Omron R88M-1M10030S, R88D-1SN01L-ECT, NJ501-1500 Startup Manual

AC Servo System 1S-series

Startup Guide
for Multi-axis Setup and Tuning

R88M-1L[]/-1M[] (AC Servomotors)
R88D-1SN[]-ECT (AC Servo Drives)
SYSMAC-SE20[][] (Automation Software)

I827-E1-01

2

NOTE

All rights reserved. No part of t his pu blication may be reproduced, st or ed in a retrieval system,
or transmitted, in any form , or by any means, mechanical, photocopying, recording, or
otherwise, without the prior w r it t en per m ission of OMRON.
No patent liability is assume d w ith r es pect to the use of the informati on contained herein.
Moreover, because OMRON is constantly striving to improve its h igh-quality products, the
information contained in this manual is subject to change without notice. Every precaution ha s
been taken in the preparation of t his m anual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any l iab il ity assumed for damages resu lting
from the use of the information contained in this publication.

3

Introduction

The Servo System 1S-Series Startup Guide for Multi-axis Setup and Tuning (hereinafter, may
be referred to as "this Guide") desc ribes the procedures for installation and setup of 1S Servo
Drives, where an NJ/NX-series CPU Unit is use d in combination with1S-series AC
Servomotors/Servo Driv es and NX-series Safety Unit, by using the Sysmac Studio. A simple
installation model is used for the discussion. You can perform the proce dur es that are
presented in this Guide to quickly gai n a basic understanding of a 1S-series AC
Servomotors/Servo Driv es.
This Guide does not contain sa fety infor mation and o ther detai ls that ar e requ ired for actu al use .
Thoroughly read and unde rstand the manuals for all of the devices t hat are us ed in this G uide t o
ensure that the system is used s af ely. Review the entire contents of these materials, including
all safety precautions, pre cautions for safe use, and precautions for correct use.

Intended Audience

This Guide is intended for t he following personnel.

• Personnel in charge of introducing FA sys t ems

• Personnel in charge of des ign ing FA systems

The personnel must also have t he following knowledge.

• Knowledge of electrical sy st em s ( an el ec t r ic al engineer or the equivalent)

• Knowledge of NJ/NX-series CPU Units

• Knowledge of Servomotors/Drives

• Knowledge of operation proc edure of Sysmac Studio

Applicable Products

This Guide covers the follow ing products.

• CPU Units of NJ/NX-series Machine Automation Controllers

• Automation Software Sy smac Studio

• 1S-series Servomotors/Servo Drives

Special Information

The icons that are used in this Guide are described below.

Additional Information

Additional information to read as required.
This information is provided to increase understanding or m ake operation easier.

Precautions for Safe Use

Precautions on what to do and w hat not t o do t o ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and w hat not t o do t o ensure proper operation and
performance.

4

Terms and Conditions A gree ment

Warranties

(a) Exclusive Warranty. Omro n’s exclusive warranty is that t he Products will be free from
defects in materials and w ork m anship for a period of twelve months from the date of sale by
Omron (or such other period expressed in writi ng by Omron). Omron disclaims all other
warranties, express or implied.
(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR
IMPLIED, ABOUT NON-INFRINGEMENT, M ERCHANTAB ILITY OR FITNESS FOR A
PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE
HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY ME ET THE REQ UI R EME N TS
OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expen ses
based on infringement by t he Products or otherwise of any intellectual property right. (c) Buyer
Remedy.
Omron’s sole obligation h er eunder shall be, at Omron’s ele ct ion, to (i) replace (in the form
originally shipped with Buyer respons i bl e for labor charges for removal or replacement thereof)
the non-complying Product, ( ii) repair t he non-complying Product, or ( iii) repay or credit Buyer
an amount equal to the purchase price of the non-complying Pr oduct; provided that in no event
shall Omron be responsibl e for w ar r ant y, repair, indemnity or any other claims or expenses
regarding the Products unless O mron’s analysis confirms th at the Products were properly
handled, stored, installed and maintained and not subj ect to contamination, abuse, misuse or
inappropriate modificati on. Return of any Products by Buyer must be approved in writing by
Omron before shipment. O mron Companies shall not be liabl e for the suitability or unsuitabi lity
or the results from the use of Products in combination w it h any electrical or electronic
components, circuits, system assem blies or any other materials or substances or environ ments .
Any advice, recommendat ions 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 r epr esentative for published

information.

Limitation on Liability; Etc

OMRON COM PANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDE NTAL, OR
CONSEQUE NTIAL DAMAG ES, LOSS OF P ROFITS 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 liabilit y of Omron Companies exceed the i ndividual price of the
Product on which liability is assert ed.

Suitability of Use

Omron Companies shall not be r es ponsible for conformity with any standards, codes or
regulations which apply to the combination of the Product i n t he Buyer’s application or use of
the Product. At Buyer’s re quest, Omron will provide applicable third party certification

5

documents identifying ratings and limitations of use which apply to t he Product. This informat ion
by itself is not sufficient for a complete determination of the suitability of the Product in
combination with the end pr oduct , machine, system, or ot her appl ication or use. Buyer shall be
solely responsible for dete rm ini ng appropriateness of the part ic ular Product with respect to
Buyer’s application, product or system. Buyer shall ta ke application responsibility in all cases.
NEVER USE T HE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO L IFE
OR PROPERTY WIT HO UT E NSU RING TH AT T HE SYST EM AS A WHOLE H AS BE E N
DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE O VERALL
EQUIPMENT OR SY ST EM .

Programmable Products

Omron Companies shall not be r es ponsible for the user’s progra m m ing o f a programmable
Product, or any consequence thereof.

Performance Data

Data presented in Omron Co m pany websites, catalogs and other materials is provided as a
guide for the user in determ in ing suitability and does not constitute a warranty. I t may r epr esent
the result of Omron’s test conditions, and the user must c orr elate it to actual application
requirements. Actual per f or m ance is subject to the Omron’s Warranty and Limitations of
Liability

Change in Specification s

Product specifications an d accessories may be changed at any time based on improvement s
and other reasons. It is our practice to change par t numbers when published ratings or features
are changed, or when significant construction changes are made. However, some
specifications of the Prod uc t may be changed without any notice. When in doubt, special part
numbers may be assigned to fix or est ablish key specifications for your application. Please
consult with your Omron’s representative at any time t o confirm actual specification s of
purchased Product.

Errors and Omissions

Information presented by Omron Companies has be en checked and is believed to be accur at e;
however, no responsibility is assumed for clerical, typogra phical or proofreading errors or
omissions.

6

Precautions

• When building a system, c heck the specifications for all devi ces and equipment that will mak e

up the system and make sure t hat the OMRON products are used well within their rated
specifications and performances. Safety measures, such as safety circuits, m ust be
implemented in order to m inim ize the risks in the event of a malfunction.

• Thoroughly read and under st and t he manuals for all devices and equipment that will make up

the system to ensure that the sy s t em is used safely. Review the entire contents of these
manuals, including all safe ty pr ecautions, prec aution s for safe use, and pr ecau tions for correc t
use.

• Confirm all regulations, standards, and restrictions that the system must adher e t o.

• Check the user program for pr oper execution before you use it for actual operation.

Trademarks

• Sysmac and SYSMAC are trademarks or register ed trademarks of OMRON Corporation in

Japan and other countries for O M RON factory automation product s.

• Windows is either registered trademarks or trademarks of M icrosoft Corporation in the USA

and other countries.

• EtherCAT

®

is registered tr ade mark and p at ented tec hno logy, licensed by Beckhof f Automation

GmbH, Germany.

• Microsoft product screen shot(s) reprinted with permission from Microsoft Cor por at ion.

• Other company names and pr oduct names in this Guide are the trademarks or registered

trademarks of their respective companies.

Software Licenses and Copyrights

The NJ-series CPU Units and Sys mac St udio incorporate certain third part y software. The
license and copyright information associated with this softw ar e i s available at
http://www.fa.omron.co.jp/nj_info_e/.

7

Related Manuals

The following manuals ar e related. Use these manuals for r ef er ence.

Manual name Cat. No. Model Application Description

Sysmac Studio Version 1
Operation Manual

W504 SYSMAC-SE2□□□ Learning about the operating

procedures and functions of
the Sysmac Studio.

Describes the operating procedures of
the Sysmac Studio.

Sysmac Studio Drive
Functions Operation
Manual

I589-E1 SYSMAC-SE2□□□ Learning about the operating

procedures and functions of
the Sysmac Studio for Drives

Describes the operating procedures of
the Sysmac Studio to setup Drives

NJ-series CPU Unit
Hardware User´s Manual

W500 NJ501-□□□□

NJ301-□□□□

Learning the basic
specifications of the
NJ-series CPU Units,
including introductory
information, designing,
installation, and
maintenance.
Mainly hardware information
is provided.

Provides an introduction to the entire
NJ-series system along with the
following information on the CPU Unit.

• Features and system configuration

• Overview

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the

NJ/NX-series CPU Unit Software
User's Manual (Cat. No. W501).

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

W501 NJ501-□□□□

NJ301-□□□□

Learning how to program and
set up an NJ/NX-series CPU
Unit.
Mainly software information is
provided.

Provides the following information on a
Controller built with an NJ/NX-series
CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Language specifications and

programming based on IEC 61131-3

Use this manual together with the

NJ-series CPU Unit Hardware User's
Manual (Cat. No. W500).

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

W507 NJ501-□□□□

NJ301-□□□□
NJ101-□□□□

Learning about motion
control settings and
programming concepts.

Describes the settings and operation of
the CPU Unit and programming
concepts for motion control.
When programming, use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No .
W500) and NJ/NX-series CPU Unit
Software User's Manual (Cat. No.

W501).
NJ/NX-series Instructions
Reference Manual

W502 NJ501-□□□□

NJ301-□□□□

Learning detailed
specifications on the basic
instructions of an
NJ/NX-series CPU Unit.

Describes the instructions in the

instruction set (IEC 61131-3

specifications).

When programming, use this manual

together with the NJ-series CPU Unit

Hardware User's Manual (Cat. No .

W500) and NJ/NX-series CPU Unit

Software User's Manual (Cat. No.

W501).

8

Manual name

Cat. No.

Model

Application

Description

NJ/NX-series Motion
Control Instructions
Reference Manual

W508 NJ501-□□□□

NJ301-□□□□

Learning about the
specifications of the motion
control instructions that are
provided by OMRON.

Describes the motion control instructions.
When programming, use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No .
W500), NJ/NX-series CPU Unit Software

User's Manual (Cat. No. W501), and
NJ/NX-series CPU Unit Motion Control
User's Manual (Cat. No. W507).

NJ/NX-series
Troubleshooting Manual

W503 NJ501-□□□□

NJ301-□□□□

Learning about the errors
that may be detected in an
NJ/NX-series Controller.

Describes concepts on managing errors
that may be detected in an NJ/NX-series
Controller and information on individual
errors.
Use this manual together with the

NJ-series CPU Unit Hardware User's
Manual (Cat. No. W500) and
NJ/NX-series CPU Unit Software User's
Manual (Cat. No. W501).

1S-series AC
Servomotors/Servo Drives
with Built-in EtherCAT
Communications User's
Manual

I586

R88D-1S□-ECT
R88M-1□

Learning detailed
specifications of a
1S-series Servo Drive.

Describes how to install and wire the
Servo Drive, set parameters needed to
operate the Servo Drive, and remedies to
be taken and inspection methods to be
used in case that problems occur.

9

Revision History

A manu al revision code appears as a suffix to the catalog number on the front and back covers
of the manual.

Revision code Date Revised content

01 April 2017 Original production

Cat. No.

I827-E1-01

Revision code

10

CONTENTS

Introduction ······························································································ 3

Intended Audience ..................................................................................................... 3

Applicable Products ................................................................................................... 3

Special Information .................................................................................................... 3

Terms and Conditions Agreement ······························································· 4
Precautions ······························································································ 6

Trademarks ................................................................................................................ 6

Software Licenses and Copyrights ............................................................................ 6

Related Manuals ······················································································· 7
Revision History ······················································································· 9

1. Servo system configuration and peripheral products ···························· 11

1.1. Outline ............................................................................................................. 11

1.2. Servo System constructed in this guide .......................................................... 12

2. Before You Begin ·············································································· 14

2.1. Installin g t he Sysmac Studio ........................................................................... 14

2.2. Assembl in g t he Hardware ............................................................................... 15

2.3. Wiring the Devices .......................................................................................... 16

3. Performing setup ·············································································· 20

3.1. Two axis servo system operation .................................................................... 20

3.2. System set up pr ocedures ............................................................................... 22

3.3. Creating project with Auto connection ............................................................ 22

3.4 Creating the EtherCAT Network Configuration ............................................... 24

3.5 Creating motion axes ...................................................................................... 26

3.6 Program making and tran sfer t o the CPU Unit ............................................... 32

3.7 Drives and motors param eters setup .............................................................. 34

3.8 Easy Tuning (Multiple Drives) ......................................................................... 38

ANNEX ··································································································· 44

A-1 Settings when control inp ut signals are not wired ............................................ 44

A-2 Program making with str uctured text ................................................................ 51

11

1. Servo system configuration and peripheral
products

1.1. Outline

The 1S-series AC 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,
you can construct a high-speed and sophisticated positioning control system.
Also, 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 auto tuning, adaptive filter, notch filter, and damping control, you can set up a system that provides
stable operation by suppressing vibration in low-rigidity machines.
For machine composed with multiple 1S-series AC Servo Drives, Sysmac Studio provides a set of
functions to set-up and tune parameters with less effort.

Additional Information

For additional information about 1S servo drive, please refer to 1S-series AC Servomotors and Servo
Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

12

1.2. Servo System constructed in this guide

This 1S-series Startup Guide for multi-axis setup and tuning (hereafter referred to as “this Guide”) contains
instructions to set-up and tune an X-Y stage system composed of two 1S-series AC Servo Drives.

The following figure shows the system configuration and devices that are used in this Guide.

The system configuration is shown in the following figure.

13

• Configuration devices

The models of the devices that are described in this Guide are given in the following table. When selecting
devices for an actual application, refer to the device manuals.
Device name Model Manual name
NJ-series CPU Unit NJ501-1500 NJ-series CPU Unit Hardware

User’s Manual (Cat. No. W500)

NJ-series Power Supply Unit NJ-PA3001
EtherCAT communications cables XS5W-T421-CMD-K
AC Servo Drives R88D-1SN01L-ECT 1S-series AC Servomotors and

Servo Drives User’s Man ua l (with
Built-

in EtherCAT

Communications) (Cat. No. I586)

AC Servo Motors R88M-1M10030S
Power cables R88A-CA1A003S
Encoder Cables R88A-CR1A003C

• Automation software

Product Number of license Model

Sysmac Studio Standard Edition

Version 1.18 or higher

None (DVD only) SYSMAC-SE200D
1 license SYSMAC-SE201L

14

2. B efor e You Begin

2.1. Installing the Sysmac Studio

The Sysmac Studio is the Support Software that you use for an NJ-series Controller. On it, you can set-up
the Controller configurations, parameters, and programs, and you can debug and simulate operation.
Install the Sysmac Studio on your computer.
Refer to the NJ-series Startup Guide for CPU Units (Cat. No. W513) for the procedure to install the
Sysmac Studio.

15

2.2. Assembling the Hardware

This section describes how to assemble the hardware used in the system.
This section gives an overview of the assembly procedures. Refer to the manuals for the devices that are
used in the system for detailed assembly procedures and safety precautions.

Mounting the Units

Connect the Power Supply Unit, CPU Unit, and End Cover.

After joining the connectors between the Units, use the sliders at the top and bottom of each Unit to lock
the Units together. Lock the sliders firmly into place.

Precautions for Safe Use

Always turn OFF the power supply to the Controller and to the Servo Drives before you
attempt any of the following.

• Mounting or removing the CPU Unit and Other Units

• Assembling Racks

• Setting DIP switches or rotary sw it ches.

• Connecting cables or wiring the system

• Connecting or disconnecting the connec t or s

The Power Supply Unit continues to supply power to the Controller for up to several
seconds after the power supply is turned OFF. The PWR indicator remains lit as long as
power is supplied. Make sur e that the PWR indicator is not lit be fore you perform any of
the above operations.

16

2.3. Wiring the Devices

This section describes how to wire the hardware devices.
This section gives an ov er view of the w iring pr o cedu res. Refer t o th e manua ls for t he device s that are
used in the system for detailed wiring procedures and safet y precautions.

Wiring the Rack Power Supply Unit

Wire the Power Supply Unit to the power supply.

*The RUN output is ON when the CPU Unit is in RUN mode. It is OFF when the CPU
Unit is in PROGRAM mode or when a major fault level Controller error occurs.

Additional Information

This Guide uses an NJ-PA3001 AC Power Supply Unit. An NJ-PD3001 DC Power Supply Unit can also
be used.

Wiring the Servo Drive Power Supply

Wire the Servo Drives to the power supply as shown in the following figure.

Additional Information

For further details about wiring method, please refer t o 1S-series AC Servomotors and Servo Drives
User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

17

Laying EtherCAT Communi cations Cables

Connect the EtherCAT slave communications cables between the built-in EtherCAT port on the CPU Unit
and the EtherCAT slaves as shown in the following figure.
Connect the communications cable from the built-in EtherCAT port to the input port on the first slave, and
then connect the communications cable to the next slave to the output port on the first slave.
Do not connect anything to the output port of the slave at the end of the network.

Setting the Node Addresses of the Servo Drives

Set the node addresses of the Servo Drives as shown below.

18

Wiring the Servo Drives and the Servomotors

Wire the Servo Drives and t he Servomotors as shown in the following figure.

19

Wiring the Control Input Signals for the Servo Drives

Wire the control input signals for t he Ser vo Drive using the R88A-CN101C Control I/O connector
(CN1).
For details on wiring, refer t o t he AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT
Communications User 's Manual (Cat. No. I586).

*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.

Additional Information

• If you use the default Servo parameters, you must wire the immediate stop input, negative drive
prohibit input, and the positive drive prohibit input.
If these inputs are not wired, the CPU Unit will remain in the drive prohibit signal and emergency stop
signal detected state, and a minor fault level Controller error will occur. The minor fault level Controller
errors that will occur are an Immediate Stop Input Error and a Drive Prohibition Input Error. (The event
codes are 68220000 and 64E30000.)

• If the above signals are temporarily not wired while commissioning the system, you can temporarily
change the Servo parameters to prevent these errors from occurring in the CPU Unit.
Refer to A-1 Settings When Control Input Signals Are Not Wired

for details on the settings that you

must change in this case.

When using the default Servo parameters, please wire the

immediate stop input (ESTOP), negative drive prohibit input
(NOT), and the positive drive prohibit input (POT).

20

3. Performing setup

3.1. Two axis servo system operation

This section describes the operation of two-axis Servo system that is set up in this Guide.
In this system, axis 0 and axis 1 are set up for an XY stage.

The mechanical configuration of axis 0 and axis 1 are as shown in the following table.

Item Axis 0 / Axis 1 mechanical configuration

Motor rated speed 3000 r/min
Ball screw pitch 10 mm
Encoder resolution 23 bits/rotation (8,338,608)

21

The XY stage will repeatedly travel between two points using linear interpolation with a 2 seconds dwell
time after each movement.

The speed waveforms for axis 0 and axis 1 are shown below

50 mm

50 mm

0 mm

Interpolation velocity: 250 mm/s
Acceleration rate: 8000 mm/s²
Deceleration rate: 8000 mm/s²
Dwell time: 2 seconds

Dwell time: 2 seconds

22

3.2. System setup procedures

1 Create a project with Auto connection

▼

2 Create the EtherCAT Network configuration

▼

3 Create motion axes

▼

4 Program making and transfer to the CP U Unit
▼
5 Drives and motors setup
▼
6 Multiple drive Easy tuning for gain adjustment

3.3. Creating project with Auto connection

Start the Sysmac Studio:

Select All Programs − OMRON − Sysmac Studio − Sysmac Studio from the Windows St ar t M enu.

Create a project in t he Sysmac Studio

1.
Click the Button in the Project window

2.

In the Connect to Device Dialog Box,

Click the button

23

Sysmac Studio will brows e and connect to the controller

This concludes the procedure to create a project file w ith aut o c onnection

Additional Information

For creating a project offl ine or specif ic proc edure s plea se r efer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504).

24

3.4 Creating the EtherCAT Network Configuration

Two R8 8D-1SN01L-ECT Servo Drives are registered in the Et herCAT network configuration

1.

Double-click EtherCAT under Configurati ons a nd Setu ps in the Multiview Explorer.

The EtherCAT page is displayed in the Edit Pane.

2.

Right click on the Master and select

Compare and Merge with Actual Network

Configuration

25

3. The Compare and Merge w ith Actual Network Configuration wind ow is displayed

Click on Apply actual network configuration to apply th

e actual network

configuration.

Click Apply to confirm:

A pop-u p m essage confirmed the network configuration.
Click the Close Button

Confirm the detected conf i gur at ion and close the window

26

Disconnect from the contr oller

3.5 Creating motion axes

This section describes ho w to add axes used to control Servo Drives . Axes will be created based on
detected Servo Drives.

1.

Right click on the Master and select Assign Drives to Axes

Confirm axes allocation by clicking the Yes Button

Confirm the list of Axes added and Click the Ok Button

27

Right-click Axis Settings in the Multiview Explorer and select Axis setting table.

Axis number has been set t o 0 and 1, A xis type to Servo axis and Output device 1 to
Node: 1 and Node: 2 on CH1 (Channel 1).

Project transfer to synchronize Sysmac Studio project and the CPU unit

2.

Click the Connect Button on the Toolbar

Click the Transfer to Controller Button on the Toolbar

Click the Execute Button to transfer the project fro m t he com puter to the CPU unit

28

Click the Yes Button

The operating mode changes to PROGRAM mode, and the Sysmac Studio starts
transferring the project to the CPU Unit. During the transfer, a progress bar appears in the
Synchronize Pane.

After download completio n, Cl ic k The Yes Button to switch to RUN mode.

The transfer is completed, Cl ick the Ok Button

29

Apply Drive/Motor data to axis via network reading

3.

Right-click Axis Settings in the Multiview E x pl or er and select Apply dri ve data to axis
settings.

Click the Yes Button to acquire data from the servo drive via EtherCAT Network

Applied axis settings are b ased on drive and motor data:
Command pulse count per motor rotation is set to 8,388,608 following the 23 bits
resolution of the motor.
Maximum velocity and Maximum jog velocity are set based on rated speed of the
motor.
Maximum positive torque limit and Max imum negative torque limit are set based
on drive/motor maximum torque limit.
Encoder type is set to Absolute encoder.

After confirmation, Clic k the Ok Button.

30

Modification of axis settings to match the XY stage System

3. Disconnect from the Controller

Right-click Axis Settings in the Multiview Explorer and select Axis setting table.

Edit axis settings according t o the XY stage ball scre w system

Note: Alternatively, Unit conversion settings can also be modified before transferring the project; in
that case operation settings will be scaled based on mm units and drive data.

Adding Axes Group Settings

4.

Right-click Axes Group Settings under Configurations and Setup - Motion Control
Setup in the Multiview Explorer and select Add - Axes Group Settings from the
menu.

31

An axes group is added to the Mult iv iew Explorer .
The new axes group is displayed as MC_Group000.

Right-click the group that you added in the Multiview Explorer and select Edit from the
menu.

The axes group settings are displayed on the Axes Group Basic Settings Display in the
Edit Pane.

Set the Axes Group Basic Settings f or axes gr oup 0 as shown in the following figure.

This concludes the axes group settings.

32

3.6 Program making and transfer t o the CPU Uni t

Create the instructions to perform linear interpolation of two axes.

The following instruction s ar e cr eat ed. To do so, we will use axis variables, an axes gr oup, and
motion control instructions.

Rung 0: Axes Servo ON
Rung 1: Axes homing to zero position preset
Rung 2: Axis group enable
Rung 3: Absolute position assigned to input variables
Rung 4: Movement cycle (50mm>2sec> 50mm>2sec repeating)

Please refer to A-2 Appendix for t he equivalent Structured Text program example

Refer to the NJ/NX-series Startup Guide for CPU Units (Cat. No. W513) for details on how to create ladder
diagrams.

Precautions for Correct Use

The sample programming that is provided in this Guide includes only the programming
that is required to operate the Servomotors. When programming actual applications,
also program EtherCAT communications, device interlocks, I/O with other devices, and
other control procedures.

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Transfer to the CPU Unit

1.

Click the Connect Button on the Toolbar

2.

Click the T ransfer to Con troller But t on on t he Tool bar

3.

Click the Execute Button to transfer the project from t he com put er t o t he CPU unit

Click the Yes Button

The operating mode changes to PROGRAM mode, and the Sysmac Studio starts
transferring the project to the CPU Unit. During the transfer, a progress bar appears in the
Synchronize Pane.

After download completio n, Cl ic k The Yes Button to switch to RUN mode.

The transfer is completed, Cl ick the Ok Button

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3.7 Drives and motors parameters setup

This section explains the procedure to setup parameters of drives and motors.

The absolute encoder must be set up the first time it is used, and when the rotation data is
initialized to 0.

1.

Right-click the Servo Driv e and select Setup and Tuning from the menu.

The Setup and Tuning Portal appears.

2.

Click the Quick Parameter Setup and I/O Monitor Button.

The following dialog box appear s. Click the Yes Button.

The Motor and Encoder set ting Page appears.

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3.

Click the Launch Mot or and Encoder v iew Button.

The Encoder Properties Tab Page appears.

4.

Click the Clear system Button.

An Absolute Value Clear Error (error display number: 2701) will occur, and a dialog box

indicating "Restart the drive to complete the operation."

5.

Click the Yes Button.

The multiple rotation data of the absolute encoder is cleare d.
Return to the Wizard window.

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Check the motor rotation direction and modify settings if required

6. Adjust the motor rotation direction and transfer to the dr ive

7.

Validate the motor operation

Apply the test run configuration, activate the Servo ON and in it iate t he movement

Note: In case of Error 8 7.00 ESTP input, please chec k your wiring connection o r disable the
error stop input (IN1) as explained in A-1 Settings When Control Input Signals Are Not Wired

for

details on the settings that you must change in this case.

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8.

Click the Back to Portal Button

9.
Please repeat the same oper at ion for the node 2.

10. Following above procedur e, drives have been restarted to apply Input settings.
Please Reset

the EtherCAT Slave Communication Error in the CPU Unit with

Troublesho ot ing window.

Click on Reset All button

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3.8 Easy Tuning (Multiple Drives)

In this section we will explain how t o perform Easy tuning for multiple Drives simultaneously.
The Motion Controller will perf orm the motion profile.
Before running the program, be sure to place the XY system in the homing position req uired.

Confirm operat ing mode of the CPU Unit is in RUN mode and t hen use control
BOOL variab le s (s et / r eset) to control the motion control instructions.

Double-click Section0 under Programming − POUs − Programs − Program0 in the Multiview
Explorer.

The ladder program is displayed in the Edit Pane.
Change the BOOL variables in the following order :

ServoLock changes to TRUE, Power 1 and Power 2 are executed.

Home changes to TRUE, Home1 and Home2 are executed. Axes position is now at zero position.

(Preset position is used)

GroupeEnable changes to TRUE, Group1 is execut ed.

Start changes to TRUE.

Linear1 is executed and positioning is started for both axes. When the positioning for Linear1 is
completed, linear1 execution stops and Linear2 is executed. This operation is repeated with 2
seconds Dwell time between each movement.

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Perform the easy tuning (Multiple drives)

1.

Right-click Node1: R88D-1SN01L-ECT under Configurations and Setup -EtherCAT in
the Multiview Explorer, and select Setup and Tuning from the menu.

The Setup and Tuning Portal appears in Edit Pane

2.

Click the Easy Tuning Button under Tuning (Multiple Drives)

Select Drives to Tune and click the Ok Button

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3.

Tuning configuration

Select Simple mode and click Next

4.

Profile and criteria

The motion profile generator is the Motion Controller.
Adjust criteria to achieve tuning and click Next button

Precautions for Correct Use

The Load Characteristic Estimation function may not operate pr operly under the
following conditions. In such cases, set t he r elated objects manually.

Conditions that interfere with the Load Characteristic Estimation function

Load inertia

• If the load inertia is small, i.e. less than 3 times the rotor inertia or large, i.e. the
applicable load inertia or more

• If the load inertia changes easily

Load

• If the machine rigidity is extremely low

• If there is a non-linear element (play), such as a backlash

Operation

• If the speed continues at lower than 100 r/min

• If the acceleration/deceleration is 2,000 r/min/s or lower

• If the acceleration/deceleration torque is small compared with the unbalanced load

and the friction torque

• If the speed or torque oscillates due to the high gain or small effect of each filter.

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5.

Auto Tune Monitor

Click the Start Button

G

ain will be increased gradually until achieving the specified settling time. The positioning

window, specify the position deviation to determine that the positioning is completed. If it

detects a vibration above the vibration detection level during tuning, an adjustment failure
will occur.

Criteria achieved, click the Ok Button

Click the Next Button

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6.

Check Behavior

Click the Record Button

Monitor data will be traced and aut omatically scaled

Confirm the behavior and clic k the Next Button

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7.

Finish

Confirm new gain parameters and save to EEPROM

Click the Ok Button

The easy tuning wizard for mu ltiple drives is completed
Click the Finish Button

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ANNEX

A-1 Settings when control input signals are not wired

An error will occur in the CPU Un it if the Servo parameters for the Ser vo Drive are left at their default
values when the Servo Drive control input signals are not wired. This is because the C PU Unit stops
operation when a drive prohi bit or i m me di ate stop signal is detected. The minor fault level Controller
errors that occur are as follow s:

• Error Stop Input (Event code: 68220000)

• Drive Prohibition Input Err or ( Event code: 64E30000)

This section describes ho w to temporarily change the Servo par ameters to prevent these err or s from
occurring in the CPU Unit.

The procedure described her e assume that a project with a Servo Drive registered to the EtherC AT
network configuration has been transferred to the CPU Unit and that the CPU Un it is currently online.

Perform the following befor e you perform the procedures that ar e giv en in this section.

• Place the Sysmac Studio onl ine with the CPU Unit.

• Trans fer t o the CPU Unit the project that contains the EtherCAT network configuration in whi ch the
Servo Drives are registered.

1.

Right-click the Servo Driv e and select Setup and Tuning from the menu.

The Setup and Tuning Portal appears.

Precautions for Correct Use

If the control input signals are not w ired, it w il l not be possible to stop operation for lim it
inputs or immediate stop i nput s in the event that unexpected motor operation occurs.
Remove the coupling from the motor shaft or take other suit able measures to prevent a
hazardous condition from occurring.

45

2.

Click the Quick Parameter Setup and I/O Monitor Button.

The following dialog box appear s. Click the Yes Button.

The Motor and Encoder set t ing P age appears.

3.

Click the Next Button

The Input Signals setting Page appears.

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5.

Change the signal allocation of the below listed input signal, and then click the Transfer to
Drive Button.

• Error Stop Input

• Positive Drive Prohibit In put

• Negative Drive Prohibit I nput

The following dialog box appear s. Click the Yes Button

The drive restarts and you retur n t o the Input Signals setting Page.

6.

Click the Next Button
The Output Signals setting Page appears

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7.

Click the Next Button

8. Please Set Node2: R88D-1SN01L-ECT(E002) in the sam e way as Node1.

Please click to the Copy Settings Button

The Copy Settings window appears.

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9.

Check boxes and click the Execute button to start the procedure

Click the Yes Button to confirm the copy settings

Click the Yes Button to transfer settings to target driv e

The target drive is restarting

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Settings are now effec t iv e in the target drive, click the Ok Button

Click the Close Button

Click the Finish Button

This concludes the procedure to change Input settings of Node 1 and Node 2.

10. Following above procedure, drives have been restarted to apply Input settings.

Please Reset the EtherCAT

Slave Communication Error in the CPU Unit with

Troublesho ot ing window.

Click on Reset All button

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Confirm the below message and lick on Yes button

Errors are now resetted

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A-2 Program making with structured text

Below is an alternative program to move the XY st age with st r uctured text.

Power1(Axis:=MC_Axis000, Enable:=ServoLock);
Power2(Axis:=MC_Axis001, Enable:=ServoLock);

Home1(Axis:=MC_Axis000, Execute:=Home);
Home2(Axis:=MC_Axis001, Execute:=Home);

Group1(AxesGroup:=MC_Group000, Execute:=GroupEnable) ;

Distance1[0]:=0;
Distance1[1]:=0;
Distance2[0]:=50;
Distance2[1]:=50;
Dwell_Time1:=TIME#2s;
Dwell_Time2:=TIME#2s;

Dwell1(In:=Start AND NOT Complete, PT:=Dwell_Time1, Q=>Go_Linear1);
Dwell2(In:=Start AND NOT Complete AND MoveLinear1.Done, PT:=Dwell_Time2,
Q=>Go_Linear2);

MoveLinear1(Axes Gr oup:= M C _Gr oup 00 0, E x ec ute:= G o_ Li near1, Position:=Dista nce1,
Velocity:=250, Accel eration:=8000, Deceleration:=8000);
MoveLinear2(Axes Gr oup:= M C _Gr oup 00 0, E x ec ute:= G o_ Li near2, Position:=Dista nce2,
Velocity:=250, Acceleration:=8000, Deceleration:=8000, Done=>Complete);

2017

0317 (0317)

I827-E1-01