I823-E1-01
Servo System 1S-series
Startup Guide
R88M-1L[]/-1M[] (AC Servomotors)
R88D-1SN[]-ECT (AC Servo Drives)
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retriev al system,
or transmitted, in any for m , or by any means, mechanica l, phot ocopying, recording, or
otherwise, without the prio r w r it t en per m iss ion of OMRON.
No patent liability is assume d with respect to the use of the i nf ormation contained herein.
Moreover, because OMRON is constantly striving to improv e it s high-quality pr oduct s, the
information contained in t his manual is subject to change w ithout notice. Every pr ecaut ion has
been taken in the preparation o f this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for da mages resulting
from the use of the informat ion contained in this publication.
2
Introduction
The Servo System 1S-Series Star t up Guide (hereinafter, may be referred to as "this Guide")
describes the procedures for installation and setup of a 1S Servo Drive, where an
NJ/NX-series CPU Unit is used in combination with1S-series AC Servomotors/Serv o Driv es and
NX-series Safety Unit, by using the Sysmac Stud io. A simple installation model is used for t he
discussion. You can perform the proced ur es t hat ar e presented in this Guide to quickly gain a
basic understanding of a 1S-series AC Servomotors/ Ser vo Drives.
This Guide does not contain sa fety infor mation and ot her detai ls that are requ ir ed for actu al us e.
Thoroughly read and u nderstand t he manua ls for all of the device s that are u sed in th is Guide t o
ensure that the system is used safely. Review the entire contents of these mater ial s, including
all safety precautions, precautions for safe use, and precautions for correct us e.
Intended Audience
This Guide is intended for t he following personnel.
• Personnel in charge of introducing FA systems
• Personnel in charge of de signing FA systems
The personnel must also hav e t he following knowledge.
• Knowledge of electrical sy s t em s ( an el ectrical engineer or the equivalent)
• Knowledge of NJ/NX-series CP U Units
• Knowledge of NX-series Safety Units
• Knowledge of Servomotors/Drives
• Knowledge of operation pr ocedure of Sysmac Studio
Applicable Products
This Guide covers the foll ow ing products.
• CPU Units of NJ/NX-series Machine Automation Controllers
• Automation Software Sy smac Studio
• 1S-series Servomotors/Se rv o Drives
• NX-series EtherCAT Coupler unit
• NX-series Safety controlle r
Special Information
The icons that are used in this G uid e ar e described below.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper o per at i on and
performance.
Additional Inf or mation
Additional information to read as required.
This information is provid ed to increase understandi ng or m ake operation easi er.
3
Terms and Conditions Agreement
Warranties
(a) Exclusive Warranty . Omro n’s exclusive warranty is that the Products will be free fro m
defects in materials and w or km anship for a period of twelve months from the date of sale by
Omron (or such other period expressed in writing by Omron). Omron disc laims all other
warranties, express or implied.
(b) 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 SUI TA BLY MEE T THE R EQUIREMENTS
OF THEIR INTENDED USE.
Omron further disclaims a l l w ar r ant ies and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any int ellectual property r ight. ( c ) Buyer
Remedy.
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form
originally shipped with Buy er r esponsible for labor charges for removal or replacement ther eof)
the non-complying Product , (ii) repair the non-complying Product, or (iii) repay or cr edit Buyer
an amount equal to the pur chase price of the non-complying Product; provided that in no event
shall Omron be respons ibl e for w ar r ant y, repair, indemnity or any other claims or expenses
regarding the Products unless Omron’s analysis con fir ms that the Products were properly
handled, stored, installed and maintained and not subject to contamination, abuse, misuse or
inappropriate modification. Return of any Product s by Buyer must be approved in writing by
Omron before shipment. O mron Companies shall not be li abl e for t he suitability or unsuitability
or the results from the use of Products in combinatio n with any electrical or electr onic
components, circuits, system asse mblies or any other materials or substances or environments .
Any advice, recommend at ions or information g iv en or ally or in writing, are not to be c onst r ued
as an amendment or addition to t he above warranty.
See http://www.omron.com/global/
information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LI ABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOS S OF PROFITS OR PRODUCTION OR COMMERCI A L
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 liabil ity of Omron Companies exceed the individual p r ice of the
Product on which liability is asserted.
Suitability of Use
Omron Companies shall n ot be r esponsible for conformity with any standards, codes or
regulations which apply t o the combination of the Product in the Buyer’s applicat ion or use of
the Product. At Buyer’s request, Omron will provid e applicable third party cer tification
4
or contact your Omro n r epr esentative for published
documents identifying rati ngs and limitations of use which apply to the Product . This infor matio n
by itself is not sufficient for a complete determinati on of the suitability of the Product in
combination with the end pr oduct, machine, system, or ot her application or use. Buyer shal l be
solely responsible for dete r m ini ng appropriateness of the particular Product with respect t o
Buyer’s application, pr oduct or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION IN VOLVING SERIOUS RISK TO LIFE
OR PROPERTY WIT HO U T ENSU RI NG TH A T THE SY ST EM AS A WHOLE H AS BE E N
DESIGNED TO ADDRESS THE RISKS , AND THA T THE OMRON PRODUCT(S ) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL
EQUIPMENT OR SY ST E M.
Programmable Products
Omron Companies shall n ot be r esponsible for the user’s programming of a programmable
Product, or any consequence thereof.
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in deter m in ing suitability and does not constitute a warranty. It may represent
the result of Omron’s test c onditions, and the user mu st cor r el ate it to actual application
requirements. Actual performance is subject to t he O mron’s Warranty and Li m it at io ns of
Liability
Change in Specificati on s
Product specifications and accessories may be c hanged at any time based on improvements
and other reasons. It is o ur practice to change part numbers when publ ished 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 specific at i ons for your application. Plea se
consult with your Omron’s representative at any time to confirm actual specif i cat ions of
purchased Product.
Errors and Omissions
Information presented by Omron Compan ies has been checked and i s believed to be accurate;
however, no responsibi lity is assumed for cler ical, typographical or proo freading errors or
omissions.
5
Precautions
• When building a syste m, check the specifications for all devices and equipment that will make
up the system and make sur e t hat the OMRON products are use d w ell within their rated
specifications and performances. Safety measures, such as safety circuits, must be
implemented in order to m inim ize the risks in the event of a malfunction.
• Thoroughly read and understand the manuals for all devices and equipment t hat will make up
the system to ensure that the system is used safely. Review the entire contents of these
manuals, including all saf ety precautions, prec aution s for safe use, and precau tions for corr ect
use.
• Confirm all regulations, standards, and restrictions that the system must adhere to.
• Check the user progra m f or pr oper execution before you use it for act ual operation.
Trademarks
• Sysmac and SYSMAC are trademarks or regist er ed trademarks of OMRON Corporation in
Japan and other countries for O M RON factory automation products.
• Windows is either registered trademarks or tr ademarks of Microsoft Corpor ation in the USA
and other countries.
• EtherCAT
GmbH, Germany.
• Microsoft product screen shot(s) reprinted with perm ission from Microsoft Co r por at ion.
• Other company names and product names in this Guide are the trademarks or r egister ed
trademarks of their respe ctive companies.
Software Licenses and Copyrights
®
is registered tr ade mark and pat ented t echno logy, licensed by Beckhoff Automation
The NJ-series CPU Units and Sysmac Studio incorporate certain third party s oftw ar e. The
license and copyright infor mation associated w it h t hi s softw ar e is available at
http://www.fa.omron.co.jp/nj_info_e/.
6
Related Manuals
The following manuals are related. Use t hese manuals for reference.
Manual name Cat. No. Model Application Description
Sysmac Studio Version 1
Operation Manual
Sysmac Studio Drive
Functions Operation
Manual
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
NJ/NX-series Instructions
Reference Manual
W504 SYSMAC-SE2□□□ Learning about the operating
procedures and functions of
the Sysmac Studio.
I589-E1 SYSMAC-SE2□□□ Learning about the operating
procedures and functions of
the Sysmac Studio for Drives
W500 NJ501-□□□□
NJ301-□□□□
W501 NJ501-□□□□
NJ301-□□□□
W507 NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
W502 NJ501-□□□□
NJ301-□□□□
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 detailed
specifications on the basic
instructions of an
NJ/NX-series CPU Unit.
Describes the operating procedures of
the Sysmac Studio.
Describes the operating procedures of
the Sysmac Studio to setup Drives
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).
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).
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).
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).
7
Manual name
Cat. No.
Model
Application
Description
NJ/NX-series Motion
Control Instructions
Reference Manual
NJ/NX-series
Troubleshooting Manual
W508 NJ501-□□□□
NJ301-□□□□
W503 NJ501-□□□□
NJ301-□□□□
Learning about the
specifications of the motion
control instructions that are
provided by OMRON.
Learning about the errors
that may be detected in an
NJ/NX-series Controller.
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).
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).
NX-series Safety Control
Units User’s Manual
1S-series AC
Servomotors/Servo Drives
with Built-in EtherCAT
Communications User's
Manual
Z930 NX-SL□□□□
I586
NX-SI□□□□
NX-SO□□□□
R88D-1S□-ECT
R88M-1□
Learning how to use the
NX-series Safety Control
Units.
Learning detailed
specifications of a
1S-series Servo Drive.
Describe the hardware, setup methods
and functions of the NX-series Safety
Control Units.
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.
8
Revision History
Cat. No.
A manual revision code appears a s a suffix to the catalog number on the front and back covers
of the manual.
Revision code Date Revised content
01 July 2016 Original production
I823-E1-01
Revision code
9
CONTENTS
Introduction ······························································································ 3
Intended Audience ..................................................................................................... 3
Applicable Products ................................................................................................... 3
Special Information .................................................................................................... 3
T erms 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
1.3. System c onfiguration ....................................................................................... 13
2. Before You Begin ·············································································· 15
3. Performing setup ·············································································· 16
3.1. Installat ion & Wiring ........................................................................................ 16
3.2. System c onfiguration with NJ and NX safety controller .................................. 24
3.3 Sysmac Studio project creation ...................................................................... 25
3.4 Motor, ABS Encoder and I/O Setup ................................................................ 29
3.5. Easy tuning for gain adjustment...................................................................... 33
3.6. FSoE STO activation ....................................................................................... 37
ANNEX ··································································································· 42
Add a drive and axis OFFLINE ................................................................................ 42
Test run and data trace ............................................................................................ 46
Manual tuning .......................................................................................................... 48
Advanced tuning ...................................................................................................... 52
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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 or
CJ1W-NC
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.
The FSoE protocol, the technology for a safe communication layer supported by the 1S-series Servo
Drives, allows you to build the safety system that uses the STO function from the safety controller on the
EtherCAT network.
□8□ EtherCAT-compatible Position Control Unit, you can construct a high-speed and
Additional Inf or mation
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)
11
1.2. Servo System constructed in this guide
This 1S-series Sysmac AC Servo Drives Startup Guide (hereafter referred to as “this Guide”) contains
instructions from assembling the hardware that makes up the Servo system to performing debugging on
the system. This Guide builds the Servo system in the following steps
1 Installation and wiring
▼
2 System Configuration with NJ and NX sa fety controller
▼
3 Sysmac Studio project creation and sizi ng f il e i mp or t
▼
4 Motor, ABS encoder, I/O Setup
▼
5 Easy tuning for gain adjustment
▼
6 FSoE STO Activation
Additional Inf or mation
For additional information on how to setup the motion, please refer to the start-up guide for moti on
control (W514-E1-01).
12
1.3. System configuration
in EtherCAT
The following figure shows the system configuration and devices that are used in this Guide.
The system configuration is shown in the following figure.
• 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-[] NJ-series CPU Unit Hardware
NJ-series Power Supply NJ-P[]3001
NX-series EtherCAT Coupler NX-ECC[] NX-series EtherCAT Coupler Unit
NX-series Safety control unit NX-SL3300 NX safety CPU unit Hardware
NX I/0 Series NX-SID[]
NX-SOD[]
Ethernet/EtherCAT
communications cables
AC Servo Drives R88D-1SN[] 1S-series AC Servomotors and
AC Servo Motors R88M-1[]
Power cables R88A-CA[]
Encoder Cables R88A-CR[]
XS5W-T[] -
User’s Manual (Cat. No. W500)
User’s Manual (Cat. No. W519)
User’s Manual (Cat. No. Z930)
Servo Drives User’s Man ua l ( with
BuiltCommunications) (Cat. No. I586)
13
• Automation soft ware
Sysmac Studio Standard
Product Number of license Model
None (DVD only) SYSMAC-SE200D
Edition Ver s ion 1.16
From 1 license to site license SYSMAC-SE[]
14
2. Before You Begin
1.
2.
■ Unpack Drive/Motor
Unpack motor package. The package includes only motor and instructio n sheet.
Cables are provided separately.
Unpack drive package.
This product com es with the following access ories.
• INSTRUC TION MANUAL × 1 copy
• Warning la bel × 1 sheet
• General Compliance Information and instru ct i ons for EU × 1 copy
• Attached connectors
■ Install the Sysmac Studio Standard Edition
Refer to the Sysmac Studio Version 1 O per at ion Manual (Cat. No. W504) for how to instal l.
Additional Inf or mation
For further details on how to handle drive and motor package, please refer to 1S-series AC
Servomotors and Servo Driv es User’s Manual (with Built-in EtherCAT C ommun ic atio ns) (Cat. No. I586)
15
3. Performing setup
℃
3.1. Installation & Wiring
■ Drive installation
Install the Servo Drive according to the following.
When installing side-by-side, S2 can be reduced to 0mm under so me co nditions:
temperature inside cabin et should be low er than 45
prevent uneven temperatu r es inside the cabinet/panel.
1.
In case of using the shiel d cl am p, please fixe it in advance with the existing screw
and i nstall a fan for air c irculation t o
16
2.
Approach the drive from top to down.
3.
Tight the upper part.
4.
Tight the down part.
17
■ Motor installation
1.
Please handle the motor carefully & do not apply heavy impacts or loads during
transport, installation, or removal of the motor.
(step 2, 3 order depends on your mechanical implementation)
2. Please fixe and connect the motor to the mechanical system
Note: At first, please check motor operation without any load.
3.
Please attached the power and encoder cable
Here is an example with 200W motor
■ Wiring
1. Overview
Please tight screws in sev er al times in this order :1>4>3> 2
Additional Inf or mation
For further details about coupling method, please refer to 1S-series AC Servomotors and Servo Drives
User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)
18
For further details please refer to section 4-2 wiring of 1S AC servo drive user’s manual
(Cat. No. I586)
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