OMRON R88M-1L, R88D-1SN User Manual

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Page 1

AC Servomotors/Servo Drives

1S-series with Built-in

EtherCAT® Communications

User’s Manual

R88M-1L/-1M (AC Servomotors) R88D-1SN-ECT (AC Servo Drives)

I586-E1-12

Page 2

NOTE

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.

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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)

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Manual Structure

7 Applied Functions

7 - 30

1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

7-9 Soft 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)

Name Description

Refer-

ence

3021

–

Velocity Command Filter

–

P. 9 -1 9

01 Acceleration Time Sets the acceleration time during accelera-

tion.

P. 9 -1 9

02 Deceleration Time Sets the deceleration time during decelera-

tion.

P. 9 -1 9

03 IIR Filter Enable Selects whether to enable or disable the

IIR filter in the velocity command filter.

0: Disabled

1: Enabled

P. 9 -2 0

04 Filter Cutoff Frequency Sets 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.

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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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

7-9-3 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

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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Manual Configuration

This User’s Manual consists of the following sections. Read the necessary section or sections by reference to the following table.

Section Outline

Section 1

Section 2

Section 3 Specifications

Section 4

Section 5

Section 6

Section 7 Applied Functions

Section 8 Safety Function

Section 9

Section 10 Operation

Section 11

Section 12 Troubleshooting

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-NC8)

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.

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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6 I

Features and System Configuration

Models and External Dimensions

Operation

Specifications

Adjustment Functions

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

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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CONTENTS

Introduction ..............................................................................................................1

Manual Structure ......................................................................................................2

Manual Configuration ..............................................................................................4

Sections in this Manual ...........................................................................................5

Terms and Conditions Agreement ........................................................................16

Safety Precautions .................................................................................................18

Items to Check After Unpacking ...........................................................................29

Related Manuals .....................................................................................................40

Terminology ............................................................................................................43

Revision History .....................................................................................................45

Section 1 Features and System Configuration

1-1 Outline .................................................................................................................................. 1-2

1-1-1 Features of 1S-series Servo Drives.......................................................................................... 1-2

1-1-2 EtherCAT ..................................................................................................................................1-3

1-1-3 Object Dictionary ......................................................................................................................1-4

1-2 System Configuration .........................................................................................................1-5

1-3 Names and Functions ......................................................................................................... 1-6

1-3-1 Servo Drive Part Names ...........................................................................................................1-6

1-3-2 Servo Drive Functions ............................................................................................................1-13

1-3-3 Servomotor Part Names .........................................................................................................1-16

1-3-4 Servomotor Functions.............................................................................................................1-18

1-3-5 Shield Clamp Part Names ......................................................................................................1-19

1-4 System Block Diagram...................................................................................................... 1-20

1-5 Applicable Standards........................................................................................................ 1-28

1-5-1 EU Directives ..........................................................................................................................1-28

1-5-2 UL and cUL Standards............................................................................................................1-29

1-5-3 Korean Radio Regulations (KC) .............................................................................................1-30

1-5-4 SEMI F47................................................................................................................................1-30

1-5-5 Australian EMC Labeling Requirements (RCM) .....................................................................1-31

1-5-6 EAC Requirements .................................................................................................................1-31

1-6 Unit Versions...................................................................................................................... 1-32

1-6-1 Confirmation Method ..............................................................................................................1-32

1-6-2 Unit Versions and Sysmac Studio Versions............................................................................1-32

1-7 Procedures to Start Operation ......................................................................................... 1-33

1-7-1 Overall Procedure...................................................................................................................1-33

1-7-2 Procedure Details ...................................................................................................................1-35

Section 2 Models and External Dimensions

2-1 Servo System Configuration .............................................................................................. 2-2

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CONTENTS

2-2 How to Read Model Numbers............................................................................................. 2-4

2-2-1 Servo Drive............................................................................................................................... 2-4

2-2-2 Servomotor............................................................................................................................... 2-5

2-2-3 Encoder Cable.......................................................................................................................... 2-6

2-2-4 Motor Power Cable without Brake Wire ................................................................................... 2-7

2-2-5 Motor Power Cable with Brake Wire ........................................................................................ 2-8

2-2-6 Decelerator............................................................................................................................... 2-9

2-3 Model Tables...................................................................................................................... 2-11

2-3-1 Servo Drive Model Table .........................................................................................................2-11

2-3-2 Servomotor Model Tables....................................................................................................... 2-12

2-3-3 Servo Drive and Servomotor Combination Tables.................................................................. 2-17

2-3-4 Decelerator Model Tables....................................................................................................... 2-19

2-3-5 Servomotor and Decelerator Combination Tables.................................................................. 2-23

2-3-6 Cable and Connector Model Tables ....................................................................................... 2-25

2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit

Model Tables .......................................................................................................................... 2-33

2-3-8 External Dynamic Brake Resistor Model Table ...................................................................... 2-34

2-3-9 Reactor Model Table............................................................................................................... 2-34

2-3-10 Noise Filter Model Table......................................................................................................... 2-35

2-4 External and Mounting Dimensions ................................................................................ 2-36

2-4-1 Servo Drive Dimensions......................................................................................................... 2-36

2-4-2 Servomotor Dimensions......................................................................................................... 2-43

2-4-3 Cable Outlet Direction ............................................................................................................ 2-99

2-4-4 Cable Wiring Dimension for a Case of Motor Installing........................................................ 2-100

2-4-5 Decelerator Dimensions....................................................................................................... 2-102

2-4-6 Dimensions of External Regeneration Resistors and External Regeneration

Resistance Units ...................................................................................................................2-119

2-4-7 Dimensions of External Dynamic Brake Resistors ............................................................... 2-120

2-4-8 Reactor Dimensions ............................................................................................................. 2-121

2-4-9 Noise Filter Dimensions ....................................................................................................... 2-130

Section 3 Specifications

3-1 Servo Drive Specifications ................................................................................................. 3-3

3-1-1 General Specifications ............................................................................................................. 3-3

3-1-2 Characteristics.......................................................................................................................... 3-5

3-1-3 EtherCAT Communications Specifications ............................................................................. 3-13

3-1-4 Main Circuit and Motor Connections ...................................................................................... 3-14

3-1-5 Control I/O Connector (CN1) Specifications........................................................................... 3-27

3-1-6 Control Input Circuits.............................................................................................................. 3-30

3-1-7 Control Input Details............................................................................................................... 3-30

3-1-8 Control Output Circuits........................................................................................................... 3-31

3-1-9 Control Output Details............................................................................................................ 3-32

3-1-10 Encoder Pulse Output Specifications ..................................................................................... 3-32

3-1-11 Safety I/O Specifications ........................................................................................................ 3-33

3-1-12 Brake Interlock Connector (CN12) Specifications .................................................................. 3-35

3-1-13 Encoder Connector (CN2) Specifications............................................................................... 3-35

3-1-14 EtherCAT Communications Connector (RJ45) Specifications................................................ 3-36

3-1-15 USB Connector (CN7) Specifications..................................................................................... 3-36

3-1-16 Power ON Sequence.............................................................................................................. 3-37

3-1-17 Overload Characteristics (Electronic Thermal Function) ........................................................ 3-38

3-2 Servomotor Specifications ............................................................................................... 3-43

3-2-1 General Specifications ........................................................................................................... 3-43

3-2-2 Encoder Specifications........................................................................................................... 3-44

3-2-3 Characteristics........................................................................................................................ 3-45

3-3 Decelerator Specifications ............................................................................................... 3-70

3-4 Cable and Connector Specifications ............................................................................... 3-77

3-4-1 Encoder Cable Specifications ................................................................................................ 3-77

3-4-2 Motor Power Cable Specifications ......................................................................................... 3-84

3-4-3 Combination of Power Cable and Extension Cable ..............................................................3-117

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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CONTENTS

3-5 Specifications of External Regeneration Resistors and External Regeneration

3-6 External Dynamic Brake Resistor .................................................................................. 3-132

3-7 Reactor Specifications.................................................................................................... 3-133

3-8 Noise Filter Specifications.............................................................................................. 3-135

3-4-4 Resistance to Bending of Flexible Cable.............................................................................. 3-118

3-4-5 Connector Specifications ......................................................................................................3-120

3-4-6 EtherCAT Communications Cable Specifications .................................................................3-124

Resistance Units.............................................................................................................. 3-127

3-5-1 General Specifications..........................................................................................................3-127

3-5-2 Characteristics......................................................................................................................3-128

3-5-3 External Regeneration Resistance Unit Specifications......................................................... 3-130

3-6-1 General Specifications..........................................................................................................3-132

3-6-2 Characteristics......................................................................................................................3-132

3-7-1 General Specifications..........................................................................................................3-133

3-7-2 Characteristics......................................................................................................................3-133

3-7-3 Terminal Block Specifications ...............................................................................................3-134

3-8-1 General Specifications..........................................................................................................3-135

3-8-2 Characteristics......................................................................................................................3-136

3-8-3 Terminal Block Specifications ...............................................................................................3-137

Section 4 Configuration and Wiring

4-1 Installation Conditions........................................................................................................ 4-2

4-1-1 Servo Drive Installation Conditions...........................................................................................4-2

4-1-2 Servomotor Installation Conditions ...........................................................................................4-7

4-1-3 Decelerator Installation Conditions ......................................................................................... 4-11

4-1-4 External Regeneration Resistor and External Regeneration Resistance Unit

Installation Conditions.............................................................................................................4-14

4-1-5 Footprint-type Noise Filter Installation Conditions ..................................................................4-15

4-1-6 External Dynamic Brake Resistor Installation Condition.........................................................4-16

4-2 Wiring ................................................................................................................................. 4-17

4-2-1 Peripheral Equipment Connection Examples .........................................................................4-18

4-2-2 Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp

to Servo Drive.........................................................................................................................4-34

4-2-3 Connector Attachment Procedure...........................................................................................4-40

4-2-4 Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40.................4-44

4-2-5 Terminal Block Wiring Procedure for Footprint-type Noise Filter ............................................4-46

4-3 Wiring Conforming to EMC Directives ............................................................................ 4-47

4-3-1 Peripheral Equipment Connection Examples .........................................................................4-48

4-3-2 Selecting Connection Component ..........................................................................................4-62

4-4 Regenerative Energy Absorption..................................................................................... 4-72

4-4-1 Calculating the Regenerative Energy .....................................................................................4-72

4-4-2 Servo Drive Regeneration Absorption Capacity .....................................................................4-75

4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device............... 4-76

4-4-4 Connecting an External Regeneration Resistor......................................................................4-77

4-5 Adjustment for Large Load Inertia................................................................................... 4-78

4-6 Machine Accuracy for Servomotor .................................................................................. 4-79

Section 5 EtherCAT Communications

5-1 Display Area and Settings .................................................................................................. 5-2

5-1-1 Node Address Setting...............................................................................................................5-2

5-1-2 Status Indicators.......................................................................................................................5-3

5-2 Structure of the CAN Application Protocol over EtherCAT ............................................. 5-5

5-3 EtherCAT State Machine ..................................................................................................... 5-6

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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5-4 Process Data Objects (PDOs) ............................................................................................ 5-7

5-4-1 PDO Mapping Settings............................................................................................................. 5-7

5-4-2 Sync Manager PDO Assignment Settings................................................................................ 5-8

5-4-3 Fixed PDO Mapping................................................................................................................. 5-8

5-4-4 Variable PDO Mapping............................................................................................................5-11

5-4-5 Sync Manager PDO Mapping Assignment Settings ............................................................... 5-12

5-5 Service Data Objects (SDOs)............................................................................................ 5-13

5-6 Synchronization Mode and Communications Cycle ...................................................... 5-14

5-6-1 Distributed Clock (DC) Mode.................................................................................................. 5-14

5-6-2 Free-Run Mode ...................................................................................................................... 5-14

5-7 Emergency Messages ....................................................................................................... 5-15

5-8 Sysmac Device Features .................................................................................................. 5-16

Section 6 Basic Control Functions

6-1 Outline of Control Functions.............................................................................................. 6-2

6-1-1 Basic Control and Control Methods.......................................................................................... 6-2

6-1-2 Control Method......................................................................................................................... 6-3

6-2 Control Blocks ..................................................................................................................... 6-5

6-2-1 Block Diagram for Position Control .......................................................................................... 6-5

6-2-2 Block Diagram for Velocity Control........................................................................................... 6-7

6-2-3 Block Diagram for Torque Control ............................................................................................ 6-9

6-3 Cyclic Synchronous Position Mode ................................................................................ 6-10

6-4 Cyclic Synchronous Velocity Mode................................................................................. 6-12

CONTENTS

6-5 Cyclic Synchronous Torque Mode................................................................................... 6-14

6-6 Profile Position Mode........................................................................................................6-16

6-7 Profile Velocity Mode ........................................................................................................6-21

6-8 Homing Mode..................................................................................................................... 6-24

6-9 Connecting with OMRON Controllers.............................................................................. 6-25

Section 7 Applied Functions

7-1 General-purpose Input Signals .......................................................................................... 7-3

7-1-1 Objects Requiring Settings....................................................................................................... 7-4

7-1-2 Default Setting.......................................................................................................................... 7-6

7-1-3 Function Input Details............................................................................................................... 7-7

7-2 General-purpose Output Signals ....................................................................................... 7-8

7-2-1 Objects Requiring Settings....................................................................................................... 7-8

7-2-2 Default Setting........................................................................................................................ 7-10

7-2-3 Function Output Details...........................................................................................................7-11

7-3 Drive Prohibition Functions ............................................................................................. 7-15

7-3-1 Objects Requiring Settings..................................................................................................... 7-15

7-3-2 Description of Operation......................................................................................................... 7-16

7-4 Software Position Limit Functions .................................................................................. 7-17

7-4-1 Operating Conditions.............................................................................................................. 7-17

7-4-2 Objects Requiring Settings..................................................................................................... 7-17

7-4-3 Description of Operation......................................................................................................... 7-18

7-5 Backlash Compensation................................................................................................... 7-20

7-5-1 Operating Conditions.............................................................................................................. 7-20

7-5-2 Objects Requiring Settings..................................................................................................... 7-20

7-5-3 Description of Operation......................................................................................................... 7-21

7-6 Brake Interlock................................................................................................................... 7-22

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CONTENTS

7-7 Electronic Gear Function.................................................................................................. 7-29

7-8 Torque Limit Switching ..................................................................................................... 7-31

7-9 Soft Start ............................................................................................................................ 7-33

7-10 Gain Switching Function .................................................................................................. 7-35

7-11 Touch Probe Function (Latch Function).......................................................................... 7-39

7-12 Encoder Dividing Pulse Output Function ....................................................................... 7-43

7-13 Dynamic Brake................................................................................................................... 7-46

7-6-1 Objects Requiring Settings .....................................................................................................7-22

7-6-2 Description of Operation.........................................................................................................7-24

7-6-3 Operation Timing ....................................................................................................................7-25

7-7-1 Objects Requiring Settings .....................................................................................................7-29

7-7-2 Operation Example .................................................................................................................7-30

7-8-1 Operating Conditions ..............................................................................................................7-31

7-8-2 Objects Requiring Settings .....................................................................................................7-31

7-8-3 Torque Limit Switching Method...............................................................................................7-32

7-9-1 Objects Requiring Settings .....................................................................................................7-33

7-9-2 Soft Start Acceleration/Deceleration Time..............................................................................7-33

7-9-3 Velocity Command First-order Lag Filter ................................................................................7-34

7-10-1 Objects Requiring Settings .....................................................................................................7-35

7-10-2 Mode Selection .......................................................................................................................7-37

7-10-3 Gain Switching in Position Control..........................................................................................7-38

7-11-1 Related Objects ......................................................................................................................7-39

7-11-2 Trigger Signal Settings............................................................................................................7-41

7-11-3 Operation Sequence...............................................................................................................7-42

7-12-1 Objects Requiring Settings .....................................................................................................7-44

7-12-2 Dividing Ratio..........................................................................................................................7-44

7-12-3 Output Reverse Selection.......................................................................................................7-45

7-12-4 Z-phase Output.......................................................................................................................7-45

7-13-1 Operating Conditions ..............................................................................................................7-46

7-13-2 Objects Requiring Settings .....................................................................................................7-46

7-13-3 Description of Operation .........................................................................................................7-47

Section 8 Safety Function

8-1 Safe Torque OFF Function.................................................................................................. 8-2

8-2 STO Function via Safety Input Signals.............................................................................. 8-4

8-2-1 I/O Signal Specifications...........................................................................................................8-4

8-2-2 Operation Example ...................................................................................................................8-6

8-2-3 Connection Example.................................................................................................................8-7

8-3 STO Function via EtherCAT Communications................................................................ 8-10

8-3-1 Connection and Setting ..........................................................................................................8-10

8-3-2 Operation Example .................................................................................................................8-12

8-3-3 Connection Example...............................................................................................................8-14

Section 9 Details on Servo Parameters

9-1 Object Description Format ................................................................................................. 9-4

9-2 Common Control Objects ................................................................................................... 9-6

9-2-1 3000 hex: Basic Functions........................................................................................................9-6

9-2-2 3001 hex: Machine .................................................................................................................9-12

9-2-3 3002 hex: Optimized Parameters ...........................................................................................9-13

9-2-4 3010 hex: Position Command.................................................................................................9-15

9-2-5 3011 hex: Position Command Filter ........................................................................................9-17

9-2-6 3012 hex: Damping Control....................................................................................................9-18

9-2-7 3013 hex: Damping Filter 1.....................................................................................................9-19

9-2-8 3014 hex: Damping Filter 2.....................................................................................................9-20

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CONTENTS

9-2-9 3020 hex: Velocity Command................................................................................................. 9-22

9-2-10 3021 hex: Velocity Command Filter........................................................................................9-23

9-2-11 3030 hex: Torque Command .................................................................................................. 9-24

9-2-12 3031 hex: Velocity Limit in Torque Control ............................................................................. 9-24

9-2-13 3040 hex: Profile Command................................................................................................... 9-25

9-2-14 3041 hex: Command Dividing Function ................................................................................. 9-26

9-3 Control Method Objects.................................................................................................... 9-28

9-3-1 3112 hex: ODF Velocity Feed-forward.................................................................................... 9-28

9-3-2 3113 hex: ODF Torque Feed-forward..................................................................................... 9-29

9-3-3 3120 hex: TDF Position Control ............................................................................................. 9-30

9-3-4 3121 hex: TDF Velocity Control.............................................................................................. 9-31

9-4 Control Loop Objects........................................................................................................ 9-33

9-4-1 3210 hex: Internal Position Command ................................................................................... 9-33

9-4-2 3211 hex: Position Detection .................................................................................................. 9-34

9-4-3 3212 hex: Gain Switching in Position Control ........................................................................ 9-34

9-4-4 3213 hex: 1st Position Control Gain.......................................................................................9-35

9-4-5 3214 hex: 2nd Position Control Gain...................................................................................... 9-36

9-4-6 3220 hex: Internal Velocity Command.................................................................................... 9-36

9-4-7 3221 hex: Velocity Detection.................................................................................................. 9-37

9-4-8 3222 hex: Gain Switching in Velocity Control......................................................................... 9-38

9-4-9 3223 hex: 1st Velocity Control Gain .......................................................................................9-38

9-4-10 3224 hex: 2nd Velocity Control Gain ......................................................................................9-39

9-4-11 3230 hex: Internal Torque Command ..................................................................................... 9-40

9-4-12 3231 hex: Torque Detection.................................................................................................... 9-40

9-4-13 3232 hex: Filter Switching in Torque Control.......................................................................... 9-40

3233

9-4-14

9-4-15 3234 hex: 2nd Torque Command Filter .................................................................................. 9-42

9-5 Torque Output Setting Objects ........................................................................................ 9-43

9-5-1 3310 hex: Torque Compensation............................................................................................ 9-43

9-5-2 3320 hex: Adaptive Notch Filter ............................................................................................. 9-45

9-5-3 3321 hex: 1st Notch Filter ...................................................................................................... 9-46

9-5-4 3322 hex: 2nd Notch Filter ..................................................................................................... 9-48

9-5-5 3323 hex: 3rd Notch Filter ...................................................................................................... 9-50

9-5-6 3324 hex: 4th Notch Filter ...................................................................................................... 9-52

9-5-7 3330 hex: Torque Limit ........................................................................................................... 9-54

9-6 Homing Objects ................................................................................................................. 9-56

9-7 Applied Function Objects ................................................................................................. 9-60

9-7-1 3B10 hex: Drive Prohibition.................................................................................................... 9-60

9-7-2 3B11 hex: Software Position Limit .......................................................................................... 9-61

9-7-3 3B20 hex: Stop Selection....................................................................................................... 9-63

9-7-4 3B21 hex: Deceleration Stop.................................................................................................. 9-67

9-7-5 3B30 hex: Touch Probe 1....................................................................................................... 9-67

9-7-6 3B31 hex: Touch Probe 2....................................................................................................... 9-70

9-7-7 3B40 hex: Zone Notification 1 ................................................................................................ 9-71

9-7-8 3B41 hex: Zone Notification 2 ................................................................................................ 9-72

9-7-9 3B50 hex: Position Detection Function .................................................................................. 9-73

9-7-10 3B51 hex: Positioning Completion Notification....................................................................... 9-73

9-7-11 3B52 hex: Positioning Completion Notification 2.................................................................... 9-74

9-7-12 3B60 hex: Speed Detection Function..................................................................................... 9-75

9-7-13 3B70 hex: Vibration Detection................................................................................................ 9-76

9-7-14 3B71 hex: Runaway Detection ............................................................................................... 9-77

9-7-15 3B80 hex: Load Characteristic Estimation ............................................................................. 9-78

9-8 Error- and Warning-related Objects................................................................................. 9-81

9-8-1 4000 hex: Error Full Code ...................................................................................................... 9-81

9-8-2 4020 hex: Warning Customization.......................................................................................... 9-82

9-8-3 4021 hex: Warning Output 1 Setting ...................................................................................... 9-85

9-8-4 4022 hex: Warning Output 2 Setting ...................................................................................... 9-86

9-8-5 4030 hex: Information Customization..................................................................................... 9-87

9-9 Monitoring-related Objects............................................................................................... 9-88

9-9-1 4110 hex: Monitor Data via PDO ............................................................................................9-88

9-9-2 4120 hex: EtherCAT Communications Error Count ................................................................ 9-89

hex: 1st Torque Command Filter ................................................................................... 9-41

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CONTENTS

9-10 Display-related Objects.....................................................................................................9-97

9-11 Power Device-related Objects .......................................................................................... 9-98

9-12 External Device-related Objects..................................................................................... 9-101

9-13 Encoder-related Objects ................................................................................................. 9-104

9-14 I/O-related Objects........................................................................................................... 9-107

9-15 General-purpose Input Setting Objects......................................................................... 9-116

9-16 General-purpose Output Setting Objects...................................................................... 9-123

9-9-3 4130 hex: Safety Status Monitor.............................................................................................9-89

9-9-4 4131 hex: Safety Command Monitor 1 ...................................................................................9-91

9-9-5 4132 hex: Safety Command Monitor 2 ...................................................................................9-92

9-9-6 4140 hex: Lifetime Information ...............................................................................................9-93

9-9-7 4150 hex: Overload ................................................................................................................9-95

9-11-1 4310 hex: Regeneration .........................................................................................................9-98

9-11-2 4320 hex: Main Circuit Power Supply.....................................................................................9-99

9-12-1 4410 hex: Motor Identity .......................................................................................................9-101

9-12-2 4412 hex: Motor Advanced Setting.......................................................................................9-102

9-14-1 4600 hex: I/O Monitor ...........................................................................................................9-107

9-14-2 4601 hex: Function Input ......................................................................................................9-108

9-14-3 4602 hex: Function Output ................................................................................................... 9-110

9-14-4 4604 hex: Control Input Change Count .................................................................................9-111

9-14-5 4605 hex: Control Output Change Count ............................................................................. 9-112

9-14-6 4610 hex: Brake Interlock Output .........................................................................................9-113

9-14-7 4620 hex: Encoder Dividing Pulse Output ............................................................................ 9-114

9-15-1 Setting................................................................................................................................... 9-116

9-15-2 4630 hex: Positive Drive Prohibition Input............................................................................ 9-117

9-15-3 4631 hex: Negative Drive Prohibition Input .......................................................................... 9-117

9-15-4 4632 hex: External Latch Input 1 .......................................................................................... 9-117

9-15-5 4633 hex: External Latch Input 2 .......................................................................................... 9-118

9-15-6 4634 hex: Home Proximity Input...........................................................................................9-118

9-15-7 4635 hex: Positive Torque Limit Input................................................................................... 9-118

9-15-8 4636 hex: Negative Torque Limit Input ................................................................................. 9-119

9-15-9 4637 hex: Error Stop Input.................................................................................................... 9-119

9-15-10 4638 hex: Monitor Input 1 ..................................................................................................... 9-119

9-15-11 4639 hex: Monitor Input 2 .....................................................................................................9-120

9-15-12 463A hex: Monitor Input 3.....................................................................................................9-120

9-15-13 463B hex: Monitor Input 4.....................................................................................................9-120

9-15-14 463C hex: Monitor Input 5 ....................................................................................................9-121

9-15-15 463D hex: Monitor Input 6 ....................................................................................................9-121

9-15-16 463E hex: Monitor Input 7.....................................................................................................9-121

9-15-17 463F hex: Monitor Input 8.....................................................................................................9-122

9-16-1 Setting...................................................................................................................................9-123

9-16-2 4650 hex: Error Output .........................................................................................................9-124

9-16-3 4651 hex: Servo Ready Output ............................................................................................9-124

9-16-4 4652 hex: Positioning Completion Output 1 .........................................................................9-124

9-16-5 4653 hex: Positioning Completion Output 2 .........................................................................9-125

9-16-6 4654 hex: Velocity Attainment Detection Output...................................................................9-125

9-16-7 4655 hex: Torque Limit Output..............................................................................................9-125

9-16-8 4656 hex: Zero Speed Detection Output ..............................................................................9-126

9-16-9 4657 hex: Velocity Conformity Output ..................................................................................9-126

9-16-10 4658 hex: Warning Output 1.................................................................................................9-126

9-16-11 4659 hex: Warning Output 2.................................................................................................9-127

9-16-12 465A hex: Velocity Limiting Output....................................................................................... 9-127

9-16-13 465B hex: Error Clear Attribute Output.................................................................................9-127

9-16-14 465C hex: Remote Output 1 .................................................................................................9-128

9-16-15 465D hex: Remote Output 2 .................................................................................................9-128

9-16-16 465E hex: Remote Output 3 .................................................................................................9-128

9-16-17 465F hex: Zone Notification Output 1 ...................................................................................9-129

9-16-18 4660 hex: Zone Notification Output 2 ...................................................................................9-129

9-16-19 4661 hex: Position Command Status Output........................................................................9-129

9-16-20 4662 hex: Distribution Completed Output.............................................................................9-130

9-16-21 4663 hex: External Brake Interlock Output ...........................................................................9-130

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Section 10 Operation

10-1 Operational Procedure...................................................................................................... 10-2

10-2 Preparing for Operation .................................................................................................... 10-3

10-2-1 Items to Check Before Turning ON the Power Supply ........................................................... 10-3

10-2-2 Turning ON the Power Supply................................................................................................ 10-4

10-2-3 Checking the Displays............................................................................................................ 10-5

10-2-4 Absolute Encoder Setup......................................................................................................... 10-7

10-2-5 Setting Up an Absolute Encoder from the Sysmac Studio ..................................................... 10-7

10-3 Test Run ............................................................................................................................. 10-8

10-3-1 Preparations for Test Run....................................................................................................... 10-8

10-3-2 Test Run via USB Communications from the Sysmac Studio ................................................ 10-9

Section 11 Adjustment Functions

11-1 Outline of Adjustment Functions..................................................................................... 11-3

11-1-1 Adjustment Methods................................................................................................................11-3

11-1-2 Adjustment Procedure.............................................................................................................11-4

11-2 Easy Tuning ....................................................................................................................... 11-6

11-2-1 Objects That Are Set ...............................................................................................................11-6

11-2-2 Executing Easy Tuning............................................................................................................11-8

11-3 Advanced Tuning............................................................................................................... 11-9

11-3-1 Objects That Are Set ...............................................................................................................11-9

11-3-2 Executing Advanced Tuning ..................................................................................................11-10

11-4 Manual Tuning ..................................................................................................................11-11

11-4-1 Objects That Are Set .............................................................................................................11-11

11-4-2 Executing Manual Tuning......................................................................................................11-11

11-5 Data Trace ........................................................................................................................ 11-12

11-6 FFT .................................................................................................................................... 11-13

CONTENTS

11-7 Damping Control ............................................................................................................. 11-14

11-7-1 Objects Requiring Settings....................................................................................................11-14

11-7-2 Operating Procedure .............................................................................................................11-16

11-7-3 Setting Frequency with Sysmac Studio.................................................................................11-17

11-8 Load Characteristic Estimation...................................................................................... 11-18

11-8-1 Objects Requiring Settings....................................................................................................11-19

11-8-2 Setting Load Characteristic Estimation Function...................................................................11-20

11-9 Adaptive Notch Filter ...................................................................................................... 11-21

11-9-1 Objects Requiring Settings....................................................................................................11-21

11-9-2 Operating Procedure .............................................................................................................11-22

11-10 Notch Filters..................................................................................................................... 11-23

11-10-1 Objects Requiring Settings....................................................................................................11-24

11-10-2 Notch Filter Width and Depth ................................................................................................11-25

11-11 Friction Torque Compensation Function ...................................................................... 11-26

11-11-1 Operating Conditions.............................................................................................................11-26

11-11-2 Objects Requiring Settings....................................................................................................11-26

11-11-3 Operation Example................................................................................................................11-27

11-12 Feed-forward Function.................................................................................................... 11-29

11-12-1 Feed-forward Control in TDF Control ....................................................................................11-29

11-12-2 Feed-forward Control in ODF Control ...................................................................................11-31

Section 12 Troubleshooting

12-1 Actions for Problems ........................................................................................................12-2

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CONTENTS

12-1-1 Preliminary Checks When a Problem Occurs.........................................................................12-2

12-1-2 Precautions When a Problem Occurs.....................................................................................12-3

12-1-3 Replacing the Servomotor or Servo Drive ..............................................................................12-4

12-2 Warnings ............................................................................................................................ 12-6

12-2-1 Related Objects ......................................................................................................................12-6

12-2-2 Warning List ............................................................................................................................12-8

12-3 Errors................................................................................................................................ 12-10

12-3-1 Error List ...............................................................................................................................12-10

12-3-2 Deceleration Stop Operation at Errors..................................................................................12-13

12-4 Information....................................................................................................................... 12-14

12-4-1 Related Objects ....................................................................................................................12-14

12-4-2 Information List .....................................................................................................................12-14

12-5 Troubleshooting .............................................................................................................. 12-15

12-5-1 Troubleshooting Using Error Displays ..................................................................................12-16

12-5-2 Troubleshooting Using AL Status Codes ..............................................................................12-38

12-5-3 Troubleshooting Using the Operation State..........................................................................12-42

Section 13 Maintenance and Inspection

13-1 Periodic Maintenance........................................................................................................ 13-2

13-2 Servo Drive Lifetime.......................................................................................................... 13-3

13-3 Servomotor Lifetime.......................................................................................................... 13-4

Appendices

A-1 CiA 402 Drive Profile ..........................................................................................................A-2

A-2 CoE Objects ......................................................................................................................A-12

A-3 Object List .........................................................................................................................A-68

A-1-1 Controlling the State Machine of the Servo Drive .....................................................................A-2

A-1-2 Modes of Operation ..................................................................................................................A-4

A-1-3 Modes of Operation and Applied/Adjustment Functions...........................................................A-5

A-1-4 Changing the Mode of Operation..............................................................................................A-5

A-1-5 Homing Mode Specifications ....................................................................................................A-7

A-2-1 Object Dictionary Area............................................................................................................A-12

A-2-2 Data Type................................................................................................................................A-12

A-2-3 Object Description Format ......................................................................................................A-13

A-2-4 Communication Objects..........................................................................................................A-14

A-2-5 PDO Mapping Objects............................................................................................................A-20

A-2-6 Sync Manager Communication Objects .................................................................................A-35

A-2-7 Manufacturer Specific Objects................................................................................................A-38

A-2-8 Servo Drive Profile Object ......................................................................................................A-41

A-2-9 Safety Function Objects..........................................................................................................A-64

Index

A-4 Sysmac Error Status Codes ..........................................................................................A-100

A-4-1 Error List ...............................................................................................................................A-100

A-4-2 Error Descriptions.................................................................................................................A-112

A-5 Response Time in EtherCAT Process Data Communications....................................A-177

A-5-1 Input Response Time............................................................................................................A-177

A-5-2 Output Response Time.........................................................................................................A-177

A-6 Version Information........................................................................................................A-178

A-6-1 Relationship between Unit Versions and Sysmac Studio Versions ......................................A-178

A-6-2 Functions That Were Added or Changed for Each Unit Version...........................................A-180

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CONTENTS

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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.

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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.

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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

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

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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

Do not damage, pull, or put excessive stress or heavy objects on the cables. Doing so may cause electric shock, malfunction, or burning.

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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,

R88D-1SN20F-ECT, R88D-1SN30F-ECT, R88D-1SN55F-ECT, R88D-1SN75F-ECT, R88D-1SN150F-ECT

15 minutes: R88D-1SN01L-ECT, R88D-1SN02L-ECT, R88D-1SN01H-ECT,

R88D-1SN02H-ECT, R88D-1SN04H-ECT

20 minutes: R88D-1SN04L-ECT, R88D-1SN08H-ECT, R88D-1SN10H-ECT,

R88D-1SN15H-ECT, R88D-1SN20H-ECT, R88D-1SN30H-ECT, R88D-1SN55H-ECT, R88D-1SN75H-ECT, R88D-1SN150H-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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Safety Precautions

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.

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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Safety Precautions

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.

External Regeneration Resistor: 12 External Regeneration Resistance Unit: 4 Noise Filter: 15

Wiring

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.

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.

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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,

R88M-1M3K010C-, R88M-1M4K015T-, R88M-1M5K015T-, R88M-1M4K015C-, R88M-1M5K515C-, R88M-1M7K515T-, R88M-1M7K515C-, R88M-1M11K015T-, R88M-1M11K015C-, R88M-1M15K015T-, R88M-1M15K015C-

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)

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.

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.

• 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)

Page 30

Safety Precautions

Ether

CAT

RUN

ERR

PWR

ECAT

OUT

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.

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

OUT

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.

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 kW Included *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

*1 *3

(CN1)

Brake interlock connector

(CN12)

Included

Motor connector

(CNC)

Included

Included Included

Included

---

Main circuit connector

Included

Included Included

Included

Control power

supply connector

(CND)

---

Included

---

Included

and main circuit

connector A

(CNA)

*2 *4

*3 *4

*2 *4

*3 *4

Main circuit

connector E

(CNE)

---

Included

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

*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

Control power

supply connector

(CND)

Included

Main circuit

connector E

(CNE)

---

Included

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 34

Items to Check After Unpacking

R88M-1M2K020T-BOS2

10150700003

200VAC 13.3 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. 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.

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

Specifications Without key With 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 nameplate Decelerator model Model on nameplate

R88GHPG14A21100B

R88GHPG14A33050B R88GHPG14A45050B

R88GHPG11B05100B

R88GHPG14A11100B R88GHPG14A21100B

R88GHPG20A33100B

R88GHPG20A45100B

HPG-14A-21-J2ABK R88G-

HPG14A21100BJ

HPG-14A-33-J2ABL R88G-

HPG14A33050BJ

HPG-14A-45-J2ABL R88G-

HPG14A45050BJ

HPG-11B-05-J2ADG R88G-

HPG11B05100BJ

HPG-14A-11-J2ABK R88G-

HPG14A11100BJ

HPG-14A-21-J2ABK R88G-

HPG14A21100BJ

HPG-20A-33-J2JBLA R88G-

HPG20A33100BJ

HPG-20A-45-J2JBLA R88G-

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)

Page 36

Items to Check After Unpacking

Specifications Without key With 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

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

Decelerator model Model on nameplate Decelerator model Model 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-J2AXT R88G-

HPG14A05200BJ

HPG-14A-11-J2AXU R88G-

HPG14A11200BJ

HPG-20A-21-J2GDH R88G-

HPG20A21200BJ

HPG-20A-33-J2GDI R88G-

HPG20A33200BJ

HPG-20A-45-J2GDI R88G-

HPG20A45200BJ

HPG-14A-05-J2AXW R88G-

HPG14A05400BJ

HPG-20A-11-J2GDK R88G-

HPG20A11400BJ

HPG-20A-21-J2GDK R88G-

HPG20A21400BJ

HPG-32A-33-J2NELA R88G-

HPG32A33400BJ

HPG-32A-45-J2NELA R88G-

HPG32A45400BJ

HPG-20A-05-J2FFO R88G-

HPG20A05750BJ

HPG-20A-11-J2FFP R88G-

HPG20A11750BJ

HPG-32A-21-J2NAI R88G-

HPG32A21750BJ

HPG-32A-33-J2NAJ R88G-

HPG32A33750BJ

HPG-32A-45-J2NAJ R88G-

HPG32A45750BJ

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-32A-33-J2NFJ R88G-

HPG32A33600SBJ

HPG-50A-45-J2ADBA R88G-

HPG50A451K5BJ

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

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

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 37

Items to Check After Unpacking

Specifications Without key With 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 nameplate Decelerator model Model on nameplate

R88GHPG32A052K0B R88GHPG32A112K0B

R88GHPG32A211K5B

R88GHPG50A332K0B R88GHPG50A451K5B

R88GHPG32A052K0B

R88GHPG32A112K0B

R88GHPG50A212K0B R88GHPG50A332K0B

R88GHPG32A053K0B

R88GHPG50A113K0B R88GHPG50A213K0B

R88GHPG32A054K0B

R88GHPG50A115K0B R88GHPG50A055K0B

R88GHPG50A115K0B

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-50A-33-J2ADBA R88G-

HPG50A332K0BJ

HPG-50A-45-J2ADBA R88G-

HPG50A451K5BJ

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-50A-21-J2ADBA R88G-

HPG50A212K0BJ

HPG-50A-33-J2ADBA R88G-

HPG50A332K0BJ

HPG-32A-05-J2MCK R88G-

HPG32A053K0BJ

HPG-50A-11-J2AABB R88G-

HPG50A113K0BJ

HPG-50A-21-J2AABB R88G-

HPG50A213K0BJ

HPG-32A-05-J2PAO R88G-

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

Specifications Without key With 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 nameplate Decelerator model Model on nameplate

R88GHPG32A052K0B

R88GHPG32A112K0B R88GHPG32A211K5B

R88GHPG32A33600SB

R88GHPG32A45400SB

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-32A-33-J2NFJ R88G-

HPG32A33600SBJ

HPG-32A-45-J2NFJ R88G-

HPG32A45400SBJ

HPG-32A-05-J6NFG

HPG-32A-11-J6NFH

HPG-32A-21-J6NFI

HPG-32A-33-J6NFJ

HPG-32A-45-J6NFJ

Page 38

Items to Check After Unpacking

Specifications Without key With 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 nameplate Decelerator model Model 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-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-32A-33-J2NFJ R88G-

HPG32A33600SBJ

HPG-50A-45-J2ADBA R88G-

HPG50A451K5BJ

HPG-32A-05-J2MCK R88G-

HPG32A053K0BJ

HPG-32A-11-J2MCL R88G-

HPG32A112K0SBJ

HPG-32A-21-J2MCM R88G-

HPG32A211K0SBJ

HPG-50A-33-J2AABB R88G-

HPG50A332K0SBJ

HPG-50A-45-J2AABB R88G-

HPG50A451K0SBJ

HPG-32A-05-J2MCK R88G-

HPG32A053K0BJ

HPG-32A-11-J2MCL R88G-

HPG32A112K0SBJ

HPG-50A-21-J2AABB R88G-

HPG50A213K0BJ

HPG-50A-33-J2AABB R88G-

HPG50A332K0SBJ

HPG-32A-05-J2MCK R88G-

HPG32A053K0BJ

HPG-32A-11-J2MCL R88G-

HPG32A112K0SBJ

HPG-50A-21-J2AABB R88G-

HPG50A213K0BJ

HPG-50A-33-J2AABB R88G-

HPG50A332K0SBJ

HPG-32A-05-J2PAO R88G-

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

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

Specifications Without key With 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 model Model on nameplate Decelerator model Model on nameplate

R88GHPG50A055K0SB

R88GHPG50A115K0SB R88GHPG65A205K0SB

R88GHPG65A255K0SB

R88GHPG50A054K5TB

R88GHPG65A127K5SB R88GHPG50A054K5TB

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-50A-05-J2EBCG R88G-

HPG50A054K5TBJ

HPG-65A-12-J2CBAI R88G-

HPG65A127K5SBJ

HPG-65A-20-J2CBAI R88G-

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

Specifications Without key With 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 nameplate Decelerator model Model on nameplate

R88GHPG32A05900TB

R88GHPG32A11900TB R88GHPG50A21900TB

R88GHPG50A33900TB

R88GHPG32A052K0TB R88GHPG50A112K0TB

R88GHPG50A212K0TB

R88GHPG65A255K0SB R88GHPG50A055K0SB

R88GHPG50A115K0SB

R88GHPG65A205K0SB R88GHPG65A255K0SB

HPG-32A-05-J2PAK R88G-

HPG32A05900TBJ

HPG-32A-11-J2PAL R88G-

HPG32A11900TBJ

HPG-50A-21-J2BADB R88G-

HPG50A21900TBJ

HPG-50A-33-J2BADB R88G-

HPG50A33900TBJ

HPG-32A-05-J2PBS R88G-

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)

Page 40

Items to Check After Unpacking

MADE IN CHINA

GEAR

R88G-

100

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

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)

Page 42

Related Manuals

The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit Hardware User’s Manual

NX-series NX102 CPU Unit Hardware User’s Manual

NX-series NX1P2 CPU Unit Hardware User's Manual

W535 NX701- Learning the basic speci-

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

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 43

Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ-series CPU Unit Hardware User’s Manual

NJ/NX-series CPU Unit Software User’s Manual

NJ/NX-series CPU Unit Motion Control User’s Manual

NX-series Safety Control Units

User's Manual

Sysmac Studio Version 1 Operation Manual

W500 NJ501-

NJ301- NJ101-

W501 NX701-

NX1P2- NJ501- NJ301- NJ101-

W507 NX701-

NX1P2- NJ501- NJ301- NJ101-

Z930 NX-SL

NX-SI NX-SO

W504 SYSMAC-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)

Page 44

Related Manuals

Manual name Cat. No. Model numbers Application Description

Sysmac Studio Drive Functions Operation Manual

SYSMAC CJ-series Position Control Unit Operation Manual

G9SP-series Safety Controller

Operation Manual

I589 SYSMAC-SE2



W487 CJ1W-NC281

CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 CJ1W-NC482 CJ1W-NC882 CJ1W-NCF82

Z922 G9SP-N10S

G9SP-N10D G9SP-N20S

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.

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 45

Terminology

Ter m

CAN application protocol over EtherCAT CoE A CAN application protocol service implemented on

CAN in Automation CiA CiA is the international users’ and manufacturers’

Device Profile --- Collection of device dependent information and func-

Distributed Clocks DC Method to synchronize slaves and maintain a global

EtherCAT Slave Controller ESC A controller for EtherCAT slave communication. EtherCAT Slave Information ESI An XML file that contains setting information for an

EtherCAT State Machine ESM An EtherCAT communication state machine. EtherCAT Technology Group ETG The ETG is a global organization in which OEM, End

Fieldbus Memory Management Unit FMMU Single element of the fieldbus memory management

Index --- Address of an object within an application process. Object --- Abstract representation of a particular component

Object Dictionary OD Data structure addressed by Index and Subindex

Physical Device Internal Interface PDI A series of elements to access data link services

Power Drive System PDS A power drive system consisting of a Servo Drive, an

Process Data --- Collection of application objects designated to be

Process Data Object PDO Structure described by mapping parameters that

Receive PDO RxPDO A 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 EtherCAT FSoE A 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)

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 Object SDO CoE asynchronous mailbox communications where

all objects in the object dictionary can be read and written.

Slave Information Interface SII Slave 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 Manager SM Collection of control elements to coordinate access

to concurrently used objects. Transmit PDO TxPDO A process data object sent from an EtherCAT slave.

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

01 June 2016 Original production 02 August 2016 • Made changes accompanying release of R88M-1L

03 March 2017 • Revised for the upgrade to the unit version 1.1.

04 October 2017 • Added Decelerators.

05 April 2018 • Revised for the upgrade to the unit version 1.2.

06 May 2018 Revised Safety Precautions. 07 September 2018 • Made changes accompanying release of R88M-1M05030

08 August 2019 • Made changes accompanying release of R88D-1SN55-ECT, etc.

09 October 2019 Corrected mistakes. 10 March 2020 Corrected mistakes. 11 September 2020 • Made changes accompanying release of R88M-1L4K730T-, etc.

12 October 2020 • Revised for the upgrade to the unit version 1.4.

Date Revised content

• Corrected mistakes.

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 48

Revision History

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.

1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 Features of 1S-series Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2 EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-1-3 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3 Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-3-1 Servo Drive Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-3-2 Servo Drive Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1-3-3 Servomotor Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

1-3-4 Servomotor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1-3-5 Shield Clamp Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

1-4 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1-5 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28

1-5-1 EU Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28

1-5-2 UL and cUL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-29

1-5-3 Korean Radio Regulations (KC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-30

1-5-4 SEMI F47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-30

1-5-5 Australian EMC Labeling Requirements (RCM) . . . . . . . . . . . . . . . . . . . . . . 1-31

1-5-6 EAC Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31

1-6 Unit Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-32

1-6-1 Confirmation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-32

1-6-2 Unit Versions and Sysmac Studio Versions . . . . . . . . . . . . . . . . . . . . . . . . . 1-32

1-7 Procedures to Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33

1-7-1 Overall Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33

1-7-2 Procedure Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-35

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

1 - 1

Page 50

1 Features and System Configuration

1-1 Outline

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-NC8), 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.

1-1-1 Features 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-NC8) 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.

1-1-2 EtherCAT

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

1-1-3 Object 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) Area Description

0000 to 0FFF Data Type Area Definitions of data types. 1000 to 1FFF CoE Communications Area Definitions of objects that can be used by all serv-

2000 to 2FFF Manufacturer Specific Area 1 Objects with common definitions for all OMRON

3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S-series

6000 to DFFF Device Profile Area Variables defined in the Servo Drive’s CiA402 drive

E000 to EFFF Device Profile Area 2 Objects defined in the Servo Drive’s FSoE CiA402

F000 to FFFF Device Area Objects 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 - 4

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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1 Features and System Configuration

M ACH

N o

AD042

RUN E

ERH

B 1 A1

x 10

0 12345

1 1 12

13 14 15

RUN

ERR

L/A

R88D-1SN

L /A

OUT

Ether

CAT

IPC Machine Controller NY-series

EtherCAT

Controller (EtherCAT type)Controller (EtherCAT type)

Machine Automation Controller NJ/NX-series

Programmable Controller

Position Control Unit CJ1W-NC

8

1S-series

Servo Drive

R88D-1SN-ECT

1S-series

Servomotor

R88M-1L/-1M

CJ-series

1-2 System Configuration

The system configuration for a 1S-series Servo Drive with Built-in EtherCAT Communications is shown below.

1-2 System Configuration

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

1 - 5

Page 54

1 Features and System Configuration

CN7

x16

Main circuit connector (CNA)

terminal

7-segment LED display

ID switches

Status indicators

Charge lamp

Control I/O connector

(CN1)

terminal

Status indicators

USB connector (CN7)

EtherCAT communications connector (ECAT IN CN10)

EtherCAT communications connector (ECAT OUT CN11)

1-3 Names and Functions

This section describes the names and functions of Servo Drive parts.

1-3-1 Servo Drive Part Names

The Servo Drive part names are given below.

R88D-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT/

-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT/-1SN10H-ECT

1 - 6

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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1 Features and System Configuration

Motor connector

(CNC)

terminal

Encoder connector (CN2)

Brake interlock connector

(CN12)

1-3 Names and Functions

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 56

1 Features and System Configuration

ECAT OUT

CN11

CN1

ECAT IN

CN10

CHARGE

CN7

x16

Main circuit

connector A (CNA)

Control power

supply connector

(CND)

Main circuit connector B (CNB)

7-segment

LED display

ID switches

Status indicators

Charge lamp

Control I/O connector

(CN1)

terminal

Status indicators

USB connector

EtherCAT communications connector (ECAT IN CN10)

EtherCAT communications connector (ECAT OUT CN11)

Top view

terminal

R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN06F-ECT/

-1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/-1SN30F-ECT

1 - 8

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 Names and Functions

1-3-1 Servo Drive Part Names

Motor connector

(CNC)

Encoder connector (CN2)

Brake interlock connector (CN12)

terminal

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

1 - 9

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1 Features and System Configuration

Motor connector

(CNC)

Encoder connector (CN2)

Brake interlock connector (CN12)

Main circuit connector E (CNE)

terminal

terminal Screw for mouting shield clamp (2 places)

R88D-1SN55H-ECT/-1SN75H-ECT/-1SN55F-ECT/-1SN75F-ECT

Main circuit connector A

(CNA)

Control power

supply connector

(CND)

7-segment

LED display

Charge lamp

ID switches

Status

indicators

Motor connector

(CNC)

Main circuit connector B (CNB)

Status indicators

USB connector

EtherCAT communications connector (ECAT IN CN10)

EtherCAT communications connector (ECAT OUT CN11)

Control I/O connector (CN1)

1 - 10

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

1-3-1 Servo Drive Part Names

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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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

1-3-2 Servo 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.

Name Color Description

PWR Green Displays the status of control power supply. ERR Red Gives the Servo Drive error status. ECAT-RUN Green Displays the EtherCAT communications status. ECAT-ERR Red ECAT-L/A IN,

ECAT-L/A OUT FS Red/green Displays the safety communications status.

For details on display, refer to 5-1-2 Status Indicators on page 5-3.

Green Lights or flashes according to the status of a link in the EtherCAT physical

layer.

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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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.

Applicable models: R88D-1SN01L-ECT/-1SN02L-ECT/-1SN04L-ECT/-1SN01H-ECT/

-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT/-1SN10H-ECT

Main Circuit Connector A (CNA)

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/

-1SN75H-ECT/-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/

-1SN30F-ECT/-1SN55F-ECT/-1SN75F-ECT

Main Circuit Terminal Block (CNA)

Connector for the main circuit power supply input. Applicable models: R88D-1SN150H-ECT

Main Circuit Connector A (CNA)

Connector for the main circuit power supply input and AC reactor. Applicable models: R88D-1SN150F-ECT

1 - 14

Main Circuit Connector B (CNB)

Connector for a DC reactor. The connector differs depending on the model. Applicable models: R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT/-1SN55H-ECT/

-1SN75H-ECT/-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/

-1SN30F-ECT/-1SN55F-ECT/-1SN75F-ECT

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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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/

-1SN75H-ECT/-1SN150H-ECT/-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/

-1SN20F-ECT/-1SN30F-ECT/-1SN55F-ECT/-1SN75F-ECT/-1SN150F-ECT

Motor Connector (CNC)

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

1-3-2 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 top PE wire of the main circuit power supply cable. 2 on front 1 on bottom

1 on top PE 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)

1-3-3 Servomotor 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

1-3-3 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)

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1 Features and System Configuration

1-3-4 Servomotor 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

1-3-5 Shield Clamp Part Names

Shield clamp plate

Cable tie

Shield clamp blacket

The shield clamp part names are given below.

1 Features and System Configuration

1-3 Names and Functions

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

P/B1

B2 B3

U V

ECAT IN

CN10

CN1 CN1CN2 CN12 CN7

24V

DC/DC

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

1-4 System Block Diagram

The block diagram of a 1S-series Servo Drive with Built-in EtherCAT Communications is shown below.

 R88D-1SN01L-ECT/-1SN02L-ECT/-1SN01H-ECT/-1SN02H-ECT/

-1SN04H-ECT

1 - 20

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 69

1 Features and System Configuration

 R88D-1SN04L-ECT/-1SN08H-ECT/-1SN10H-ECT

1-4 System Block Diagram

CNA

24V

N3 N2 N1

FUSE

DC/DC

Power

supply

Input voltage monitoring

Relay

drive

Voltage detection

FAN

Regeneration

control

error detection

Overcurrent

detection

(IPM error)

Gate drive

HS temperature

monitoring

P/B1

B2 B3

Current detection

CNA

CNC

U V

Display area

rotary switch

ECAT IN

CN10

EtherCAT

communications

connector

communications

ECAT OUT

CN11

EtherCAT

connector

MPU, FPGA

Control circuit

CN1 CN1CN2 CN12 CN7

Brake

interface

interlock

USB

SafetyEncoderControl

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1 Features and System Configuration

ECAT IN

CN10

ECAT OUT

CN11

B1 B2 B3

FAN

CN1 CN1CN2 CN12 CN7

+24

DC/DC

CND

CNA

CNB

Fuse

CNA

CNC

EtherCAT

communications

connector

EtherCAT

communications

connector

Encoder Brake

interlock

Safety

USB

Power

supply

Control

interface

Display area rotary switch

Input voltage monitoring

Relay

drive

Voltage detection

MPU, FPGA

Control circuit

Gate drive

Current detection

HS temperature

monitoring

Overcurrent

detection

(IPM error)

Regeneration control

 R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT

1 - 22

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 71

1 Features and System Configuration

 R88D-1SN06F-ECT/-1SN10F-ECT/-1SN15F-ECT/-1SN20F-ECT/

-1SN30F-ECT

1-4 System Block Diagram

CND

CNA

CNB

+24

N3 N2 N1

DC/DC

Fuse

Input voltage monitoring

power supply

Relay

drive

Regeneration control

Voltage detection

FAN

Overcurrent

detection

(IPM error)

Gate drive

Current detection

HS temperature

monitoring

B1 B2 B3

U V

CNA

CNC

Display area rotary switch

ECAT IN

CN10

EtherCAT

communications

connector

ECAT OUT

communications

CN11

EtherCAT

connector

MPU, FPGA

Control circuit

CN1 CN1CN2 CN12 CN7

Control

interface

Encoder Brake

interlock

USB

Safety

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

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Page 72

1 Features and System Configuration

DB1 DB2 DB3

U V

CN1 CN1CN2 CN12 CN7

+24V +24V

DC/DC

0V 0V

CND

CNA

CNB

CNE

CNC

USB

ECAT IN

CN10

ECAT OUT

CN11

B1 B2 B3

CNA

FUSE

FAN

Input voltage monitoring

Display area

rotary switch

Regeneration error detection

Inrush prevention error detection

Thyristor

drive

Overcurrent

detection

(IPM error)

MPU, FPGA

Control circuit

HS temperature

monitoring

Gate drive

power supply

Voltage detection

EtherCAT

communications

connector

EtherCAT

communications

connector

Control

interface

Encoder Brake

interlock

Safety

Current detection

Regeneration control

 R88D-1SN55H-ECT/-1SN75H-ECT

1 - 24

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 73

 R88D-1SN55F-ECT/-1SN75F-ECT

CND

+24V +24V

0V 0V

FAN

DC/DC

power supply

1 Features and System Configuration

CNA

B1 B2 B3

CNE

DB1 DB2 DB3

1-4 System Block Diagram

CNA

CNB

P N3 N2 N1

Display area

rotary switch

FUSE

Input voltage monitoring

ECAT IN

CN10

EtherCAT

communications

connector

Thyristor

drive

Inrush prevention error detection

ECAT OUT

CN11

EtherCAT

communications

connector

Regeneration control

Voltage detection

CN1 CN1CN2 CN12 CN7

Control

interface

Encoder Brake

Regeneration error detection

Overcurrent

(IPM error)

MPU, FPGA

Control circuit

Gate drive

detection

interlock

Current detection

HS temperature

monitoring

USB

CNC

U V

Safety

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1 Features and System Configuration

 R88D-1SN150H-ECT

CND

+24V +24V

0V 0V

FAN

DC/DC

power

supply

CNB

B1 B2

CNE

DB1 DB2 DB3

CNA

Display area

rotary switch

FUSE

Input voltage monitoring

ECAT IN

CN10

EtherCAT

communications

connector

Thyristor

drive

Inrush prevention error detection

ECAT OUT

CN11

EtherCAT

communications

connector

interface

Regeneration control

Voltage detection

CN1 CN1CN2 CN12 CN7

Control

Regeneration error detection

MPU, FPGA

Control circuit

Encoder Brake

Gate drive

Overcurrent

detection

(IPM error)

interlock

Current detection

HS temperature

monitoring

USB

CNC

U V

Safety

1 - 26

AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Page 75

 R88D-1SN150F-ECT

DB1 DB2 DB3

CN1 CN1CN2 CN12 CN7

+24V +24V

DC/DC

0V 0V

CND

CNA

CNE

CNC

USB

ECAT IN

CN10

ECAT OUT

CN11

B1 B2

CNB

FUSE

FAN

Current detection

Regeneration control

Display area

rotary switch

MPU, FPGA

Control circuit

power supply

EtherCAT

communications

connector

EtherCAT

communications

connector

Control

interface

Encoder Brake

interlock

Safety

Thyristor

drive

Gate drive

Voltage detection

Input voltage monitoring

Regeneration error detection

Inrush prevention error detection

Overcurrent

detection

(IPM error)

HS temperature

monitoring

1 Features and System Configuration

1-4 System Block Diagram

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1 Features and System Configuration

1-5 Applicable Standards

This section describes applicable standards.

1-5-1 EU Directives

The 1S-series Servomotors, Servo Drives, and Footprint-type Noise Filters conform to the following standards.

EU Directives Product Applicable standards

EMC Directive Servo Drives EN61800-3 second environment,

C3 Category

(EN 61326-3-1

Low Voltage Directive Servo Drives EN 61800-5-1

Servomotors EN 60034-1/-5 Footprint-type Noise

Filters

Machinery Directive Servo Drives EN ISO 13849-1 (Cat.3)

*1. The applicable standard of following models is EN61000-6-7.

Applicable models: R88D-1SN55-ECT, R88D-1SN75-ECT, R88D-1SN150-ECT

EN 60939-2

EN 61508 EN 62061 EN 61800-5-2

Functional Safety)

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-ECT 16 A R88D-1SN02L-ECT 16 A R88D-1SN04L-ECT 16 A R88D-1SN01H-ECT 16 A R88D-1SN02H-ECT 16 A R88D-1SN04H-ECT 16 A R88D-1SN08H-ECT 16 A R88D-1SN10H-ECT 16 A R88D-1SN15H-ECT 40 A R88D-1SN20H-ECT 40 A R88D-1SN30H-ECT 40 A R88D-1SN06F-ECT 20 A

Maximum current

rating

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1 Features and System Configuration

1-5 Applicable Standards

Servo Drive model

R88D-1SN10F-ECT 20 A R88D-1SN15F-ECT 20 A R88D-1SN20F-ECT 20 A R88D-1SN30F-ECT 20 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-ECT 60 A R88D-1SN75H-ECT 60 A R88D-1SN150H-ECT 125A R88D-1SN55F-ECT 30 A R88D-1SN75F-ECT 30A R88D-1SN150F-ECT 60A

1-5-2 UL and cUL Standards

Maximum current

rating

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.

Standard Product Applicable standards File number

UL standards Servo Drives UL 61800-5-1 E179149

Servomotors UL 1004-1, UL 1004-6 E331224 Footprint-type Noise Filters UL1283 E191135

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

Servo Drives CSA C22.2 No. 274 E179149 Servomotors CSA C22.2 No. 100 E331224

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 model Fuse

R88D-1SN01L-ECT UL CLASS RK5 15 A R88D-1SN02L-ECT UL CLASS RK5 15 A R88D-1SN04L-ECT UL CLASS RK5 15 A R88D-1SN01H-ECT UL 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 model Fuse

R88D-1SN02H-ECT UL CLASS RK5 15 A R88D-1SN04H-ECT UL CLASS RK5 15 A R88D-1SN08H-ECT UL CLASS RK5 15 A R88D-1SN10H-ECT UL CLASS RK5 15 A R88D-1SN15H-ECT UL CLASS RK5 40 A R88D-1SN20H-ECT UL CLASS RK5 40 A R88D-1SN30H-ECT UL CLASS RK5 40 A R88D-1SN06F-ECT UL CLASS RK5 20 A R88D-1SN10F-ECT UL CLASS RK5 20 A R88D-1SN15F-ECT UL CLASS RK5 20 A R88D-1SN20F-ECT UL CLASS RK5 20 A R88D-1SN30F-ECT UL 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 model Voltage (Minimum) Ampere

R88D-1SN55H-ECT 240 V 60 A R88D-1SN75H-ECT 240 V 60 A R88D-1SN150H-ECT 240 V 125 A R88D-1SN55F-ECT 480 V 30 A R88D-1SN75F-ECT 480 V 30 A R88D-1SN150F-ECT 480 V 60 A

1-5-3 Korean 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).

1-5-4 SEMI 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.

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1 Features and System Configuration

1-5-5 Australian 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).

1-5-6 EAC Requirements

• The 1S-series Servo Drives comply with the EAC requirements.

• The 1S-series Servomotors comply with the EAC requirements.

1-5 Applicable Standards

1-5-5 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

L/A

R88D-1SN

L/A

OUT

Ether

CAT

Unit version

Display location

Display on the product

1-6 Unit Versions

The 1S-series Servo Drive uses unit versions. Unit versions are used to manage differences in supported functions due to product upgrades, etc.

1-6-1 Confirmation Method

The unit version of 1S-series is displayed at the location shown below.

1-6-2 Unit 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

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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 3-2 Designing I/O and processing

STEP 3-3 Designing safety programs

STEP 4-2 Verifying specification requirement satisfaction

STEP 5 Software setting and programming for standard control

STEP 5-1 Creating project

STEP 5-2 Creating slave and unit configuration

STEP 6 Software setting and programming for safety control

STEP 5-3 Controller settings

STEP 5-4 Programming STEP 5-5 Offline debugging

STEP 6-1 Creating safety control system configuration

STEP 6-4 Assigning device variables to I/O ports STEP 6-5 Programming

STEP 6-6 Offline debugging

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

1-7 Procedures to Start Operation

1-7 Procedures to Start Opera-

This section explains the procedures to operate a system that incorporates 1S-series Servo Drives.

1-7-1 Overall 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

1-7-1 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

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Page 83

1-7-2 Procedure 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

Procedure Description Reference

STEP 1-1 Determining safety measures based on risk assessment

1 Features and System Configuration

1-7 Procedures to Start Opera-

tion

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

Procedure Description Reference

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

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

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1 Features and System Configuration

STEP 3 Software and Hardware Design for Safety Control

Procedure Description Reference 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

Procedure Description Reference STEP 4-1 Calculating safety reac-

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

Procedure Description Reference

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

• 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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1 Features and System Configuration

STEP 5 Software Design and Programming for Standard Control

Procedure Description Reference

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

1-7-2 Procedure Details

STEP 6 Software Design and Programming for Safety Control

Procedure Description Reference

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 variables used by more than one POU

in the global variable table with the Sysmac Studio.

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

Procedure Description Reference

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

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 7 Servo Drive Setting, Adjustment, and Operation Check

Procedure Description Reference

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

Procedure Description Reference

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

Procedure Description Reference 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

Procedure Description Reference

• NJ/NX-series CPU Unit User’s Manuals

• Safety Control Unit User's Manual

tion

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

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

Procedure Description Reference

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

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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.

2-1 Servo System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-2 How to Read Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-1 Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-2 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-2-3 Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-2-4 Motor Power Cable without Brake Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-2-5 Motor Power Cable with Brake Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-2-6 Decelerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3 Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2-3-1 Servo Drive Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11

2-3-2 Servomotor Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-3-3 Servo Drive and Servomotor Combination Tables . . . . . . . . . . . . . . . . . . . . 2-17

2-3-4 Decelerator Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2-3-5 Servomotor and Decelerator Combination Tables . . . . . . . . . . . . . . . . . . . . 2-23

2-3-6 Cable and Connector Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25

2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit

Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33

2-3-8 External Dynamic Brake Resistor Model Table . . . . . . . . . . . . . . . . . . . . . . . 2-34

2-3-9 Reactor Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-34

2-3-10 Noise Filter Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35

2-4 External and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36

2-4-1 Servo Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36

2-4-2 Servomotor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43

2-4-3 Cable Outlet Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-99

2-4-4 Cable Wiring Dimension for a Case of Motor Installing . . . . . . . . . . . . . . . 2-100

2-4-5 Decelerator Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-102

2-4-6 Dimensions of External Regeneration Resistors and External Regeneration

Resistance Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-119

2-4-7 Dimensions of External Dynamic Brake Resistors . . . . . . . . . . . . . . . . . . . 2-120

2-4-8 Reactor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-121

2-4-9 Noise Filter Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-130

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

24 VDC 7 mA

COM

MACH

AD042

N ERC ERH

B1 A1

×10

0 1 2 3 4 56

10 11 1213 1415

● FA Integrated Tool Package CX-One

(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-NC8

2-1 Servo 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.

2 - 2

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2 Models and External Dimensions

R UN

ERR

L/A

R88D-1SN

L /A

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-CA1S

· With brake wire R88A-CA1B

● Flexible cable

· Without brake wire R88A-CA1SF R88A-CA1ASFR

· With brake wire R88A-CA1BF

● Extension cable R88A-CA1EBF

● Standard cable R88A-CA1AB

● Flexible cable R88A-CA1ABF

R88A-CA1ABFR

● Standard cable R88A-CR1AC

R88A-CR1BN R88A-CR1BV

● Flexible cable R88A-CR1ACF

R88A-CR1BNF R88A-CR1BVF

2-1 Servo System Configuration

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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

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

2-2 How to Read Model Numbers

This section describes how to read and understand the model numbers of Servo Drives, Servomotors, and Decelerators.

2-2-1 Servo Drive

The Servo Drive model number tells the Servo Drive type, applicable Servomotor, power supply voltage, etc.

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2-2-2 Servomotor

The Servomotor model number tells the Servomotor type, rated output, rated rotation speed, voltage, etc.

1S-series Servomotor

Servomotor type

Low inertia

Middle inertia

2 Models and External Dimensions

2-2 How to Read Model Numbers

R88M-1M10030S-BOS2

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

1,500 r/min

2,000 r/min

3,000 r/min

Servo Drive main power supply voltage and encoder type

100 VAC absolute encoder

200 VAC absolute encoder

400 VAC absolute encoder

Options

Brake

None

Without brake

With 24-VDC brake

Oil seal

None

Without oil seal

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 seal With oil seal

Straight shaft With key and tap Straight shaft With 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

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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

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

2-2-3 Encoder 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.

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2 Models and External Dimensions

A B

F H

J K

003 005 010 015 020 030 040 050

R88A-CA1A003SFR

3 m 5 m 10 m 15 m 20 m 30 m

40 m

50 m

R88A-CA1

Others

Connector type

Applicable Servomotor type

Cable length

Cable type

Blank R

Load side cable Non-load side cable

Direction for handling cable

1S Series Motor Power cable

100 VAC, 200 VAC 3,000 r/min Servomotor 50 W, 100 W, 200 W, 400 W, 750 W 200 VAC 3,000 r/min Servomotor 1 kW 2,000 r/min Servomotor 1 kW 1,000 r/min Servomotor 900 W 200 VAC 3,000 r/min Servomotor 1.5 kW 2,000 r/min Servomotor 1.5 kW 400 VAC 3,000 r/min Servomotor 750 W to 2 kW 2,000 r/min Servomotor 400 W to 2 kW 1,000 r/min Servomotor 900 W 200 VAC, 400 VAC 3,000 r/min Servomotor 2 kW (200 VAC), 3 kW (200 VAC / 400 VAC) 2,000 r/min Servomotor 2 kW (200 VAC), 3 kW (200 VAC / 400 VAC) 1,000 r/min Servomotor 2 kW (200 VAC / 400 VAC), 3 kW (400 VAC) 200 VAC 1,000 r/min Servomotor 3 kW 200 VAC 3,000 r/min Servomotor 4 kW, 4.7 kW 1,500 r/min Servomotor 5 kW 400 VAC 3,000 r/min Servomotor 4 kW, 5 kW 1,500 r/min Servomotor 4 kW, 5.5 kW, 7.5 kW 400 VAC 1,500 r/min Servomotor 11 kW, 15 kW 200 VAC 1,500 r/min Servomotor 7.5 kW, 11 kW, 15 kW

without Brake Wire

Blank F

Standard specifications

Flexible cable

2-2-4 Motor Power Cable without Brake Wire

The cable model number tells the cable type, applicable Servomotor type, cable length, connector type, etc.

2-2 How to Read Model Numbers

2-2-4 Motor Power Cable without Brake Wire

*1. Only for Applicable Servomotor type A to F. *2. Only for Applicable Servomotor type A.

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2 Models and External Dimensions

F H

J K

003 005 010 015 020 030 040 050

R88A-CA1A003BFR

3 m 5 m 10 m 15 m 20 m 30 m

40 m

50 m

R88A-CA1

Others

Connector type

Applicable Servomotor type

Cable length

Cable type

Blank R

Load side cable Non-load side cable

Direction for handling cable

1S Series Motor Power cable

100 VAC, 200 VAC 3,000 r/min Servomotor 50 W, 100 W, 200 W, 400 W, 750 W 200 VAC 3,000 r/min Servomotor 1 kW 2,000 r/min Servomotor 1 kW 1,000 r/min Servomotor 900 W 200 VAC 3,000 r/min Servomotor 1.5 kW 2,000 r/min Servomotor 1.5 kW 400 VAC 3,000 r/min Servomotor 750 W, 1 kW, 1.5 kW, 2 kW 2,000 r/min Servomotor 400 W, 600 W, 1 kW, 1.5 kW, 2 kW 1,000 r/min Servomotor 900 W 200 VAC, 400 VAC 3,000 r/min Servomotor 2 kW (200 VAC), 3 kW (200 VAC / 400 VAC) 2,000 r/min Servomotor 2 kW (200 VAC), 3 kW (200 VAC / 400 VAC) 1,000 r/min Servomotor 2 kW (200 VAC / 400 VAC), 3kW (400 VAC) 200 VAC 1,000 r/min Servomotor 3 kW 200 VAC 3,000 r/min Servomotor 4 kW, 4.7 kW 1,500 r/min Servomotor 5 kW 400 VAC 3,000 r/min Servomotor 4 kW, 5 kW 1,500 r/min Servomotor 4 kW, 5.5 kW, 7.5 kW 400 VAC 1,500 r/min Servomotor 11 kW, 15 kW 200 VAC 1,500 r/min Servomotor 7.5 kW, 11 kW, 15 kW

with Brake Wire

Blank F

Standard specifications

Flexible cable

Motor Power cable

E10 E20

10 m 20 m

Motor Power Extension cable

2-2-5 Motor Power Cable with Brake Wire

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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2-2-6 Decelerator

R88G-HPG14A05100SBJ

050 100 200 400 600 750 900 1K0 1K5 2K0 3K0 4K0 4K5 5K0 7K5

05 11 12 20 21 25 33 45

11B 14A 20A 32A 50A 65A

1/5 1/11 1/12 1/20 1/21 1/25 1/33 1/45

50 W 100 W 200 W 400 W 600 W 750 W 900 W 1 kW

1.5 kW 2 kW 3 kW 4 kW

4.5 kW 5 kW

7.5 kW

40 x 40 60 x 60 90 x 90 120 x 120 170 x 170 230 x 230

Decelerator for Servomotor

Applicable Servomotor rated output

Backlash: 3 Arcminutes max.

Reduction ratio

Flange size number

Servomotor type

None

Backlash

Options

None

S T

3,000-r/min Servomotors 2,000-r/min Servomotors 1,000-r/min Servomotors

Backlash: 3 Arcminutes max.

Straight shaft With key and tap

The Decelerator model number tells the Decelerator series, flange size number, reduction ratio, backlash, etc.

Backlash: 3 Arcminutes Max.

2 Models and External Dimensions

2-2 How to Read Model Numbers

2-2-6 Decelerator

*1. These are based on typical Servomotor's specifications. For the selection, check the Servomotor and Decelerator Com-

bination Tables.

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2 Models and External Dimensions

100

200

400

750

: 50W, 100 W : 200 W : 400 W : 750 W

05 09 15 25

: 1/5 : 1/9 : 1/15 : 1/25

B C D

: 52 : 78 : 98

R88G-VRXF09B100CJ

Options

Decelerator for Servomotor

Backlash: 15 Arcminutes max.

Reduction ratio

Flange size number

Backlash

: Backlash: 15 Arcminutes max.

: With key and tap

Applicable Servomotor rated output

Backlash: 15 Arcminutes Max.

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2-3 Model Tables

2 Models and External Dimensions

This section lists the models of Servo Drives, Servomotors, Decelerators, cables, connectors, peripheral devices, etc. in the tables.

2-3-1 Servo Drive Model Table

The following table lists the Servo Drive models.

Specifications Model Reference

Single-phase 100 VAC 100 W R88D-1SN01L-ECT P. 2-36

200 W R88D-1SN02L-ECT P. 2-37 400 W R88D-1SN04L-ECT P. 2-38

Single-phase/3-phase 200 VAC

3-phase 200 VAC 1 kW R88D-1SN10H-ECT P. 2-38

3-phase 400 VAC 600 W R88D-1SN06F-ECT P. 2-39

100 W R88D-1SN01H-ECT P. 2-36 200 W R88D-1SN02H-ECT 400 W R88D-1SN04H-ECT P. 2-37 750 W R88D-1SN08H-ECT P. 2-38

1.5 kW R88D-1SN15H-ECT P. 2-39

2 kW R88D-1SN20H-ECT P. 2-39 3 kW R88D-1SN30H-ECT

5.5 kW R88D-1SN55H-ECT P. 2-40

7.5 kW R88D-1SN75H-ECT 15 kW R88D-1SN150H-ECT P. 2-41

1 kW R88D-1SN10F-ECT

1.5 kW R88D-1SN15F-ECT

2 kW R88D-1SN20F-ECT 3 kW R88D-1SN30F-ECT

5.5 kW R88D-1SN55F-ECT P. 2-40

7.5 kW R88D-1SN75F-ECT 15 kW R88D-1SN150F-ECT P. 2-42

2-3 Model Tables

2-3-1 Servo Drive Model Table

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2 Models and External Dimensions

2-3-2 Servomotor Model Tables

3,000-r/min Servomotors

Specifications

Without brake

100 VAC 50 W R88M-

100 W R88M-

200 W R88M-

400 W R88M-

200 VAC 50 W R88M-

100 W R88M-

200 W R88M-

400 W R88M-

750 W R88M-

1 kW R88M-

1.5 kW R88M-

2 kW R88M-

3 kW R88M-

4 KW R88M-

4.7 KW R88M-

400 VAC 750 W R88M-

1 kW R88M-

1.5 kW R88M-

2 kW R88M-

3 kW R88M-

4 KW R88M-

5 KW R88M-

The following tables list the Servomotor models by the rated motor speed.

Model

Without oil seal With oil seal

Straight shaft With key and tap Straight shaft With key and tap

1M05030S

1M10030S

1M20030S

1M40030S

1M05030T

1M10030T

1M20030T

1M40030T

1M75030T

1L1K030T

1L1K530T

1L2K030T

1L3K030T

1L4K030T

1L4K730T

1L75030C

1L1K030C

1L1K530C

1L2K030C

1L3K030C

1L4K030C

1L5K030C

R88M1M05030S-S2 R88M1M10030S-S2 R88M1M20030S-S2 R88M1M40030S-S2 R88M1M05030T-S2 R88M1M10030T-S2 R88M1M20030T-S2 R88M1M40030T-S2 R88M1M75030T-S2 R88M1L1K030T-S2 R88M1L1K530T-S2 R88M-

0T-S2

L2K03

1 R88M1L3K030T-S2 R88M1L4K030T-S2 R88M1L4K730T-S2 R88M1L75030C-S2 R88M1L1K030C-S2 R88M1L1K530C-S2 R88M1L2K030C-S2 R88M1L3K030C-S2 R88M1L4K030C-S2 R88M1L5K030C-S2

R88M1M05030S-O R88M1M10030S-O R88M1M20030S-O R88M1M40030S-O R88M1M05030T-O R88M1M10030T-O R88M1M20030T-O R88M1M40030T-O R88M1M75030T-O R88M1L1K030T-O R88M1L1K530T-O R88M1L2K030T-O R88M1L3K030T-O R88M1L4K030T-O R88M1L4K730T-O R88M1L75030C-O R88M1L1K030C-O R88M1L1K530C-O R88M1L2K030C-O R88M1L3K030C-O R88M1L4K030C-O R88M1L5K030C-O

R88M1M05030S-OS2 R88M1M10030S-OS2 R88M1M20030S-OS2 R88M1M40030S-OS2 R88M1M05030T-OS2 R88M1M10030T-OS2 R88M1M20030T-OS2 R88M1M40030T-OS2 R88M1M75030T-OS2 R88M1L1K030T-OS2 R88M1L1K530T-OS2 R88M1L2K030T-OS2 R88M1L3K030T-OS2 R88M1L4K030T-OS2 R88M1L4K730T-OS2 R88M1L75030C-OS2 R88M1L1K030C-OS2 R88M1L1K530C-OS2 R88M1L2K030C-OS2 R88M1L3K030C-OS2 R88M1L4K030C-OS2 R88M1L5K030C-OS2

Refer-

ence

P. 2 -4 3

P. 2 -4 5

P. 2 -4 7

P. 2 -4 3

P. 2 -4 5

P. 2 -4 7

P. 2 -4 9

P. 2 -5 1

P. 2 -5 3

P. 2 -5 5

P. 2 -5 7

P. 2 -5 9

P. 2 -6 1

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