command)
Level 1
heading
Level 2
heading
Level 3
heading
Manual name
Manual Structure
This section explains the page structure and symbol icons.
Page Structure
The following page structure is used in this manual.
Note The above page is only a sample for illustrative purposes. It is not the actual content of this User’s Manual.
2
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Page 5
Precautions for Safe Use
Precautions for Correct Use
Additional Information
Version Information
7 - 31
7 Applied Functions
1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9 Soft Start Function
7
7-9-3 Velocity Command Filter (First-order Lag)
Precautions for Correct Use
Do not set the Acceleration Time and the Deceleration Time when the position loop structure
with a host controller is used.
The velocity command filter (first-order lag) is an IIR filter used for speed commands.
7-9-3 Velocity Command Filter (First-order Lag)
Vc × 0.632
(s)
Vc × 0.368
Time
Velocity command [r/min]
Target velocity
Target velocity
Target velocity
Velocity command
before filter process
Velocity command
after filter process
1/(2π × Filter Cutoff Frequency)
Icons indicate precautions,
additional information, or
reference information.
Special information
Level 2 heading
Gives the current heading.
Page tab
Gives the number of
the main section.
Level 3 heading
Gives the current heading.
Manual Structure
Note This illustration is provided only as a sample. It may not literally appear in this manual.
Special Information
Special information in this manual is classified as follows:
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Information on differences in specifications and functionality for Servo Drives with different unit
versions and for different versions of the Sysmac Studio is given.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Page 6
Manual Configuration
Manual Configuration
This User’s Manual consists of the following sections.
Read the necessary section or sections by reference to the following table.
SectionOutline
Section 1
Section 2
Section 3Specifications
Section 4
Section 5
Section 6
Section 7Applied Functions
Section 8Safety Function
Section 9
Section 10Operation
Section 11
Section 12Troubleshooting
Section 13
Appendices
Features and System Configuration
Models and External Dimensions
Configuration and
Wiring
EtherCAT Communications
Basic Control
Functions
Details on Servo
Parameters
Adjustment Functions
Maintenance and
Inspection
This section explains the features of the Servo Drive and name of each part.
This section explains the models of Servo Drives, Servomotors, Decelerators, and peripheral devices, and provides the external dimensions and
mounting dimensions.
This section provides the general specifications, characteristics, connector
specifications, and I/O circuits of the Servo Drives as well as the general
specifications, characteristics, encoder specifications of the Servomotors
and other peripheral devices.
This section explains the conditions for installing Servo Drives, Servomotors,
and Decelerators, the wiring methods including wiring conforming to EMC
Directives, the regenerative energy calculation methods, as well as the performance of External Regeneration Resistors.
This section explains EtherCAT communications under the assumption that
the Servo Drive is connected to a Machine Automation Controller
NJ/NX-series CPU Unit or Position Control Unit (Model: CJ1W-NC8)
This section explains the outline and settings of basic control functions.
This section provides the outline and settings of the applied functions such
as electronic gear and gain switching.
This function stops the motor based on a signal from a safety controller.
This section provides the outline of the function and examples of operation
and connection.
This section explains the details on each servo parameter, including the set
values, settings, and the display.
This section provides the operational procedure and explains how to operate
in each mode.
This section explains the functions, setting methods, and items to note
regarding adjustments.
This section explains the items to check when problems occur, and troubleshooting by the use of error displays or operation state.
This section explains maintenance and inspection of the Servomotors and
Servo Drives.
The appendices provide explanation for the profile that is used to control the
Servo Drive, lists of objects, and Sysmac error status codes.
4
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Page 7
1
10
2
11
3
4
13
5
6
7
8
9
1
10
2
11
12
3
4
13
5A
6I
7
8
9
A
I
Features and System
Configuration
Models and External
Dimensions
Operation
Specifications
Adjustment Functions
12
Troubleshooting
Configuration and
Wiring
Maintenance and
Inspection
EtherCAT
Communications
Appendices
Applied Functions
Basic Control
Functions
Index
Safety Function
Details on Servo Parameters
Sections in this Manual
Sections in this Manual
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
A-6 Version Information........................................................................................................A-178
A-6-1Relationship between Unit Versions and Sysmac Studio Versions ......................................A-178
A-6-2Functions That Were Added or Changed for Each Unit Version...........................................A-180
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
15
Page 18
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
16
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Page 19
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Terms and Conditions Agreement
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Page 20
Safety Precautions
Indicates an imminently hazardous situation which, if
not avoided, is likely to result in serious injury or may
result in death. Additionally there may be severe
property damage.
Indicates a potentially hazardous situation which, if not
avoided, will result in minor or moderate injury, or may
result in serious injury or death. Additionally there may
be significant property damage.
DANGER
WARNING
Indicates a potentially hazardous situation which,
if not avoided, may result in minor or moderate
injury or in property damage.
Caution
Safety Precautions
• To ensure that the 1S-series Servomotor/Servo Drive as well as peripheral equipment are used
safely and correctly, be sure to read this Safety Precautions section and the main text before using
the product. Learn all items you should know before use, regarding the equipment as well as the
required safety information and precautions.
• Make an arrangement so that this User’s Manual also gets to the end user of this product.
• After reading this User’s Manual, keep it in a convenient place so that it can be referenced at any
time.
Explanation of Displays
• The precautions indicated here provide important information for safety. Be sure to heed the information provided with the precautions.
• The following signal words are used to indicate and classify precautions in this User’s Manual.
Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation. Accordingly, be sure to observe all safety precautions.
Explanation of Symbols
18
This User’s Manual uses the following symbols.
The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates prohibiting disassembly.
The triangle symbol indicates precautions and warnings.
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
The triangle symbol indicates precautions and warnings.
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example indicates a requirement for the ground.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 21
Precautionary Information
WARNING
• Illustrations contained in this manual sometimes depict conditions without covers and safety shields
for the purpose of showing the details. When you use this product, be sure to install the covers and
shields as specified and use the product according to this manual.
• If the product has been stored for an extended period of time, contact your OMRON sales representative.
Handling of Safety Products
If the functions of safety products cannot attain their full potential, it will result in minor or moderate
injury, or may result in serious injury or death. When building the system, observe the following warnings and optimize safety product selection for your equipment and devices to ensure the integrity of the
safety-related components.
Safety Precautions
Setting Up a Risk Assessment System
The process of selecting these products should include the development and execution of a risk
assessment system early in the design development stage to help identify potential dangers in your
equipment and optimize safety product selection.
The following is an example of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
Protective Measure
When developing a safety system for the equipment and devices that use safety products, make
every effort to understand and conform to the entire series of international and industry standards
available, such as the examples given below.
The following are examples of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements
• ISO13849-1, -2 Safety-related Parts of Control Systems
• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection
• IEC/TS 62046 Application of Protective Equipment to Detect the Presence of Persons
Role of Safety Products
Safety products incorporate standardized safety functions and mechanisms, but the benefits of
these functions and mechanisms are designed to attain their full potential only within properly
designed safety-related systems. Make sure you fully understand all functions and mechanisms,
and use that understanding to develop systems that will ensure optimal usage.
The following are examples of related international standards.
• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection
• ISO13857 Safety Distances to Prevent Hazard Zones being Reached by Upper and Lower Limbs
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Page 22
Safety Precautions
WARNING
Installing Safety Products
Qualified engineers must develop your safety-related system and install safety products in devices
and equipment. Prior to machine commissioning, verify through testing that the safety products work
as expected.
The following are examples of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements
• ISO13849-1, -2 Safety-related Parts of Control Systems
• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection
Observing Laws and Regulations
Safety products must conform to pertinent laws, regulations, and standards. Make sure that they are
installed and used in accordance with the laws, regulations, and standards of the country where the
devices and equipment incorporating these products are distributed.
Observing Usage Precautions
Carefully read the specifications and precautions as well as all items in the Instruction Manual for
your safety product to learn appropriate usage procedures. Any deviation from instructions will lead
to unexpected device or equipment failure not anticipated by the safety-related system.
Transferring Devices and Equipment
When you transfer devices and equipment, be sure to retain one copy of the Instruction Manual for
safety devices and the User’s Manual, and supply another copy with the device or equipment so the
person receiving it will have no problems with operation and maintenance.
The following are examples of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements
• ISO13849-1, -2 Safety-related Parts of Control Systems
• IEC62061 Functional Safety of Safety-related Electrical, Electronic and Programmable Electronic
Control Systems
• IEC61508 Functional Safety of Electrical/Electronic/Programmable Electronic Safety-related Systems
Transporting and Unpacking
20
Do not damage, pull, or put excessive stress or heavy objects on the cables.
Doing so may cause electric shock, malfunction, or burning.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 23
Safety Precautions
WARNING
Installation, Wiring and Maintenance
Install the Servo Drive, Servomotor, and peripheral equipment before wiring.
Not doing so may cause electric shock.
Be sure to ground the 100-VAC or 200-VAC input model Servo Drive and Servomotor to
100 Ω or less, and the 400-VAC input model to 10 Ω or less.
Not doing so may cause electric shock.
Do not remove the front cover, terminal covers, cables, or peripheral equipment while the
power is supplied.
Doing so may cause electric shock.
Before carrying out wiring or inspection, turn OFF the main circuit power and wait for at
least the following specific time.
Not doing so may cause electric shock or burning.
10 minutes: R88D-1SN06F-ECT, R88D-1SN10F-ECT, R88D-1SN15F-ECT,
Do not damage, pull, or put excessive stress or heavy objects on the cables.
Doing so may cause electric shock, malfunction, or burning.
Use appropriate tools to wire terminals and connectors. Check that there is no short-circuit
before use.
Not doing so may cause electric shock.
Connect the frame ground wire in the motor cable securely to the or FG of the Servo
Drive.
Not doing so may cause electric shock.
Provide safety measures, such as a fuse, to protect against short circuiting of external wir-
ing and failure of the Servo Drive. Not doing so may cause a fire.
Install the Servomotor, Servo Drive, and peripheral equipment on non-flammable materials
such as metals. Not doing so may cause a fire.
Keep conductive or flammable foreign objects such as screws, metal pieces, and oil out of
the Servo Drive and connectors. Pay particular attention to the connector on the top part of
Servo Drive. Not doing so may cause a fire or electric shock.
Design the configuration to cut off the main circuit power supply when the ERR signal (normally close contact) of the control output function is output (open).
Not doing so may cause a fire.
Do not bundle the motor cables.
Not doing so may cause fire.
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Page 24
Safety Precautions
WARNING
WARNING
Lock the power cable and extension cable connectors.
Not doing so may cause fire.
Operation Check
Use the Servomotor, Servo Drive and motor cable in a specified combination.
Not doing so may cause fire or equipment damage.
Usage
Do not enter the operating area during operation.
Doing so may cause injury.
Do not touch the Servo Drive radiator, Regeneration Resistor, or Servomotor while the
power is supplied or for a while after the power is turned OFF because they get hot.
Doing so may cause fire or a burn injury.
Take appropriate measures to ensure that the specified power with the rated voltage is sup-
plied. Be particularly careful in locations where the power supply is unstable.
Not doing so may cause failure.
When the power is restored after a momentary power interruption, the machine may restart
suddenly. Do not come close to the machine when restoring power.
Implement measures to ensure safety of people nearby even when the machine is
restarted.
Doing so may cause injury.
Use appropriate tools to wire terminals and connectors. Check that there is no short-circuit
before use.
Not doing so may cause electric shock.
Be sure to observe the radiator plate installation conditions that are specified in the manual.
Not doing so may cause the Servo Drive or Servomotor to burn.
22
If the load that exceeds the allowable range is installed, it may cause the dynamic brake to
be damaged. Be sure to use the appropriate load. For the selection of the appropriate load,
refer to 4-5 Adjustment for Large Load Inertia on page 4-78.
Not doing so may cause the Servo Drive to be damaged.
The dynamic brake is intended for the stop at the time of an error and therefore it has a
short-time rating.
If the dynamic brake is activated, provide an interval of 3 minutes or more before the next
activation to prevent a circuit failure and burning of the Dynamic Brake Resistor.
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Page 25
Safety Precautions
Caution
Caution
Do not place flammable materials near the Servomotor, Servo Drive, or peripheral equipment. Not doing so may cause a fire.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Not doing so may cause a fire.
Use an appropriate External Regeneration Resistor. Install an external protective device
such as temperature sensor to ensure safety when using the External Regeneration Resistor. Not doing so run the risk of burnout.
Use an appropriate External Dynamic Break Resistor.
Not doing so may cause fire, crash or equipment damage.
Use the extension cables in a specified combination.
Not doing so may cause fire, equipment damage.
Transporting and Unpacking
When transporting the Servo Drive, do not hold it by the cables, shield clamp, connectors or
motor shaft.
Injury or failure may result.
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not overload the product. (Follow the instructions on the product label.)
Injury or failure may result.
Be sure to observe the specified amount when piling up products.
Injury or failure may result.
The allowable number of piled-up products Servo Drive, Servomotor, Reactor:
Follow the instructions on the individual package.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Be careful about sharp parts such as the corner of the equipment when handling the Servo
Drive and Servomotor.
Injury may result.
Wire the cables correctly and securely.
Damage to Servo Drive or fire may result.
23
Page 26
Safety Precautions
Precautions for Safe Use
General Precaution
• Do not store or install the Servo Drive in the following locations. Doing so may result in electric shock,
fire, equipment damage, or malfunction.
Locations subject to direct sunlight
Locations subject to temperatures outside the range specified in the specifications
Locations subject to humidity outside the range specified in the specifications
Locations subject to condensation as the result of severe changes in temperature
Locations subject to corrosive or flammable gases
Locations subject to dust (especially iron dust) or salts
Locations subject to exposure to water, oil, or chemicals
Locations subject to shock or vibration
• Medical electronics such as cardiac pacemakers may malfunction or injury may result.
• If an error occurs, remove the cause of the error and ensure safety, and then perform the error reset
and restart the operation. Injury, equipment damage, or burning may result.
Mounting
• Do not move a power connector of a Servomotor with 4 kW or more over 5 times. Burning may result.
Wiring
• Use a robot cable for the wiring to separately install the Servo Drive and Servomotor to moving and
fixed parts of the equipment. Equipment damage may result.
• Connect the Servo Drive to the Servomotor without a contactor, etc. Malfunction or equipment damage may result.
24
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Page 27
Precautions for Correct Use
General Precaution
• Take appropriate and sufficient countermeasures to provide shielding when installing systems in the
following locations. Not doing so may result in failure.
Locations subject to static electricity or other forms of noise
Locations subject to strong electromagnetic fields
Locations subject to possible exposure to radioactivity
Locations close to power lines
• When lifting the products at 20 kg or more during moving or installation, always have two people lift
the product.
a) When lifting a Servo Motor with the following the product model, always have two people lift the
product by grasping a metal part other than the shaft.
Do not grasp a plastic part. Injury or failure may result.
Relevant model: R88M-1M2K010T0-B, R88M-1M3K010T-, R88M-1M2K010C-B,
b) When lifting a Servo Drive with the following the product model, always have two people lift the
product by grasping a terminal block at the upper/bottom side of Servo Drive.
Do not grasp a plastic part and a connector. Injury or Failure may result.
Relevant model: R88D-1SN150H-ECT
c) When lifting a Servo Drive with the following the product model, always have two people lift the
product by holding grips at the upper/bottom side of a Servo Drives.
Do not grasp a plastic part and a connector. Injury or Failure may result.
Relevant model: R88D-1SN150F-ECT
Safety Precautions
Transporting and Unpacking
• Check that the eye bolts are not loose after replacing them.
If they are loose, the screws can come off and the Servomotor may fall during the transportation by
the use of eye bolts.
Do not put the human body under the Servomotor during the transportation.
Installation
• Be sure to observe the mounting direction. Failure may result.
• Provide the specified clearance between the Servo Drive and the inner surface of the control panel or
other equipment. Fire or failure may result.
• Do not apply strong impact on the motor shaft, connectors and Servo Drive. Failure may result.
• Do not touch the key grooves with bare hands if the Servomotor with shaft-end key grooves is used.
Injury may result.
• Use non-magnetic mounting screws. Note also that the depth of any mounted screw does not reach
the effective thread length. Equipment damage may result.
• Be sure to observe the allowable axial load for the Servomotor. Equipment damage may result.
• Install equipment to prevent crash and reduce shock.
Do not run the Servomotor outside the operable range by the use of the drive prohibition function
such as overtravel.
Crash against the stroke edge may occur depending on stopping distance and equipment damage
may result.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
25
Page 28
Safety Precautions
• Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive.
Fire may result.
Wiring
• Wire the cables correctly and securely. Runaway motor, injury, or failure may result.
• Tighten the mounting screws, terminal block screws, cable screws and shield clamp screws for the
Servo Drive, Servomotor, and peripheral equipment to the specified torque. Failure may result.
• Use crimp terminals to wire screw type terminal blocks. Do not connect bare stranded wires directly
to terminals blocks. Fire may result.
• Always use the power supply voltage specified in this document. Burning may result.
• Do not apply a commercial power supply directly to the Servomotor. Fire or failure may result.
• When constructing a system that includes safety functions, be sure you understand the relevant
safety standards and all related information in user documentation, and design the system to comply
with the standards. Injury or equipment damage may result.
• Disconnect all connections to the Servo Drive and Servomotor before attempting a megger test (insulation resistance measurement) on the Servo Drive or Servomotor. Not doing so may result in Servo
Drive or Servomotor failure. Do not perform a dielectric strength test on the Servo Drive or Servomotor. Doing so may result in damage of the internal elements.
• Carefully perform the wiring and assembling. Injury may result.
• Wear the protective equipment when installing or removing the main circuit connector, main circuit
connector A, main circuit connector B, main circuit connector E, control power supply connector, or
motor connector. Do not apply a force after the protrusion of the connector opener reaches the bottom dead center. (As a guide, do not apply a force of 100 N or more.)
• Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive.
Fire may result.
• Be sure to install surge suppressors when you connect a load with an induction coil such as a relay to
the control output terminal.
Malfunction or equipment damage may result.
Adjustment
• Install an immediate stop device externally to the machine so that the operation can be stopped and
the power supply is cut off immediately. Injury may result.
• Do not adjust or set parameters to extreme values, because it will make the operation unstable. Injury
may result.
• Ensure that the Servomotor has a sufficient rigidity. Equipment damage or malfunction may result.
• If a problem occurs in serial communications or the computer during a test operation, you have no
means to stop the Servomotor.
Connect an externally installed emergency stop switch, etc. to the Error Stop Input of the general-purpose input so that the Servomotor can be stopped without fail.
• When using the Servomotor with key, run the Servomotor in a state in which the key cannot jump out
of the shaft.
Not doing so may result in hurting people around the equipment due to the jumping key.
Operation Check
• Before operating the Servo Drive in an actual environment, check if it operates correctly based on the
newly set parameters. Equipment damage may result.
• Do not adjust or set parameters to extreme values, because it will make the operation unstable. Injury
may result.
• Do not drive the Servomotor by the use of an external drive source. Fire may result.
26
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 29
Safety Precautions
Usage
• Tighten the mounting screws, terminal block screws, cable screws and shield clamp screws for the
Servo Drive, Servomotor, and peripheral equipment to the specified torque. Failure may result.
• Install a stopping device on the machine to ensure safety.
The holding brake is not a stopping device to ensure safety. Injury may result.
• Install an immediate stop device externally to the machine so that the operation can be stopped and
the power supply is cut off immediately. Injury may result.
• Conduct a test operation after confirming that the equipment is not affected. Equipment damage may
result.
• Do not use the built-in brake of the Servomotor for normal braking operation. Failure may result.
• After an earthquake, be sure to conduct safety checks. Electric shock, injury, or fire may result.
• Connect an emergency stop (immediate stop) relay in series with the brake interlock output. Injury or
failure may result.
• Do not use the cable when it is laying in oil or water. Electric shock, injury, or fire may result.
• Install safety devices to prevent idling or locking of the electromagnetic brake or the gear head, or
leakage of grease from the gear head. Injury, damage, or taint damage result.
• Be sure to turn OFF the power supply when not using the Servo Drive for a prolonged period of time.
Not doing so may result in injury or malfunction.
• When constructing a system that includes safety functions, be sure you understand the relevant
safety standards and all related information in user documentation, and design the system to comply
with the standards. Injury or equipment damage may result.
• If the Servomotor is not controlled, it may not be possible to maintain the stop. To ensure safety,
install a stop device. Equipment damage or injury may result.
• Periodically run the Servomotor approximately one rotation when the oscillation operation continues
at a small angle of 45° or smaller. Servomotor failure may result.
• Immediately stop the operation and cut off the power supply when unusual smell, noise, smoking,
abnormal heat generation, or vibration occurs. Not doing so may result in Servo Drive or Servomotor
damage or burning.
• Fully check the shaft when you reset a brake interlock from PC tool.
Maintenance
• After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation,
before restarting operation. Equipment damage may result.
• Do not repair the Servo Drive by disassembling it. Electric shock or injury may result.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
27
Page 30
Safety Precautions
Ether
CAT
RUN
FS
ERR
ERR
PWR
ECAT
IN
OUT
L/A
L/A
Location of warning
Dispose of in accordance with WEEE Directive
Location of Warning Display
The Servo Drive bears a warning label at the following location to provide handling warnings.
When you handle the Servo Drive, be sure to observe the instructions provided on this label.
Instructions on Warning Display
Note The above is an example of warning display.
Disposal
Comply with the local ordinance and regulations when disposing of the product.
28
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 31
Items to Check After Unpacking
Name plate example: 100 VAC 100 W Servo Drive
Servo Drive model
Servo Drive rating
Lot number and serial number
Items to Check After Unpacking
After you unpack the product, check the following items.
• Is this the model you ordered?
• Was there any damage sustained during shipment?
Servo Drive
Nameplate of Servo Drive
The model, rating and lot number of the 1S-series Servo Drive are given on the product nameplate.
Nameplate display location
Ether
R88D-1SN
CAT
L/A
RUN
L/A
ERR
IN
OUT
FS
The notifications and their meanings of lot number and serial number are explained below.
• Capacity 3 kW or less:
Notation: Lot No. DDMYY xxxx
DDMYY: Lot number, : For use by OMRON, xxxx: Serial number
“M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)
• Capacity 5.5 kW or more:
Notation: Lot No. MMYYDD xxx
MMYYDD: Lot number, : For use by OMRON, xxx: Serial number
Accessories of Servo Drive
This product comes with the following accessories.
• INSTRUCTION MANUAL × 1 copy
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Warning label × 1 sheet
• General Compliance Information and instructions for EU × 1 copy
• Attached connectors (Depends on the model. Refer to the following table.)
When UL/CSA certification is required, attach the warning label to a place around the Servo Drive.
29
Page 32
Items to Check After Unpacking
Connectors, mounting screws, mounting brackets, and other accessories other than those in the table
below are not supplied. They must be prepared by the customer.
If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or
sales office where you purchased your product.
Specifications
Single-
phase 100
VAC
100 W
200 W
400 W
100 W
Single-
phase/3-ph
ase 200
VAC
200 W
400 W
750 W
1.5 kW
1 kW
2 kW
3-phase
200 VAC
3 kW
5.5 kW
7.5 kW
15 kW--600 W
1 kW
1.5 kW
3-phase
400 VAC
2 kW
3 kW
5.5 kW
7.5 kW
15 kWIncluded
*1. Four short-circuit wires are connected.
*2. Two short-circuit wires are connected.
*3. One short-circuit wire is connected.
*4. One opener is included.
Specifications
Single-
phase 100
VAC
100 W
200 W
400 W
100 W
Single-
phase/3-ph
ase 200
VAC
200 W
400 W
750 W
1.5 kW
1 kW
2 kW
3-phase
200 VAC
3 kW
5.5 kW
7.5 kW
15 kW
Control I/O connector
Included
Main circuit
connector B (CNB)
---
Included
---
Included
Included
*1
*1 *3
*1 *3
*5
(CN1)
Brake interlock connector
(CN12)
Included
Motor connector
(CNC)
Included
Included
Included
Included
*2
*3
*2
*3
---
Main circuit connector
Included
Included
Included
Included
Included
Included
Included
Control power
supply connector
(CND)
---
Included
*4
---
Included
*4
Included
and main circuit
connector A
(CNA)
*2 *4
*3 *4
*2 *4
*3 *4
*3
*3 *4
*3
Main circuit
connector E
(CNE)
---
Included
*1
30
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 33
Items to Check After Unpacking
Specifications
Main circuit
connector B (CNB)
600 W
1 kW
1.5 kW
3-phase
400 VAC
2 kW
3 kW
Included
*1 *3
5.5 kW
7.5 kW
15 kW
Included
*5
*1. One short-circuit wire is connected.
*2. The connector with 3 terminals is included.
*3. The connector with 4 terminals is included.
*4. One opener is included.
*5. The connector with 2 terminals is included.
Motor connector
(CNC)
Included
*3
Control power
supply connector
(CND)
Included
*4
Included
Main circuit
connector E
(CNE)
---
Included
*1
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
31
Page 34
Items to Check After Unpacking
R88M-1M2K020T-BOS2
10150700003
200VAC13.3 A
250 Hz
10kg
2.0 kW
2,000
Nameplate display location
From the left,
Rated rotation speed
(Example: 2,000 r/min)
Rated frequency (Example: 250 Hz)
Motor weight (Example: 10 kg)
*1
*1. The weight is not given for the Servomotor with a flange size of
80 x 80 or less.
From the left,
Number of phases (Example: 3)
Rated voltage
(Example: 200 VAC)
Rated current
(Example: 13.3 A)
Rated output
(Example: 2.0 kW)
From the left,
Insulation class (Example: F)
Totally enclosed protection
type motor (Example: TE)
Operating ambient
temperature (Example: 40°C)
Protective structure
(Example: IP67)
Motor model
Serial number
Servomotor
Nameplate of Servomotor
The model, rating and serial number of the 1S-series Servomotor are given on the product nameplate.
Accessories of Servomotor
This product comes with an instruction manual.
32
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 35
Decelerator (Backlash: 3 Arcminutes Max.)
For Decelerators (backlash: 3 arcminutes max.), the model number given on the nameplate does not
match the model number of the Decelerator. Therefore, refer to the following table for correspondence
between the model numbers on nameplates and Decelerators.
Example of nameplate: 200-W Decelerator (backlash: 3 arcminutes max., reduction ratio: 1/5) for
3,000-r/min Servomotors
Upper row: Model on nameplate
Lower row: Serial No. (the OMRON logo at the end)
Items to Check After Unpacking
HPG-14A-05-J2AXT
ΧΧ-ΧΧΧΧΧΧΧ-ΧΧΧ
The model on nameplate HPG-14A-05-J2AXT
corresponds to the decelerator model HPG14A05200B.
Decelerator (backlash: 3 arcminutes max.) for 3,000-r/min Servomotors
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
50W
100 W
Reduc-
tion
ratio
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Decelerator model Model on nameplateDecelerator modelModel on nameplate
R88GHPG14A21100B
R88GHPG14A33050B
R88GHPG14A45050B
R88GHPG11B05100B
R88GHPG14A11100B
R88GHPG14A21100B
R88GHPG20A33100B
R88GHPG20A45100B
HPG-14A-21-J2ABKR88G-
HPG14A21100BJ
HPG-14A-33-J2ABLR88G-
HPG14A33050BJ
HPG-14A-45-J2ABLR88G-
HPG14A45050BJ
HPG-11B-05-J2ADGR88G-
HPG11B05100BJ
HPG-14A-11-J2ABKR88G-
HPG14A11100BJ
HPG-14A-21-J2ABKR88G-
HPG14A21100BJ
HPG-20A-33-J2JBLAR88G-
HPG20A33100BJ
HPG-20A-45-J2JBLAR88G-
HPG20A45100BJ
HPG-14A-21-J6ABK
HPG-14A-33-J6ABL
HPG-14A-45-J6ABL
HPG-11B-05-J6ADG
HPG-14A-11-J6ABK
HPG-14A-21-J6ABK
HPG-20A-33-J6JBLA
HPG-20A-45-J6JBLA
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
33
Page 36
Items to Check After Unpacking
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
200 W
400 W
750 W
(200 V)
750 W
(400 V)
1 kW
Reduc-
tion
ratio
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/
1
1
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Decelerator model Model on nameplateDecelerator modelModel on nameplate
R88GHPG14A05200B
R88GHPG14A11200B
R88GHPG20A21200B
R88GHPG20A33200B
R88GHPG20A45200B
R88GHPG14A05400B
R88GHPG20A11400B
R88GHPG20A21400B
R88GHPG32A33400B
R88GHPG32A45400B
R88GHPG20A05750B
R88GHPG20A11750B
R88GHPG32A21750B
R88GHPG32A33750B
R88GHPG32A45750B
R88GHPG32A052K0B
R88GHPG32A112K0B
R88GHPG32A211K5B
R88GHPG32A33600SB
R88GHPG50A451K5B
R88GHPG32A052K0B
R88GHPG32A112K0B
R88GHPG32A211K5B
R88GHPG50A332K0B
R88GHPG50A451K5B
HPG-14A-05-J2AXTR88G-
HPG14A05200BJ
HPG-14A-11-J2AXUR88G-
HPG14A11200BJ
HPG-20A-21-J2GDHR88G-
HPG20A21200BJ
HPG-20A-33-J2GDIR88G-
HPG20A33200BJ
HPG-20A-45-J2GDIR88G-
HPG20A45200BJ
HPG-14A-05-J2AXWR88G-
HPG14A05400BJ
HPG-20A-11-J2GDKR88G-
HPG20A11400BJ
HPG-20A-21-J2GDKR88G-
HPG20A21400BJ
HPG-32A-33-J2NELA R88G-
HPG32A33400BJ
HPG-32A-45-J2NELA R88G-
HPG32A45400BJ
HPG-20A-05-J2FFOR88G-
HPG20A05750BJ
HPG-20A-11-J2FFPR88G-
HPG20A11750BJ
HPG-32A-21-J2NAIR88G-
HPG32A21750BJ
HPG-32A-33-J2NAJR88G-
HPG32A33750BJ
HPG-32A-45-J2NAJR88G-
HPG32A45750BJ
HPG-32A-05-J2NFGR88G-
HPG32A052K0BJ
HPG-32A-11-J2NFHR88G-
HPG32A112K0BJ
HPG-32A-21-J2NFIR88G-
HPG32A211K5BJ
HPG-32A-33-J2NFJR88G-
HPG32A33600SBJ
HPG-50A-45-J2ADBA R88G-
HPG50A451K5BJ
HPG-32A-05-J2NFGR88G-
HPG32A052K0BJ
HPG-32A-11-J2NFHR88G-
HPG32A112K0BJ
HPG-32A-21-J2NFIR88G-
HPG32A211K5BJ
HPG-50A-33-J2ADBA R88G-
HPG50A332K0BJ
HPG-50A-45-J2ADBA R88G-
HPG50A451K5BJ
HPG-14A-05-J6AXT
HPG-14A-11-J6AXU
HPG-20A-21-J6GDH
HPG-20A-33-J6GDI
HPG-20A-45-J6GDI
HPG-14A-05-J6AXW
HPG-20A-11-J6GDK
HPG-20A-21-J6GDK
HPG-32A-33-J6NELA
HPG-32A-45-J6NELA
HPG-20A-05-J6FFO
HPG-20A-11-J6FFP
HPG-32A-21-J6NAI
HPG-32A-33-J6NAJ
HPG-32A-45-J6NAJ
HPG-32A-05-J6NFG
HPG-32A-11-J6NFH
HPG-32A-21-J6NFI
HPG-32A-33-J6NFJ
HPG-50A-45-J6ADBA
HPG-32A-05-J6NFG
HPG-32A-11-J6NFH
HPG-32A-21-J6NFI
HPG-50A-33-J6ADBA
HPG-50A-45-J6ADBA
34
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 37
Items to Check After Unpacking
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
1.5 kW
2 kW
3 kW
4 kW
4.7 kW
5 kW
Reduc-
tion
ratio
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/5
1/11
1/21
1/5
1/11
1/5
1/11
Decelerator model Model on nameplateDecelerator modelModel on nameplate
R88GHPG32A052K0B
R88GHPG32A112K0B
R88GHPG32A211K5B
R88GHPG50A332K0B
R88GHPG50A451K5B
R88GHPG32A052K0B
R88GHPG32A112K0B
R88GHPG50A212K0B
R88GHPG50A332K0B
R88GHPG32A053K0B
R88GHPG50A113K0B
R88GHPG50A213K0B
R88GHPG32A054K0B
R88GHPG50A115K0B
R88GHPG50A055K0B
R88GHPG50A115K0B
HPG-32A-05-J2NFGR88G-
HPG32A052K0BJ
HPG-32A-11-J2NFHR88G-
HPG32A112K0BJ
HPG-32A-21-J2NFIR88G-
HPG32A211K5BJ
HPG-50A-33-J2ADBA R88G-
HPG50A332K0BJ
HPG-50A-45-J2ADBA R88G-
HPG50A451K5BJ
HPG-32A-05-J2NFGR88G-
HPG32A052K0BJ
HPG-32A-11-J2NFHR88G-
HPG32A112K0BJ
HPG-50A-21-J2ADBA R88G-
HPG50A212K0BJ
HPG-50A-33-J2ADBA R88G-
HPG50A332K0BJ
HPG-32A-05-J2MCKR88G-
HPG32A053K0BJ
HPG-50A-11-J2AABB R88G-
HPG50A113K0BJ
HPG-50A-21-J2AABB R88G-
HPG50A213K0BJ
HPG-32A-05-J2PAOR88G-
HPG32A054K0BJ
HPG-50A-11-J2BADC R88G-
HPG50A115K0BJ
HPG-50A-05-J2BACC R88G-
HPG50A055K0BJ
HPG-50A-11-J2BADC R88G-
HPG50A115K0BJ
HPG-32A-05-J6NFG
HPG-32A-11-J6NFH
HPG-32A-21-J6NFI
HPG-50A-33-J6ADBA
HPG-50A-45-J6ADBA
HPG-32A-05-J6NFG
HPG-32A-11-J6NFH
HPG-50A-21-J6ADBA
HPG-50A-33-J6ADBA
HPG-32A-05-J6MCK
HPG-50A-11-J6AABB
HPG-50A-21-J6AABB
HPG-32A-05-J6PAO
HPG-50A-11-J6BADC
HPG-50A-05-J6BACC
HPG-50A-11-J6BADC
Decelerator (backlash: 3 arcminutes max.) for 2,000-r/min Servomotors
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
400 W
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Reduc-
tion
ratio
1/5
1/11
1/21
1/33
1/45
Decelerator model Model on nameplateDecelerator modelModel on nameplate
R88GHPG32A052K0B
R88GHPG32A112K0B
R88GHPG32A211K5B
R88GHPG32A33600SB
R88GHPG32A45400SB
HPG-32A-05-J2NFGR88G-
HPG32A052K0BJ
HPG-32A-11-J2NFHR88G-
HPG32A112K0BJ
HPG-32A-21-J2NFIR88G-
HPG32A211K5BJ
HPG-32A-33-J2NFJR88G-
HPG32A33600SBJ
HPG-32A-45-J2NFJR88G-
HPG32A45400SBJ
HPG-32A-05-J6NFG
HPG-32A-11-J6NFH
HPG-32A-21-J6NFI
HPG-32A-33-J6NFJ
HPG-32A-45-J6NFJ
35
Page 38
Items to Check After Unpacking
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
600 W
1 kW
1.5 kW
2 kW
3 kW
Reduc-
tion
ratio
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/5
1/11
1/21
1/33
1/5
1/11
1/21
1/25
Decelerator model Model on nameplateDecelerator modelModel on nameplate
R88GHPG32A052K0B
R88GHPG32A112K0B
R88GHPG32A211K5B
R88GHPG32A33600SB
R88GHPG50A451K5B
R88GHPG32A053K0B
R88GHPG32A112K0SB
R88GHPG32A211K0SB
R88GHPG50A332K0SB
R88GHPG50A451K0SB
R88GHPG32A053K0B
R88GHPG32A112K0SB
R88GHPG50A213K0B
R88GHPG50A332K0SB
R88GHPG32A053K0B
R88GHPG32A112K0SB
R88GHPG5
R88GHPG50A332K0SB
R88GHPG32A054K0B
R88GHPG50A115K0B
R88GHPG50A213K0SB
R88GHPG65A253K0SB
0A21
3K0B
HPG-32A-05-J2NFGR88G-
HPG32A052K0BJ
HPG-32A-11-J2NFHR88G-
HPG32A112K0BJ
HPG-32A-21-J2NFIR88G-
HPG32A211K5BJ
HPG-32A-33-J2NFJR88G-
HPG32A33600SBJ
HPG-50A-45-J2ADBA R88G-
HPG50A451K5BJ
HPG-32A-05-J2MCKR88G-
HPG32A053K0BJ
HPG-32A-11-J2MCLR88G-
HPG32A112K0SBJ
HPG-32A-21-J2MCMR88G-
HPG32A211K0SBJ
HPG-50A-33-J2AABB R88G-
HPG50A332K0SBJ
HPG-50A-45-J2AABB R88G-
HPG50A451K0SBJ
HPG-32A-05-J2MCKR88G-
HPG32A053K0BJ
HPG-32A-11-J2MCLR88G-
HPG32A112K0SBJ
HPG-50A-21-J2AABB R88G-
HPG50A213K0BJ
HPG-50A-33-J2AABB R88G-
HPG50A332K0SBJ
HPG-32A-05-J2MCKR88G-
HPG32A053K0BJ
HPG-32A-11-J2MCLR88G-
HPG32A112K0SBJ
HPG-50A-21-J2AABB R88G-
HPG50A213K0BJ
HPG-50A-33-J2AABB R88G-
HPG50A332K0SBJ
HPG-32A-05-J2PAOR88G-
HPG32A054K0BJ
HPG-50A-11-J2BADC R88G-
HPG50A115K0BJ
HPG-50A-21-J2BADC R88G-
HPG50A213K0SBJ
HPG-65A-25-J2BACC R88G-
HPG65A253K0SBJ
HPG-32A-05-J6NFG
HPG-32A-11-J6NFH
HPG-32A-21-J6NFI
HPG-32A-33-J6NFJ
HPG-50A-45-J6ADBA
HPG-32A-05-J6MCK
HPG-32A-11-J6MCL
HPG-32A-21-J6MCM
HPG-50A-33-J6AABB
HPG-50A-45-J6AABB
HPG-32A-05-J6MCK
HPG-32A-11-J6MCL
HPG-50A-21-J6AABB
HPG-50A-33-J6AABB
HPG-32A-05-J6MCK
HPG-32A-11-J6MCL
HPG-50A-21-J6AABB
HPG-50A-33-J6AABB
HPG-32A-05-J6PAO
HPG-50A-11-J6BADC
HPG-50A-21-J6BADC
HPG-65A-25-J6BACC
36
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 39
Items to Check After Unpacking
Decelerator (backlash: 3 arcminutes max.) for 1,500-r/min Servomotors
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
4 kW
5 kW
5.5 kW
Reduc-
tion
ratio
1/5
1/11
1/20
1/25
1/5
1/12
1/20
Decelerator modelModel on nameplateDecelerator modelModel on nameplate
R88GHPG50A055K0SB
R88GHPG50A115K0SB
R88GHPG65A205K0SB
R88GHPG65A255K0SB
R88GHPG50A054K5TB
R88GHPG65A127K5SB
R88GHPG50A054K5TB
HPG-50A-05-J2EBCHR88G-
HPG50A055K0SBJ
HPG-50A-11-J2EBDHR88G-
HPG50A115K0SBJ
HPG-65A-20-J2EBCHR88G-
HPG65A205K0SBJ
HPG-65A-25-J2EBCHR88G-
HPG65A255K0SBJ
HPG-50A-05-J2EBCGR88G-
HPG50A054K5TBJ
HPG-65A-12-J2CBAIR88G-
HPG65A127K5SBJ
HPG-65A-20-J2CBAIR88G-
HPG65A204K5TBJ
HPG-50A-05-J6EBCH
HPG-50A-11-J6EBDH
HPG-65A-20-J6EBCH
HPG-65A-25-J6EBCH
HPG-50A-05-J6EBCG
HPG-65A-12-J6CBAI
HPG-65A-20-J6CBAI
Decelerator (backlash: 3 arcminutes max.) for 1,000-r/min Servomotors
SpecificationsWithout keyWith key and tap
Servo-
motor
rated
output
900 W
2 kW
3 kW
Reduc-
tion
ratio
1/5
1/11
1/21
1/33
1/5
1/11
1/21
1/25
1/5
1/11
1/20
1/25
Decelerator model Model on nameplateDecelerator modelModel on nameplate
R88GHPG32A05900TB
R88GHPG32A11900TB
R88GHPG50A21900TB
R88GHPG50A33900TB
R88GHPG32A052K0TB
R88GHPG50A112K0TB
R88GHPG50A212K0TB
R88GHPG65A255K0SB
R88GHPG50A055K0SB
R88GHPG50A115K0SB
R88GHPG65A205K0SB
R88GHPG65A255K0SB
HPG-32A-05-J2PAKR88G-
HPG32A05900TBJ
HPG-32A-11-J2PALR88G-
HPG32A11900TBJ
HPG-50A-21-J2BADB R88G-
HPG50A21900TBJ
HPG-50A-33-J2BADB R88G-
HPG50A33900TBJ
HPG-32A-05-J2PBSR88G-
HPG32A052K0TBJ
HPG-50A-11-J2BBDH R88G-
HPG50A112K0TBJ
HPG-50A-21-J2BBDH R88G-
HPG50A212K0TBJ
HPG-65A-25-J2EBCH R88G-
HPG65A255K0SBJ
HPG-50A-05-J2EBCH R88G-
HPG50A055K0SBJ
HPG-50A-11-J2EBDH R88G-
HPG50A115K0SBJ
HPG-65A-20-J2EBCH R88G-
HPG65A205K0SBJ
HPG-65A-25-J2EBCH R88G-
HPG65A255K0SBJ
HPG-32A-05-J6PAK
HPG-32A-11-J6PAL
HPG-50A-21-J6BADB
HPG-50A-33-J6BADB
HPG-32A-05-J6PBS
HPG-50A-11-J6BBDH
HPG-50A-21-J6BBDH
HPG-65A-25-J6EBCH
HPG-50A-05-J6EBCH
HPG-50A-11-J6EBDH
HPG-65A-20-J6EBCH
HPG-65A-25-J6EBCH
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
37
Page 40
Items to Check After Unpacking
MADE IN CHINA
GEAR
R88G-
100
W
XXXXXXXXX
XXXX.XX
RATIO
1:5
VRXF05B100CJ
POWER
LOT NO.
DATE
OMRON Corporation
Reduction ratio
(Example: 1/5)
Rated output
(Example: 100 W)
Decelerator model number
Serial number
Date of manufacture
Nameplate display location
(Rubber cap side)
(Rubber cap)
Decelerator (Backlash: 15 Arcminutes Max.)
For Decelerators (backlash: 15 arcminutes max.), the product nameplate indicates the model number,
rated output, reduction ratio, serial number, and date of manufacture.
Motor Power Cable
The following product models come with a shield clamp. The shield clamp is used for mounting to a
Servo Drive. Keep it until the use.
Applicable models: R88A-CA1H
As for a shield clamp, refer to Shield Clamp Bracket on page 2-32.
F, R 88A -CA 1J F, R8 8A -CA 1K F
38
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 41
External Regeneration Resistor Unit
connector
The following product models come with an instruction manual and a connector. Use the connector
when wiring an external regeneration resistance unit to a Servo Drive.
Applicable models: R88A-RR550
External Dynamic Brake Resistor
This product comes with an instruction manual and two connectors to extend a wiring.
Items to Check After Unpacking
Shield Clamp
This product comes with two screws (M4×12) for mounting.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
39
Page 42
Related Manuals
Related Manuals
The following are the manuals related to this manual. Use these manuals for reference.
fications of the NX-series
CPU Units, including
introductory information,
designing, installation,
and maintenance.
Mainly hardware information is provided.
W593 NX102-Learning the basic speci-
fications of the NX102
CPU Units, including
introductory information,
designing, installation,
and maintenance.
Mainly hardware information is provided.
W578 NX1P2-Learning the basic speci-
fications of the NX1P2
CPU Units, including
introductory information,
designing, installation,
and maintenance.
Mainly hardware information is provided.
An introduction to the entire
NX-series system is provided along with the following information on the CPU
Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Use this manual together
with the NJ-series CPU Unit Software User’s Manual
(Cat. No. W501).
An introduction to the entire
NX102 system is provided
along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire
NX1P2 system is provided
along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
40
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
NJ/NX-series CPU
Unit Motion Control User’s Manual
NX-series Safety
Control Units
User's Manual
Sysmac Studio
Version 1 Operation Manual
W500NJ501-
NJ301-
NJ101-
W501NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
W507NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
Z930NX-SL
NX-SI
NX-SO
W504SYSMAC-SE2
Learning the basic specifications of the NJ-series
CPU Units, including
introductory information,
designing, installation,
and maintenance.
Mainly hardware information is provided.
Learning how to program
and set up an
NJ/NX-series CPU Unit.
Mainly software information is provided.
Learning about motion
control settings and programming concepts.
Learning how to use the
NX-series Safety Control Units.
Learning about the opera
ting procedures and
functions of the Sysmac
Studio.
An introduction to the entire
NJ-series system is provided
along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Use this manual together
with the NJ-series CPU Unit Software User’s Manual
(Cat. No. W501).
The following information is
provided on a Controller built
with an NJ/NX-series CPU
Unit.
• CPU Unit operation
• CPU Unit features
• Initial settings
• Programming based on
IEC 61131-3 language
specifications
Use this manual together
with the NX-series CPU Unit Hardware User's Manual
(Cat. No. W535) or NJ-series
CPU Unit Hardware User's
Manual (Cat. No. W500).
The settings and operation of
the CPU Unit and programming concepts for motion
control are described.
When programming, use this
manual together with the
NX-series CPU Unit Hardware User's Manual (Cat. No. W535) or NJ-series CPU
Unit Hardware User's Manual (Cat. No. W500) and with the NJ/NX-series CPU Unit
Software User's Manual
(Cat. No. W501).
Describes the hardware,
setup methods and functions
of the NX-series Safety Control Units.
Describes the operating procedures of the Sysmac Studio.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Learning how to set up
and adjust the Servo
Drives.
Learning about the NC
Units (CJ1W-NC281/
481/ 881/ F81/ 482/ 882/
F82).
Learning how to use the
G9SP-series safety Controllers.
Describes the operating procedures of the Sysmac Studio.
Describes the setup methods and operating procedures of the NC Units.
Describes the hardware,
setup methods and functions
of the G9SP-series safety
Controllers.
42
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 45
Terminology
Ter m
CAN application protocol over EtherCATCoEA CAN application protocol service implemented on
CAN in AutomationCiACiA is the international users’ and manufacturers’
Device Profile---Collection of device dependent information and func-
Distributed ClocksDCMethod to synchronize slaves and maintain a global
EtherCAT Slave ControllerESCA controller for EtherCAT slave communication.
EtherCAT Slave InformationESIAn XML file that contains setting information for an
EtherCAT State MachineESMAn EtherCAT communication state machine.
EtherCAT Technology GroupETGThe ETG is a global organization in which OEM, End
Fieldbus Memory Management UnitFMMUSingle element of the fieldbus memory management
Index---Address of an object within an application process.
Object---Abstract representation of a particular component
Object DictionaryODData structure addressed by Index and Subindex
Physical Device Internal InterfacePDIA series of elements to access data link services
Power Drive SystemPDSA power drive system consisting of a Servo Drive, an
Process Data---Collection of application objects designated to be
Process Data ObjectPDOStructure described by mapping parameters that
Receive PDORxPDOA process data object received by an EtherCAT
safe state---The status of a device or piece of equipment when
safety control---A type of control that uses devices, functions, and
Safety over EtherCATFSoEA system to communicate for the functional safety
safety process data communications---A type of I/O data communications that is used for
Abbrevi-
ation
Terminology
Description
EtherCAT.
group that develops and supports higher-layer protocols.
tionality providing consistency between similar
devices of the same device type.
time base.
EtherCAT slave.
Users and Technology Providers join forces to support and promote the further technology development.
unit: one correspondence between a coherent logical address space and a coherent physical memory
location.
within a device, which consists of data, parameters,
and methods.
that contains description of data type objects, communication objects and application objects.
from the application layer.
inverter, and other components.
transferred cyclically or acyclically for the purpose of
measurement and control.
contain one or several process data entities.
slave.
the risk of danger to humans has been reduced to an
acceptable level.
data that are designed with special safety measures.
over EtherCAT.
safety control purposes.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
43
Page 46
Terminology
Ter m
Abbrevi-
ation
Description
safety reaction time---The time required for the system to enter a safe state
in a worst-case scenario after the occurrence of a
safety-related input (press of an emergency stop
pushbutton switch, interruption of a light curtain,
opening of a safety door, etc.) or device failure.
The reaction time of the system includes the reaction
times of sensors and actuators, just like the reaction
time for a Controller or network.
Service Data ObjectSDOCoE asynchronous mailbox communications where
all objects in the object dictionary can be read and
written.
Slave Information InterfaceSIISlave information stored in the nonvolatile memory
of each slave.
standard control---A type of control that use devices, functions, and
data that are designed for general control purposes.
This term is used to differentiate from a safety con-
trol.
Subindex---Sub-address of an object within the object dictionary.
Sync ManagerSMCollection of control elements to coordinate access
to concurrently used objects.
Transmit PDOTxPDOA process data object sent from an EtherCAT slave.
44
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 47
Revision History
Cat. No.
I586-E1-12
Revision code
The manual revision code is a number appended to the end of the catalog number found in the front
and back cover.
Example
Revision History
Revision
code
01June 2016Original production
02August 2016• Made changes accompanying release of R88M-1L
03March 2017• Revised for the upgrade to the unit version 1.1.
04October 2017• Added Decelerators.
05 April 2018• Revised for the upgrade to the unit version 1.2.
06May 2018Revised Safety Precautions.
07September 2018 • Made changes accompanying release of R88M-1M05030
08August 2019• Made changes accompanying release of R88D-1SN55-ECT, etc.
09October 2019Corrected mistakes.
10March 2020Corrected mistakes.
11September 2020 • Made changes accompanying release of R88M-1L4K730T-, etc.
12October 2020• Revised for the upgrade to the unit version 1.4.
DateRevised content
• Corrected mistakes.
• Corrected mistakes.
• Corrected mistakes.
• Corrected mistakes.
• Corrected mistakes.
• Corrected mistakes.
• Corrected mistakes.
• Corrected mistakes.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
45
Page 48
Revision History
46
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 49
Features and System Configuration
This section explains the features of the Servo Drive and name of each part.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
1 - 1
Page 50
1 Features and System Configuration
1-1Outline
The 1S-series Servo Drives with Built-in EtherCAT communications support 100-Mbps EtherCAT.
When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit
or Position Control Unit with EtherCAT (Model: CJ1W-NC8), you can construct a high-speed and
sophisticated positioning control system.
You need only one communications cable to connect the Servo Drive and the Controller. Therefore, you
can realize a position control system easily with reduced wiring effort.
With adjustment functions, adaptive notch filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.
Moreover, with the two-degree-of-freedom (TDF) control structure, you can easily adjust high-precision
positioning.
1-1-1Features of 1S-series Servo Drives
The 1S-series Servo Drives have the following features.
Optimal Functionality and Operability by Standardizing Specifications
As a Sysmac Device, 1S-series Servo Drives with built-in EtherCAT communications is designed to
achieve optimum functionality and ease of operation when it is used together with the NJ/NX-series
Machine Automation Controller and the Sysmac Studio Automation Software.
Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed
with unified communications specifications and user interface specifications.
Data Transmission Using EtherCAT Communications
Combining the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit or
Position Control Unit with EtherCAT (Model: CJ1W-NC8) enables you to exchange all position
information with the controller in high-speed data communications.
Since the various control commands are transmitted via data communications, Servomotor’s operational performance is maximized without being limited by interface specifications such as the response
frequency of the encoder feedback pulses.
You can use the Servo Drive’s various control parameters and monitor data on a host controller, and
unify the system data for management.
1 - 2
EtherCAT Communications Cycle of 125 µs
Combination with an NX7 Machine Automation Controller enables high-speed and high-precision
motion control at the communications cycle of 125 µs.
High Equipment Utilization Efficiency with 400-V Models
The 400-V models are provided for use with large equipment, at overseas facilities and in wide-ranging
applications and environment. Since the utilization ratio of facility equipment also increases, the TCO
(Total Cost of Ownership) will come down.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 51
1 Features and System Configuration
Safe Torque OFF (STO) Function to Ensure Safety
You can cut off the motor current to stop the motor based on a signal from an emergency stop button or
other safety equipment. This can be used for an emergency stop circuit that is compliant with safety
standards without using an external contactor. Even during the torque OFF status, the present position
of the motor is monitored by the control circuits to eliminate the need to perform the homing at the time
of restart.
1-1 Outline
Achievement of Safety on EtherCAT Network
You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion control system.
The 1S-series Servo Drive supports the FSoE (Safety over EtherCAT) protocol as the safety communications. You can build the safety system that uses the STO function from the safety controller on the
EtherCAT network.
Suppressing Vibration of Low-rigidity Machines During Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity machines or devices whose tips tend
to vibrate. The function can also be used for damping control for larger constructions as it supports
vibration ranging from 0.5 to 300 Hz. You can maximize the performance of the Servomotor by
adjusting the trade-off between the damping time and the amount of peak control.
Easy Adjustment with TDF Control Structure
The TDF control structure allows you to separately adjust the amount of overshooting and the
resistance against disturbance. With this feature, you can easily achieve high-precision positioning,
which is difficult to achieve with the one-degree-of-freedom (ODF) control.
1
1-1-2 EtherCAT
1-1-2EtherCAT
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3).
Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.
A mechanism that allows sharing clock information enables high-precision synchronization control with
low communications jitter.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
1 - 3
Page 52
1 Features and System Configuration
1-1-3Object Dictionary
1S-series Servo Drives with Built-in EtherCAT Communications use the object dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.
An object is an abstract representation of a particular component within a device, which consists of
data, parameters, and methods.
An object dictionary is a data structure that contains description of data type objects, communication
objects and application objects.
All objects are assigned four-digit hexadecimal indexes in the areas shown in the following table.
Index (hex)AreaDescription
0000 to 0FFFData Type AreaDefinitions of data types.
1000 to 1FFFCoE Communications AreaDefinitions of objects that can be used by all serv-
2000 to 2FFFManufacturer Specific Area 1Objects with common definitions for all OMRON
3000 to 5FFFManufacturer Specific Area 2Objects with common definitions for all 1S-series
6000 to DFFFDevice Profile AreaVariables defined in the Servo Drive’s CiA402 drive
E000 to EFFFDevice Profile Area 2Objects defined in the Servo Drive’s FSoE CiA402
F000 to FFFFDevice AreaObjects defined in a device.
*1. For details on servo parameters, refer to Section 9 Details on Servo Parameters.
ers for designated communications.
products.
Servo Drives (servo parameters).
profile.
slave connection.
*1
1 - 4
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 59
R88D-1SN150H-ECT
Charge lamp
Control power
supply connector
(CND)
Main circuit terminal
block(CNA)
Main circuit
connectorB
(CNB)
Control I/O
connector(CN1)
Status
indicators
7-segment LED
display
ID switches
terminal
Status
indicators
EtherCAT
communications
connector(ECAT IN
CN10)
EtherCAT
communications
connector
(ECAT OUT CN11)
USB connector
Motor terminal
block(CNC)
Brake interlock
connector(CN12)
Screw for mounting
shield clamp (2 places)
terminal
Main circuit
connector E
(CNE)
Encoder connector(CN2)
terminal
1 Features and System Configuration
1-3 Names and Functions
1
1-3-1 Servo Drive Part Names
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Page 60
1 Features and System Configuration
R88D-1SN150F-ECT
Main circuit
connectorB
(CNB)
terminal
Main circuit terminal
block(CNA)
7-segment LED
display
Charge lamp
ID switches
Status
indicators
Control power
supply connector
(CND)
Status
indicators
USB connector
EtherCAT
communications
connector(ECAT IN
CN10)
EtherCAT
communications
connector
(ECAT OUT CN11)
Control I/O
connector(CN1)
1 - 12
Motor terminal
block(CNC)
Main circuit
connector E
(CNE)
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Encoder connector(CN2)
Brake interlock
connector(CN12)
terminal
Screw for mounting
shield clamp (2 places)
terminal
Page 61
1-3-2Servo Drive Functions
The functions of each part of the Servo Drive are described below.
Status Indicators
1 Features and System Configuration
1-3 Names and Functions
The following seven indicators are mounted.
NameColorDescription
PWRGreenDisplays the status of control power supply.
ERRRedGives the Servo Drive error status.
ECAT-RUNGreenDisplays the EtherCAT communications status.
ECAT-ERRRed
ECAT-L/A IN,
ECAT-L/A OUT
FSRed/green Displays the safety communications status.
For details on display, refer to 5-1-2 Status Indicators on page 5-3.
GreenLights or flashes according to the status of a link in the EtherCAT physical
layer.
1
1-3-2 Servo Drive Functions
7-segment LED Display
A 2-digit 7-segment LED display shows error numbers, the Servo Drive status, and other information.
Refer to 10-2-3 Checking the Displays on page 10-5 for details.
ID Switches
Two rotary switches (0 to F hex) are used to set the EtherCAT node address.
Charge Lamp
Lights when the main circuit power supply carries electric charge.
Control I/O Connector (CN1)
Used for command input signals, I/O signals, and as the safety device connector. The short-circuit wire
is installed on the safety signals before shipment.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
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Page 62
1 Features and System Configuration
EtherCAT Communications Connectors (ECAT IN CN10, ECAT OUT
CN11)
These connectors are for EtherCAT communications.
USB Connector (CN7)
USB-Micro B Communications connector for the computer. This connector enables USB 2.0 Full Speed
(12 Mbps) communications.
Brake Interlock Connector (CN12)
Used for brake interlock signals.
Main Circuit Connector (CNA)
Connector for the main circuit power supply input, control power supply input, external regeneration
resistor, and DC reactor.
Connector for the main circuit power supply input and external regeneration resistor.
The connector differs depending on the model.
Applicable models: R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN55H-ECT/
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 63
1 Features and System Configuration
Main Circuit Connector B (CNB)
Connector for an external regeneration resistor.
Applicable models: R88D-1SN150H-ECT/-1SN150F-ECT
Control Power Supply Connector (CND)
1-3 Names and Functions
Connector for control power supply input.
The connector differs depending on the model.
Applicable models: R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN55H-ECT/
Connector for the power line to the phase U, V, and W of the Servomotor.
The connector differs depending on the model.
Motor Terminal Block (CNC)
Connector for the power line to the phase U, V, and W of the Servomotor.
Applicable models: R88D-1SN150H-ECT
Main Circuit Connector E (CNE)
Connector for an External Dynamic Brake Resistor.
Applicable models:R88D-1SN55H-ECT/-1SN75H-ECT/-1SN150H-ECT/-1SN55F-ECT/
-1SN75F-ECT/-1SN150F-ECT
1
1-3-2 Servo Drive Functions
Terminal
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
The number of terminals of the Servo Drives and their connection targets are as follows.
Servo Drive model
R88D-1SN01L-ECT/
-1SN02L-ECT/-1SN04L-ECT/
-1SN01H-ECT/-1SN02H-ECT/
-1SN04H-ECT/-1SN08H-ECT/
-1SN10H-ECT
R88D-1SN15H-ECT/
-1SN20H-ECT/-1SN30H-ECT/
-1SN06F-ECT/-1SN10F-ECT/
-1SN15F-ECT/-1SN20F-ECT/
-1SN30F-ECT
R88D-1SN55H-ECT/
-1SN75H-ECT/-1SN150H-ECT/
-1SN55F-ECT/-1SN75F-ECT/
-1SN150F-ECT
Number of
terminals
1 on topPE wire of the main circuit power supply cable.
2 on front
1 on bottom
1 on topPE wire of the main circuit power supply cable.
2 on front
1 on bottom
1 on topPE wire of the main circuit power supply cable.
2 on front
2 on bottom
FG wire inside the control panel, and FG wire for
the motor cable and shielded wire.
FG wire inside the control panel and the motor
cable shielded wire.
FG wire inside the control panel and the motor
cable shielded clamp.
Connection to
1 - 15
Page 64
1 Features and System Configuration
Flange
Mating part
Encoder
Connector
Power
Connector
Shaft
100 VAC 100 W Servomotors (without Brake)
1-3-3Servomotor Part Names
The Servomotor part names are given below.
Flange Size of 80 × 80 or less
Brake connector
Power connector
Shaft
200 VAC 200 W Servomotors (with Brake)
Encoder
connector
Flange
Mating part
1 - 16
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 65
Flange Size of 100 × 100 or more
Power/brake connector
Encoder connector
Flange
Mating part
Shaft
200 VAC 4 kW Servomotors (with Brake)
Eye-bolt
Power/brake connector
1 Features and System Configuration
1-3 Names and Functions
Encoder
connector
1
1-3-3 Servomotor Part Names
Shaft
200 VAC 1.5 kW Servomotors (with Brake)
Flange
Mating part
Flange Size of 130 × 130 or more (4 kW or more)
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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1 Features and System Configuration
1-3-4Servomotor Functions
The functions of each part of the Servomotor are described below.
Shaft
The load is mounted on this shaft.
The direction which is in parallel with the shaft is called the thrust direction, and the direction which is
perpendicular to the shaft is called the radial direction.
Flange
Used for mounting the Servomotor on the equipment.
Fit the mating part into the equipment and use the mounting holes to screw the Servomotor.
Power Connector
Used for supplying power to the phase U, V, and W of the Servomotor.
For Servomotors with a brake and flange size of 100×100 or more, the pins for power and brake are set
on the same connector.
For Servomotors with the flange size of 130×130 or more, a cable outlet direction can be changed. The
change shall be up to five times.
Encoder Connector
Used for supplying power to the encoder of the Servomotor and communicating with the Servo Drive.
For Servomotors at 3000 r/min 4 kW or more and at 1500 r/min, use encoder cables with metal shell
type (for applicable Servomotor type B, 4 kW or more).
Brake Connector
Used for supplying power to the brake coil of the Servomotor.
This part is attached only to the Servomotors with a brake and flange size of 80 x 80 or less.
Eye bolt
1 - 18
Used for moving the Servomotor by hanging it up with wire ropes, etc. hooked through the rings.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 67
1-3-5Shield Clamp Part Names
Shield clamp
plate
*3
Cable tie
*2
Cable tie
*2
Shield clamp
blacket
*1
The shield clamp part names are given below.
1 Features and System Configuration
1-3 Names and Functions
1
1-3-5 Shield Clamp Part Names
*1. It comes with a cable.
*2. Do not cut cable ties.
*3. It is equipped with a cable.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Page 68
1 Features and System Configuration
L1
N2
P/B1
B2
B3
U
V
W
N1
ECAT IN
CN10
CN1CN1CN2CN12CN7
L2
L3
24V
DC/DC
0
N3
CNA
CNA
FUSE
CNA
CNC
USB
ECAT OUT
CN11
Power
supply
Brake
interlock
SafetyEncoderControl
interface
EtherCAT
communications
connector
EtherCAT
communications
connector
MPU, FPGA
Control circuit
Display area
rotary switch
Input voltage monitoring
Relay
drive
Voltage detection
Regeneration
control
error detection
Overcurrent detection
(IPM error)
HS temperature
monitoring
Gate drive
Current detection
1-4System Block Diagram
The block diagram of a 1S-series Servo Drive with Built-in EtherCAT Communications is shown below.
Note To conform to EMC Directives, install the Servo Drive and Servomotor under the conditions described in 4-3
Wiring Conforming to EMC Directives on page 4-47.
The Servo Drives and Servomotors comply with EN 61800-5-1 as long as the following installation
conditions (a) and (b) are met.
(a) Use the Servo Drive in pollution degree 2 or 1 environment as specified in IEC 60664-1.
Example: Installation inside an IP54 control panel.
(b) Connect a fuse or a breaker
• The Servo Drives with its capacity 3 kW or less
Be sure to connect a fuse or an equivalent that the fusing time is shorter, which complies with
IEC 60269-1 CLASS gG, between the power supply and noise filter.
Select a fuse that satisfies the maximum current rating of the following table.
Servo Drive model
R88D-1SN01L-ECT16 A
R88D-1SN02L-ECT16 A
R88D-1SN04L-ECT16 A
R88D-1SN01H-ECT16 A
R88D-1SN02H-ECT16 A
R88D-1SN04H-ECT16 A
R88D-1SN08H-ECT16 A
R88D-1SN10H-ECT16 A
R88D-1SN15H-ECT40 A
R88D-1SN20H-ECT40 A
R88D-1SN30H-ECT40 A
R88D-1SN06F-ECT20 A
Maximum current
rating
1 - 28
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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1 Features and System Configuration
1-5 Applicable Standards
Servo Drive model
R88D-1SN10F-ECT20 A
R88D-1SN15F-ECT20 A
R88D-1SN20F-ECT20 A
R88D-1SN30F-ECT20 A
• The Servo Drives with its capacity 5.5 kW or more
Connect the IEC60947 breaker or IEC 60269-1 CLASS gG fuse which should have the fusing
time shorter than the UL class RK5 fuse or equivalence.
Select a breaker or a fuse that satisfies the maximum current rating of the following table.
Servo Drive model
R88D-1SN55H-ECT60 A
R88D-1SN75H-ECT60 A
R88D-1SN150H-ECT125A
R88D-1SN55F-ECT30 A
R88D-1SN75F-ECT30A
R88D-1SN150F-ECT60A
1-5-2UL and cUL Standards
Maximum current
rating
1
1-5-2 UL and cUL Standards
Maximum current
rating
The 1S-series Servomotors, Servo Drives, and Footprint-type Noise Filters conform to the following
standards.
StandardProductApplicable standardsFile number
UL standardsServo DrivesUL 61800-5-1E179149
ServomotorsUL 1004-1, UL 1004-6E331224
Footprint-type Noise Filters UL1283E191135
*1
CSA standards
*1. IN CANADA, TRANSIENT SURGE SUPPRESSION SHALL BE INSTALLED ON THE LINE SIDE OF THIS
EQUIPMENT AND SHALL BE RATED 277 V (PHASE TO GROUND), SUITABLE FOR OVERVOLTAGE
CATEGORY III, AND SHALL PROVIDE PROTECTION FOR A RATED IMPULSE WITHSTAND VOLTAGE
PEAK OF 6 KV
The Servo Drives and Servomotors comply with UL 61800-5-1 as long as the following installation conditions (a) and (b) are met.
Use copper wiring with a temperature rating of 75°C or higher.
(a) Use the Servo Drive in pollution degree 2 or 1 environment as specified in IEC 60664-1.
Example: Installation inside an IP54 control panel.
(b) Connect a fuse or a breaker
• The Servo Drives with its capacity 3 kW or less
Be sure to connect a fuse, which is a UL-listed product with LISTED and mark, between the
power supply and noise filter.
Select the fuse from the following table as well as an equivalent, or the fuse that belongs to the
following class: CC, CF, G, J, R or T.
Servo Drive modelFuse
R88D-1SN01L-ECTUL CLASS RK5 15 A
R88D-1SN02L-ECTUL CLASS RK5 15 A
R88D-1SN04L-ECTUL CLASS RK5 15 A
R88D-1SN01H-ECTUL CLASS RK5 15 A
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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1 Features and System Configuration
Precautions for Correct Use
Servo Drive modelFuse
R88D-1SN02H-ECTUL CLASS RK5 15 A
R88D-1SN04H-ECTUL CLASS RK5 15 A
R88D-1SN08H-ECTUL CLASS RK5 15 A
R88D-1SN10H-ECTUL CLASS RK5 15 A
R88D-1SN15H-ECTUL CLASS RK5 40 A
R88D-1SN20H-ECTUL CLASS RK5 40 A
R88D-1SN30H-ECTUL CLASS RK5 40 A
R88D-1SN06F-ECTUL CLASS RK5 20 A
R88D-1SN10F-ECTUL CLASS RK5 20 A
R88D-1SN15F-ECTUL CLASS RK5 20 A
R88D-1SN20F-ECTUL CLASS RK5 20 A
R88D-1SN30F-ECTUL CLASS RK5 20 A
• The Servo Drives with its capacity 5.5 kW or more
Use the UL-listed breaker or UL class fuse (RK5, CC, CF, G, J, R or T) which has the rated current
in the table.
Servo Drive modelVoltage (Minimum)Ampere
R88D-1SN55H-ECT240 V60 A
R88D-1SN75H-ECT240 V60 A
R88D-1SN150H-ECT240 V125 A
R88D-1SN55F-ECT480 V30 A
R88D-1SN75F-ECT480 V30 A
R88D-1SN150F-ECT480 V60 A
1-5-3Korean Radio Regulations (KC)
• Observe the following precaution if you use this product in Korea.
Guide for Users
This equipment has been evaluated for conformity in a commercial environment.
When used in a residential environment, it may cause radio interference.
• The 1S-series Servo Drives comply with the Korean Radio Regulations (KC).
• The 1S-series Servomotors are exempt from the Korean Radio Regulations (KC).
1-5-4SEMI F47
• The main power supply inputs can conform to the SEMI F47 standard for momentary power interruptions (voltage sag immunity) for no-load operation.
• This standard applies to semiconductor manufacturing equipment.
• This standard does not apply to the 24-VDC control power input. Use the power supply.
• This standard does not apply to single-phase 100-V Servo Drives.
• Be sure to perform evaluation tests for SEMI F47 compliance in the entire machine and system.
1 - 30
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1 Features and System Configuration
1-5-5Australian EMC Labeling Requirements (RCM)
• The 1S-series Servo Drives comply with the Australian EMC Labeling Requirements (RCM).
• The 1S-series Servomotors comply with the Australian EMC Labeling Requirements (RCM).
1-5-6EAC Requirements
• The 1S-series Servo Drives comply with the EAC requirements.
• The 1S-series Servomotors comply with the EAC requirements.
1-5 Applicable Standards
1
1-5-5 Australian EMC Labeling Requirements (RCM)
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Page 80
1 Features and System Configuration
RUN
E
RR
IN
L/A
R88D-1SN
L/A
FS
OUT
Ether
CAT
Unit version
Display location
Display on the product
1-6Unit Versions
The 1S-series Servo Drive uses unit versions.
Unit versions are used to manage differences in supported functions due to product upgrades, etc.
1-6-1Confirmation Method
The unit version of 1S-series is displayed at the location shown below.
1-6-2Unit Versions and Sysmac Studio Versions
The supported functions depend on the unit version of the 1S-series. When you use the functions that
were added for an upgrade, you must use the version of Sysmac Studio that supports those functions.
Refer to A-6 Version Information on page A-178 for the relationship between the unit versions and the
Sysmac Studio versions, and for the functions that are supported by each unit version.
1 - 32
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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1 Features and System Configuration
STEP 1 System Design
STEP 1-1 Determining safety measures based on risk assessment
STEP 1-2 Selecting standard devices, Servo Drive, Servomotor, and safety devices
STEP 1-3 Designing interface between standard control and safety control
STEP 2 Software and hardware design for
standard control
STEP 2-1 Designing I/O and processing
STEP 2-2 Designing tasks
STEP 2-3 Designing user programs
STEP 4 Calculation and verification of safety
control responsivity
STEP 4-1 Calculating safety reaction time
and safety distance
STEP 3 Software and hardware design for
safety control
STEP 3-1 Determining wiring for communications,
power supply, and connection with external I/O devices
STEP 6-2 Checking/setting safety process
data communications
STEP 6-3 Assigning devices to safety
I/O terminal
STEP 7 Servo Drive setting, adjustment, and operation check
STEP 7-1 Installation and mounting
STEP 7-2 Wiring and connections
STEP 7-3 Device setting
STEP 7-4 Test run
STEP 7-5 Adjustment
1-7Procedures to Start Operation
1-7 Procedures to Start Opera-
This section explains the procedures to operate a system that incorporates 1S-series Servo Drives.
1-7-1Overall Procedure
Use the following procedures to build a system that incorporates 1S-series Servo Drives.
To use the Servo Drive safety function, you must build the standard control and safety control together.
tion
1
1-7-1 Overall Procedure
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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1 Features and System Configuration
STEP 8 Mounting and wiring
STEP 8-1 Mounting
STEP 8-2 Wiring
STEP 9 Standard control operation check
STEP 9-1 Placing Sysmac Studio online
and downloading project
STEP 9-2 Online Debugging
STEP 10 Safety control operation check
STEP 10-1 Transferring configuration information
STEP 10-2 Checking operation with actual machine
STEP 10-3 Conducting safety validation test
STEP 10-4 Setting security of unit
STEP 10-5 Executing safety validation
from Sysmac Studio
STEP 11 Operation and maintenance
STEP 11-1 Operation
STEP 11-2 Troubleshooting
STEP 11-3 Inspection and replacement
1 - 34
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 83
1-7-2Procedure Details
As described previously, the procedures for the standard control and safety control are performed in
parallel.
This section explains the procedure details for using the Servo Drive safety function.
If you use an NJ/NX-series CPU Unit to perform the standard control, refer to NJ/NX-series CPU Unit
Software User's Manual (Cat. No. W501) together with this manual.
If you use an NX-series Safety Control Unit to perform the safety control, refer to NX-series Safety Con-
trol Unit User’s Manual (Cat. No. Z930) together with this manual.
STEP 1 System Design
ProcedureDescriptionReference
STEP 1-1
Determining safety measures based on risk
assessment
1 Features and System Configuration
1-7 Procedures to Start Opera-
tion
1
1-7-2 Procedure Details
• Identify the source of danger and perform the risk
assessment (estimation and evaluation).
• Consider and determine the measures for risk minimization.
STEP 1-2
Selecting standard
device, Servo Drive, Servomotor, and safety
device
STEP 1-3
Designing interface
between standard control and safety control
STEP 2 Software and Hardware Design for Standard Control
ProcedureDescriptionReference
STEP 2-1
Designing I/O and processing
STEP 2-2
Designing tasks
• Select the device that configures inputs, logics, and
outputs for standard control.
• Select the Servo Drive and Servomotor.
• Select the safety device used to configure inputs,
logics, and outputs for safety control.
Design the interface between the standard control and
safety control.
Design I/O and processing.
• External I/O devices and unit configuration
• Refresh periods for external devices
• Program contents
Design the tasks.
• Task configuration
• Relationship between tasks and programs
• Task periods
• Slave and Unit refresh times
• Exclusive control methods for variables between
tasks
Manuals for each unit
Safety Control Unit User's
Manual
NJ/NX-series CPU Unit
User’s Manuals
NJ/NX-series CPU Unit
User’s Manuals
STEP 2-3
Designing user programs
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Design POUs (Program Organization Unit).
• Design variables.
NJ/NX-series CPU Unit
User’s Manuals
1 - 35
Page 84
1 Features and System Configuration
STEP 3 Software and Hardware Design for Safety Control
ProcedureDescriptionReference
STEP 3-1
Determining wiring for
communications, power
supply, and connection
with external I/O devices
Determine wiring used for the communication network,
power supply, and safety I/O devices.
Safety Control Unit User's
Manual
STEP 3-2
Designing I/O and processing
Design the configuration of the safety I/O devices and
Safety I/O Unit.
• Safety I/O devices
Safety Control Unit User's
Manual
• Program contents
STEP 3-3
Designing safety programs
Design POUs (Program Organization Unit).
• Programs
• Function blocks
Safety Control Unit User's
Manual
STEP 4 Calculation and Verification of Safety Control Responsivity
Calculate the safety reaction time and then determine
the safety distance.
Safety Control Unit User's
Manual
tion time and safety distance
STEP 4-2
Verifying specification
Verify whether the specification requirements are satisfied. If not, reconsider the system design.
Safety Control Unit User's
Manual
requirement satisfaction
STEP 5 Software Design and Programming for Standard Control
ProcedureDescriptionReference
STEP 5-1
Creating project
STEP 5-2
Creating slave and unit
configuration
• Create a new project in the Sysmac Studio.
• Insert a Controller.
• Create the slave configuration and Unit configuration
either offline or online.
• Include the safety PDOs (1710 hex and 1B10 hex) in
PDO mapping for the Servo Drive.
• Register the device variables in the variable table.
NJ/NX-series CPU Unit
User’s Manuals
NJ/NX-series CPU Unit
User’s Manuals
• Create the axes and set them as real axes or virtual
axes. Create axes groups to perform interpolated
axes control.
STEP 5-3
Controller settings
Set PLC Function Modules, Motion Control Function
Modules, etc. in the Sysmac Studio.
NJ/NX-series CPU Unit
User’s Manuals
1 - 36
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Page 85
1 Features and System Configuration
STEP 5 Software Design and Programming for Standard Control
ProcedureDescriptionReference
NJ/NX-series CPU Unit
User’s Manuals
STEP 5-4
Programming
• Register variables in the Sysmac Studio.
• Write the algorithms for the POUs (programs, func-
tion blocks, and functions) in the required languages.
• Make task settings.
1-7 Procedures to Start Opera-
tion
STEP 5-5
Offline Debugging
Check the algorithms and task execution times on the
Simulator (virtual controller).
NJ/NX-series CPU Unit
User’s Manuals
1
1-7-2 Procedure Details
STEP 6 Software Design and Programming for Safety Control
ProcedureDescriptionReference
STEP 6-1
Creating safety control
Arrange the Communications Coupler Unit, Safety
CPU Unit, and Safety I/O Unit in the Sysmac Studio.
Safety Control Unit User's
Manual
system configuration
Safety Control Unit User's
Manual
STEP 6-2
Checking/setting Safety
Process Data Communications
• Select Safety Controller from the Controller Selection
Box in the Sysmac Studio.
• Check or change the settings of Safety Process Data
Communications.
• Make sure that the Servo Drive is displayed, and
then select the Active check box.
STEP 6-3
Assigning devices to
safety I/O terminal
In the parameter setting view for the Safety I/O Unit,
select the safety I/O devices connected to the safety
I/O terminal.
Safety Control Unit User's
Manual
STEP 6-4
Assigning device variables to I/O ports
Register the device variables in the variable table.
(Variable names are user defined or automatically created.)
• Register the variables used by more than one POU
in the global variable table with the Sysmac Studio.
Safety Control Unit User's
Manual
Safety Control Unit User's
Manual
• Register the variables in the local variable table for
STEP 6-5
Programming
each program.
• Register the variables in the local variable table for
each function block.
• Write the algorithms for the POUs (programs and
function blocks) in FBD language.
STEP 6-6
Offline Debugging
Execute program debugging with the Simulator.Safety Control Unit User's
Manual
STEP 7 Servo Drive Setting, Adjustment, and Operation Check
ProcedureDescriptionReference
STEP 7-1
Installation and mounting
Install the Servomotor and Servo Drive according to the
installation conditions. Do not connect the Servomotor
to mechanical systems before checking the operation
without any load.
Section 4, 4-1
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1 Features and System Configuration
STEP 7 Servo Drive Setting, Adjustment, and Operation Check
ProcedureDescriptionReference
Connect the Servomotor and Servo Drive to the power
STEP 7-2
Wiring and connections
supply and peripheral equipment.
Satisfy specified installation and wiring conditions, par-
ticularly for models that conforms to the EU Directives.
Section 4, 4-2
STEP 7-3
Device setting
Set the objects related to the functions required for
application conditions.
Section 9
• First, check motor operation without any load. Then
turn the power supply OFF and connect the Servo-
STEP 7-4
Test run
motor to mechanical systems.
• Use the STO function via safety input signals if you
Section 10, 10-3
need the function while you perform the test run or
adjustment using the Servo Drive with no load.
STEP 7-5
Adjustment
Manually adjust the gain if necessary.
Section 11
STEP 8 Mounting and Wiring
ProcedureDescriptionReference
STEP 8-1
Install each unit according to the installation conditions. Manuals for each unit
Mounting
STEP 8-2
Connect the network cables and wire the I/O.Manuals for each unit
Wiring
STEP 9 Standard Control Operation Check
ProcedureDescriptionReference
STEP 9-1
Placing Sysmac Studio
online and downloading
• Turn ON the power supply to the Controller and place
the Sysmac Studio online.
• Download the project.
NJ/NX-series CPU Unit
User’s Manuals
project
• Check the wiring by using forced refreshing of real
I/O from the I/O Map or Watch Tab Page.
NJ/NX-series CPU Unit
User’s Manuals
• For motion control, use the MC Test Run operations
STEP 9-2
Online Debugging
in PROGRAM mode to check the wiring. Then check
the motor rotation directions for jogging, travel distances for relative positioning (e.g., for electronic
gear settings), and homing operation.
• Change the Controller to RUN mode and check the
operation of the user program.
1 - 38
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1 Features and System Configuration
1-7 Procedures to Start Opera-
STEP 10 Safety Control Operation Check
ProcedureDescriptionReference
• NJ/NX-series CPU Unit
User’s Manuals
• Safety Control Unit
User's Manual
tion
1
1-7-2 Procedure Details
STEP 10-1
Transferring configuration information
• Connect the computer (Sysmac Studio) to the
NJ/NX-series CPU Unit.
• Download the project data to the CPU Unit.
• In the Safety CPU Unit Setup and Programming
View, change the mode of the Safety CPU Unit to
DEBUG mode. By doing this, the safety application
data is transferred to the Safety CPU Unit and the
test run for debugging is enabled.
STEP 10-2
Checking operation with
actual machine
STEP 10-3
Conducting safety vali-
Perform the wiring check and program operation check
to confirm that the Safety Control Unit operates as
intended.
Conduct the test to check whether all safety functions
operate as designed.
Safety Control Unit User's
Manual
Safety Control Unit User's
Manual
dation test
STEP 10-4
Setting security of unit
STEP 10-5
Executing safety validation from Sysmac Studio
Set the safety password.Safety Control Unit User's
Manual
If the safety validation test is completed successfully,
then execute the safety validation command from Sys-
Safety Control Unit User's
Manual
mac Studio.
By doing this, the safety application data is transferred
to the non-volatile memory in the Safety CPU Unit, and
the operation-ready status is established.
STEP 11 Operation and Maintenance
ProcedureDescriptionReference
STEP 11-1
Operation
Start actual operation.
---
STEP 11-2
Troubleshooting
STEP11-3
Inspection and replacement
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
In case of an error, use the troubleshooting function of
the Sysmac Studio to check the error and identify its
cause, and then remove the cause of the error.
Perform periodic maintenance.
If any defect is found during inspection, replace the
device.
• Section 9
• Manuals for each unit
• Section 10
• Manuals for each unit
1 - 39
Page 88
1 Features and System Configuration
1 - 40
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 89
Models and External Dimensions
This section explains the models of Servo Drives, Servomotors, Decelerators, and
peripheral devices, and provides the external dimensions and mounting dimensions.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
2 - 1
Page 90
2 Models and External Dimensions
ID211
0
1
3
2
4
5
7
6
8
9
11
10
12
13
14
15
24 VDC
7 mA
COM
MACH
No
.
AD042
RU
N
ERC
ERH
B1 A1
×10
1
×10
0
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
2
1
0 1 2 3 4 56
7
8
9
10 11 1213 1415
● FA Integrated Tool Package
CX-One
*1
(CX-Programmer
included)
NJ/NX-series CPU Unit
(with EtherCAT port)
Controller
Machine Automation Controller
NJ/NX-series
NY-series CPU Unit
(with EtherCAT port)
IPC Machine Controller
NY-series
Support Software
● Automation Software
Sysmac Studio
Support Software
CJ-series CPU Unit
+ Position Control Unit (with EtherCAT Interface)
Programmable Controller
CJ-CPU
Position Control Unit (NC)
CJ1W-NC8
2-1Servo System Configuration
This section shows the Servo system configuration that consists of Controllers, Servo Drives, Servomotors, Decelerators, and other devices.
*1. You cannot use the CX-One to make the settings of 1S-series Servo Drives. Obtain the Sysmac Studio.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 91
2 Models and External Dimensions
R
UN
ERR
IN
L/A
R88D-1SN
L
/A
FS
OUT
Ether
CAT
Servo Drive
Power cable
Brake cable for 750 W max.
Encoder cable
USB
communications
EtherCAT
communications
● 1S-series Servo Drive
R88D-1SN-ECT
100 VAC
200 VAC
400 VAC
Feedback signal
● 1S-series Servomotor
R88M-1L/-1M
3,000 r/min
2,000 r/min
1,500 r/min
1,000 r/min
● Backlash: 3 Arcminutes max.
R88G-HPG
●
Backlash: 15 Arcminutes max.
R88G-VRXF
Decelerator
Servomotor
Power signal
● Standard cable
· Without brake wire
R88A-CA1S
· With brake wire
R88A-CA1B
● Flexible cable
· Without brake wire
R88A-CA1SF
R88A-CA1ASFR
· With brake wire
R88A-CA1BF
● Extension cable
R88A-CA1EBF
● Standard cable
R88A-CA1AB
● Flexible cable
R88A-CA1ABF
R88A-CA1ABFR
● Standard cable
R88A-CR1AC
R88A-CR1BN
R88A-CR1BV
● Flexible cable
R88A-CR1ACF
R88A-CR1BNF
R88A-CR1BVF
2-1 Servo System Configuration
2
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
2 - 3
Page 92
2 Models and External Dimensions
01
02
04
06
08
10
15
20
30
55
75
150
R88D-1SN01H-ECT
100 W
200 W
400 W
600 W
750 W
1 kW
1.5 kW
2 kW
3 kW
5.5 kW
7.5 kW
15 kW
N
L
H
F
100 VAC
200 VAC
400 VAC
ECT
Communications type
Applicable Servomotor rated output
Power supply voltage
Servo Drive type
1S-series
Servo Drive
Communications type
EtherCAT communications
2-2How to Read Model Numbers
This section describes how to read and understand the model numbers of Servo Drives, Servomotors,
and Decelerators.
2-2-1Servo Drive
The Servo Drive model number tells the Servo Drive type, applicable Servomotor, power supply voltage, etc.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Page 93
2-2-2Servomotor
The Servomotor model number tells the Servomotor type, rated output, rated rotation speed, voltage,
etc.
1S-series Servomotor
Servomotor type
L
Low inertia
M
Middle inertia
2 Models and External Dimensions
2-2 How to Read Model Numbers
R88M-1M10030S-BOS2
2
Rated output
050
50 W
100
100 W
200
200 W
400
400 W
600
600 W
750
750 W
900
900 W
1K0
1 kW
1K5
1.5 kW
Rated rotation speed
1,000 r/min
10
1,500 r/min
15
2,000 r/min
20
3,000 r/min
30
Servo Drive main power supply voltage and encoder type
100 VAC absolute encoder
S
200 VAC absolute encoder
T
400 VAC absolute encoder
C
Options
Brake
None
Without brake
B
With 24-VDC brake
Oil seal
None
Without oil seal
O
With oil seal
Key and tap
None
S2
Straight shaft
With key and tap
2K0
3K0
4K0
4K7
5K0
5K5
7K5
11K0
15K0
2 kW
3 kW
4 kW
4.7 kW
5 kW
5.5 kW
7.5 kW
11 kW
15 kW
2-2-2 Servomotor
Combinations of Options
Without oil sealWith oil seal
Straight shaftWith key and tapStraight shaftWith key and tap
Without
brake
With brake-B-BS2-BO-BOS2
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
None-S2-O-OS2
2 - 5
Page 94
2 Models and External Dimensions
A
B
003
005
010
015
020
030
040
050
C
N
V
R88A-CR1A003CF
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
R88A-CR1
Others
Connector type
*1
Applicable Servomotor type
Cable length
Cable type
1S Series Encoder cable
100 VAC, 200 VAC 3,000 r/min Servomotor 50 W to 750 W
200 VAC 3,000 r/min Servomotor 1 kW or more
400 VAC 3,000 r/min Servomotor
200 VCA, 400 VAC 2,000 r/min Servomotor
1,500 r/min Servomotor
1,000 r/min Servomotor
Plastic shell type (for applicable Servomotor type A)
Metal shell type (for applicable Servomotor type B, 3 kW or less)
Metal shell type (for applicable Servomotor type B, 4 kW or more)
Blank
F
Standard specifications
Flexible cable
2-2-3Encoder Cable
The cable model number tells the cable type, applicable Servomotor type, cable length, connector type,
etc.
*1. For an encoder cable for B type Applicable Servomotor, connector types vary in rated output of Servomotors. Refer to
2-3-6 Cable and Connector Model Tables on page 2-25 to check its combination with Applicable Servomotors when you
select the cable.
2 - 6
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
The cable model number tells the cable type, applicable Servomotor type, cable length, connector type,
etc.
*1. This is a cable to be connected only to a brake. Prepare a power cable without a brake wire separately.
*2. Only for Applicable Servomotor type A to F.
*3. Only cable for Applicable Servomotor type H to K. This cable can be used when extending a power cable without a
brake wire.
*4. Only for Applicable Servomotor type A.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)