Omron R88D-KN User Manual

Download

AC SERVO DRIVES

G5-series WITH BUILT-IN EtherCAT COMMUNICATIONS Linear Motor Type

User's Manual

I577-E1-01

R88D-KN-ECT-L (AC Servo Drives)

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.

OMRON, 2011

Introduction

Thank you for purchasing a G5-series Servo Drive. This manual explains 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 should problems occur.

Intended Readers

This manual is intended for the following individuals.

Those having electrical knowledge (certified electricians or individuals having equivalent knowledge) and also being qualified for one of the following:

• Introducing FA equipment

• Designing FA systems

• Managing FA sites

Introduction

Notice

This manual contains information you need to know to correctly use the Servo Drive and peripheral equipment. Before using the Servo Drive, read this manual and gain a full understanding of the information provided herein.

After you finished reading this manual, keep it in a convenient place so that it can be referenced at any time.

Make sure this manual is delivered to the end user.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Structure of This Document

This manual consists of the following sections.

Outline

Section 1 Features and

System Configuration

Section 2 Models and

External Dimensions

Section 3 Specifications This section provides the general specifications, characteristics,

Section 4 System Design This section explains the installation conditions for the Servo Drive,

Section 5 EtherCAT

Communications

Section 6 Basic Control

Functions

Section 7 Applied

Functions

Section 8 Safety Function This function stops the Linear motor based on a signal from a safety

Section 9 Servo Parameter

Objects

Section 10 Operation This section gives the operating procedures and explains how to

Section 11 Adjustment

Functions

Section 12 Troubleshooting

and Maintenance

Appendicies The appendix provides explanation for the profile that is used to

This section explains the features of the Servo Drive, and name of each part.

This section explains the models of Servo Drives and peripheral equipment, and provides the external dimensions and mounting dimensions.

connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the peripheral devices.

wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods as well as the performance of External Regeneration Resistors.

This section describes EtherCAT communications under the assumption that the G5-series Servo Drive is connected to a Machine Automation Controller NJ-series (Model: NJ501-100) or Position Control Unit (CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/ F82).

This section explains an outline of basic control functions and explains the contents of setting.

This section outlines the applied functions such as the electronic gear and gain switching, and explains the settings.

controller or safety sensor. An outline of the function is given together with operation and connection examples.

This section explains the set values and contents of each object.

operate in each mode.

This section explains the functions, setting methods, and items to note regarding various gain adjustments.

This section explains the items to check when problems occur, error diagnosis using the error display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.

control the Servo Drive, lists of objects, Sysmac Error Status codes, and other information.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Manual Structure

11 Adjustment Functions

11-26

11-8 Disturbance Observer Function

You can use the disturbance force value estimated with the disturbance observer to lower the effect of the disturbance force and reduce vibration.

The disturbance observer function can be used in the following situations.

Precautions for Correct U sePrecautions for Correct U se

The disturbance observer function may not work properly under the conditions described in the following table.

11-8-1 Operating Conditions

Conditions

Operating mode Position control Mode, speed control

Others • When Servo is ON.

• When elements other than control parameters, such as the force limit, are set correctly and there is no trouble with the motor's normal (The setting of 3002 hex is “0”.).

• When realtime autotuning function is disabled operation.

• When instantaneous speed observer function is disabled (The setting of 3610 hex bit 0 is

“0”.).

• Disturbance observer operatio

n is disabled when magnetic pole detection is in progress.

Conditions under which the adaptive filter does not operate properly

Load condition • If there is a resonance point below the cut-off frequency estimated by the distur-

bance observer

• If a large amount of high-frequency elements is found in th e disturbance force

• If the the external encoder resolution is low

Motor+load

−

Load model

+ −

Filter

Gain

Disturbance observer

Add to the direction that negates the disturbance

Setting with 3623 hex

Set with 3624 hex

Disturbance force Estimation value

Disturbance force

Force command

Internal force command

Motor Speed

G5 Series AC ServoDrives With Built-in EtherCAT Communications, Linear Motor Type

11-27

11 Adjustment Functions

revresbO ecnabrutsiD 8-11

noitcnuF

sgnitteS gniriuqeR stcejbO

2-8-11

Set the Function Expansion Setting (3610 hex).

Set whether to enable or disable the disturbance observer in bit 1.

0: Disabled

1: Enabled

Set the operating conditions for enabling the function in bit 2.

0: Enabled at all time

1: Enabled only when gain 1 is selected

Set the Disturbance Observer Filter Setting (3624 hex).

Set a small value for the Disturbance Force Compensation Gain (3623 hex). Change the value

in the Disturbance Observer Filter Setting (3624 hex) from a large value gradually to a smaller one. The smaller the value set in the Disturbance Observer Filter Setting (3624 hex), the less the lag you will have during disturbance force estim

ation. This has advantages in effectively controlling the influence of disturbance, but results in a large operation noise. Consider the balance between the advantage and disadvantage when setting this value.

Set the Disturbance Torque Compensation Gain (3623 hex).

After you set the Disturbance Observer Filter Setting (3624 hex), increase the value of the Disturbance Force Compensation Gain (3623 hex) from a small value to a large value. The larger the value set on the Disturbance Torque Compensation Gain (3623 hex) is, the more effective control over the disturbance influence can be obtained. But the larger the value is, the larger the

operation noise will be. Set this object in combination with the Disturbance Observer

Filter Setting (3624 hex) to achieve balanced settings.

11-8-2 Objects Requiring Settings

Index Name Description Reference

3610 hex Function Expansion SettingsSet the bits related to the disturbance observer. page 9-44

3623 hex Disturbance Force Compensation

Gain

Set the compensation gain for disturbance force. page 9-46

3624 hex Disturbance Observer Filter Setting Set the filter time constant for disturbance force

compensation.

page 9-46

11-8-3 Operating Procedure

G5 Series AC ServoDrives With Built-in EtherCAT Communications, Linear Motor Type

Level 2 heading

Level 3 heading

Level 1 heading

Manual Name

Level 2 heading

Section Number of Level 1 heading

Level 3 heading

Shows which section the content of the current page belongs to.

Shows which sub-section the content of the current page belongs to.

Shows which paragraph the content of the current page belongs to.

Note, Supplementary Information, Reference Target

A note, supplementary information, reference target, etc. are provided with difference icons.

Operation Steps

Describes the operation steps.

Page Structure and Symbol Icons

The following page structure and symbol icons are used in this manual.

Manual Structure

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Note The above page is only a sample for illustrative purposes. It is not the actual content of the manual.

Manual Structure

Precautions for Safe Use

Precautions for Correct UsePrecautions for Correct Use

Additional Information

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.

Terms and Expressions Used for the Linear Motor

In this manual, the term "Linear Motor" is defined as an OMRON product that consists of a Motor Coil Unit (the coil on the primary side) and a Magnet Trac (the magnet on the secondary side).

In addition to these components, constructing a Linear Motor system also requires the following parts, which are built into a component called the "Linear Slider."

• Motor Coil Unit (the coil on the primary side)

• Magnet Trac (the magnet on the secondary side)

·m

Linear

Force [N]

]

Mass [kg]

• External encoder

• Linear guide

• Chassis

*1 Not available from OMRON.

Because a Linear Motor provides a linear movement, terms or expressions different from rotary motors are used.

Example

Rotary

Torque [

Rotation speed [r/min] Speed [mm/s]

Inertia [kg

N·m]

However, for object names with respect to the CiA 402 Drive Profile and the terms used for the Safe Torque OFF (STO) function, the manual uses the word "torque" for conformance with the relevant standards.

Read "torque" as "force" when using these object names.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Features and System Configuration

Operation

Models and External Dimensions

Adjustment Functions

Specifications

Troubleshooting and Maintenance

System Design Appendicies

Index

EtherCAT Communications

Basic Control Functions

Applied Functions

Safety Function

Details on Servo Parameter Objects

Sections in this Manual

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

CONTENTS

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

Structure of This Document .....................................................................................2

Manual Structure .......................................................................................................3

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

CONTENTS ................................................................................................................6

Read and Understand this Manual ........................................................................12

Safety Precautions..................................................................................................15

Regulations and Standards.................................................................................... 22

Items to Check after Unpacking.............................................................................24

Revision History...................................................................................................... 25

Section 1 Features and System Configuration

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

1-1-1 Features of G5-series Servo Drives............................................................................................ 1-2

1-1-2 What is EtherCAT?......................................................................................................................1-3

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

1-2 System Configuration ............................................................................................................. 1-4

1-3 Names and Functions ............................................................................................................. 1-5

1-3-1 Servo Drive Part Names .............................................................................................................1-5

1-3-2 Servo Drive Functions................................................................................................................. 1-6

1-4 System Block Diagram............................................................................................................ 1-7

Section 2 Models and External Dimensions

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

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

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

2-3 Model Tables ............................................................................................................................ 2-5

2-3-1 Servo Drive Model Table .............................................................................................................2-5

2-3-2 Cable and Peripheral Device Model Tables.................................................................................2-6

2-4 External and Mounting Dimensions....................................................................................... 2-8

2-4-1 Servo Drive Dimensions..............................................................................................................2-8

2-4-2 External Regeneration Resistor Dimensions ............................................................................2-24

2-4-3 Reactor Dimensions..................................................................................................................2-25

2-4-4 Mounting Bracket Dimensions...................................................................................................2-29

Section 3 Specifications

3-1 Servo Drive Specifications ..................................................................................................... 3-2

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

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

CONTENTS

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

3-1-3 EtherCAT Communications Specifications ................................................................................. 3-5

3-1-4 EtherCAT Communications Connector Specifications (RJ45).................................................... 3-5

3-1-5 Control I/O Specifications (CN1)................................................................................................. 3-6

3-1-6 Control Input Circuits .................................................................................................................. 3-9

3-1-7 Control Input Details ................................................................................................................... 3-9

3-1-8 Control Output Circuits ............................................................................................................. 3-11

3-1-9 Control Output Details .............................................................................................................. 3-12

3-1-10 External Encoder Specifications............................................................................................... 3-16

3-1-11 External Encoder Connector Specifications (CN4)................................................................... 3-17

3-1-12 Analog Monitor Connector Specifications (CN5) ...................................................................... 3-21

3-1-13 USB Connector Specifications (CN7)....................................................................................... 3-22

3-1-14 Safety Connector Specifications (CN8) .................................................................................... 3-23

3-2 Overload Characteristics (Electronic Thermal Function) .................................................. 3-25

3-3 Cable and Connector Specifications ................................................................................... 3-27

3-3-1 Bend Radius of Robot Cable .................................................................................................... 3-27

3-3-2 Connector Specifications.......................................................................................................... 3-28

3-3-3 EtherCAT Communications Cable Specifications ..................................................................... 3-29

3-3-4 Analog Monitor Cable Specifications........................................................................................3-32

3-3-5 Control Cable Specifications..................................................................................................... 3-33

3-4 External Regeneration Resistor Specifications.................................................................. 3-38

3-5 Reactor Specifications.......................................................................................................... 3-39

Section 4 System Design

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

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

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

4-2-2 Main Circuit and Linear Motor Connections.............................................................................. 4-14

4-2-3 Terminal Block Wire Sizes ........................................................................................................ 4-24

4-2-4 Terminal Block Wiring Procedure ............................................................................................. 4-29

4-3 Wiring Conforming to EMC Directives................................................................................. 4-31

4-3-1 Wiring Method .......................................................................................................................... 4-31

4-3-2 Selecting Connection Component ............................................................................................ 4-39

4-4 Regenerative Energy Absorption......................................................................................... 4-51

4-4-1 Calculating the Regenerative Energy ....................................................................................... 4-51

4-4-2 Servo Drive Regeneration Absorption Capacity ....................................................................... 4-53

4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor .............................. 4-54

4-4-4 Connecting an External Regeneration Resistor ....................................................................... 4-55

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 ................................................. 5-4

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

5-4 Process Data Objects (PDOs)................................................................................................. 5-6

5-4-1 PDO Mapping Settings ............................................................................................................... 5-6

5-4-2 Sync Manager PDO Assignment Settings.................................................................................. 5-7

5-4-3 Fixed PDO Mapping ................................................................................................................... 5-7

5-4-4 Variable PDO Mapping ............................................................................................................... 5-9

5-4-5 Multiple PDO Mapping.............................................................................................................. 5-10

5-5 Service Data Objects (SDOs)................................................................................................ 5-12

5-6 Synchronization with Distributed Clocks............................................................................ 5-13

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

CONTENTS

5-7 Emergency Messages ...........................................................................................................5-14

5-8 Sysmac Device Features....................................................................................................... 5-15

Section 6 Basic Control Functions

6-1 Cyclic Synchronous Position Mode....................................................................................... 6-2

6-1-1 Related Objects...........................................................................................................................6-3

6-1-2 Block Diagram for Position Control Mode....................................................................................6-4

6-2 Cyclic Synchronous Velocity Mode ....................................................................................... 6-5

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

6-2-2 Objects Requiring Settings .........................................................................................................6-6

6-2-3 Related Functions .......................................................................................................................6-6

6-2-4 Block Diagram for Speed Control Mode...................................................................................... 6-7

6-3 Cyclic Synchronous Torque Mode......................................................................................... 6-8

6-3-1 Related Objects...........................................................................................................................6-9

6-3-2 Objects Requiring Settings .........................................................................................................6-9

6-3-3 Related Functions .......................................................................................................................6-9

6-3-4 Block Diagram for Force Control Mode.....................................................................................6-10

6-4 Profile Position Mode ............................................................................................................ 6-11

6-4-1 Related Objects.........................................................................................................................6-12

6-4-2 Description of Function ............................................................................................................. 6-13

6-4-3 Controlword (6040 hex) in Profile Position Mode ......................................................................6-14

6-4-4 Statusword (6041 hex) in Profile Position Mode........................................................................ 6-14

6-5 Homing Mode......................................................................................................................... 6-15

6-6 Connecting with OMRON Controllers.................................................................................. 6-16

Section 7 Applied Functions

7-1 Sequence I/O Signals .............................................................................................................. 7-2

7-1-1 Input Signals ...............................................................................................................................7-2

7-1-2 Output Signals.............................................................................................................................7-5

7-2 Positive and Negative Drive Prohibition Functions.............................................................. 7-8

7-3 Overrun Protection ................................................................................................................ 7-11

7-3-1 Operating Conditions ................................................................................................................ 7-11

7-3-2 Objects Requiring Settings .......................................................................................................7-11

7-3-3 Operation Example ...................................................................................................................7-12

7-4 Backlash Compensation ....................................................................................................... 7-13

7-5 Brake Interlock....................................................................................................................... 7-15

7-5-1 Objects Requiring Settings .......................................................................................................7-15

7-5-2 Operation Timing.......................................................................................................................7-16

7-6 Electronic Gear Function ...................................................................................................... 7-20

7-6-1 Objects Requiring Settings .......................................................................................................7-20

7-6-2 Operation Example ...................................................................................................................7-21

7-7 Force Limit Switching ........................................................................................................... 7-22

7-7-1 Operating Conditions ................................................................................................................ 7-22

7-7-2 Objects Requiring Settings .......................................................................................................7-23

7-8 Soft Start ................................................................................................................................ 7-25

7-8-1 Objects Requiring Settings .......................................................................................................7-25

7-8-2 Soft Start Acceleration or Deceleration Time............................................................................7-25

7-8-3 S-curve Acceleration or Deceleration Time...............................................................................7-26

7-9 Gain Switching Function....................................................................................................... 7-27

7-9-1 Objects Requiring Settings .......................................................................................................7-27

7-9-2 Gain Switching Based on the Control Mode .............................................................................7-29

7-9-3 Diagrams of Gain Switching Setting..........................................................................................7-32

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

CONTENTS

7-9-4 Position Gain Switching Time (3119 Hex) ................................................................................ 7-36

7-10 Gain Switching 3 Function ...................................................................................................7-37

7-10-1 Operating Conditions................................................................................................................ 7-37

7-10-2 Objects Requiring Settings ....................................................................................................... 7-37

7-10-3 Operation Example................................................................................................................... 7-37

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

7-11-1 Objects Requiring Settings ....................................................................................................... 7-39

7-11-2 Trigger Signal Settings .............................................................................................................. 7-39

7-11-3 Operation Sequences............................................................................................................... 7-40

Section 8 Safety Function

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

8-1-1 Safety Input Signals.................................................................................................................... 8-3

8-1-2 External Device Monitor (EDM) Output Signal ........................................................................... 8-4

8-1-3 Relationship between Safety Input Signals and EDM Output Signal.......................................... 8-4

8-2 Operation Example.................................................................................................................. 8-5

8-3 Connection Examples ............................................................................................................. 8-7

Section 9 Servo Parameter Objects

9-1 Basic Settings.......................................................................................................................... 9-2

9-2 Gain Settings ........................................................................................................................... 9-7

9-3 Vibration Suppression Settings ........................................................................................... 9-17

9-4 Analog Control Objects......................................................................................................... 9-23

9-5 Interface Monitor Settings .................................................................................................... 9-27

9-6 Extended Objects .................................................................................................................. 9-37

9-7 Special Objects...................................................................................................................... 9-43

9-8 Linear Motor Objects............................................................................................................. 9-56

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 Preparing the Linear Motor for Operation................................................................................. 10-7

10-3 Trial Operation ..................................................................................................................... 10-12

10-3-1 Preparations for Trial Operation .............................................................................................. 10-12

10-3-2 Test Operation via USB Communications from the CX-Drive ................................................. 10-13

Section 11 Adjustment Functions

11-1 Analog Monitor ...................................................................................................................... 11-2

11-2 Gain Adjustment .................................................................................................................... 11-5

11-2-1 Purpose of the Gain Adjustment............................................................................................... 11-5

11-2-2 Gain Adjustment Methods ........................................................................................................ 11-5

11-2-3 Gain Adjustment Procedure...................................................................................................... 11-6

11-3 Realtime Autotuning.............................................................................................................. 11-7

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

CONTENTS

11-3-1 Operationg Conditions ..............................................................................................................11-7

11-3-2 Objects Requiring Settings .......................................................................................................11-8

11-3-3 Setting Realtime Autotuning......................................................................................................11-9

11-3-4 Setting Machine Rigidity............................................................................................................ 11-9

11-3-5 Objects to be Changed ........................................................................................................... 11-12

11-4 Manual Tuning...................................................................................................................... 11-14

11-4-1 Preparation for Manual Tuning ................................................................................................11-14

11-5 Damping Control.................................................................................................................. 11-16

11-5-1 Operating Conditions .............................................................................................................. 11-16

11-5-2 Objects Requiring Settings ..................................................................................................... 11-17

11-5-3 Operating Procedure...............................................................................................................11-18

11-6 Adaptive Filter...................................................................................................................... 11-20

11-6-1 Operating Conditions .............................................................................................................. 11-21

11-6-2 Objects Requiring Settings ..................................................................................................... 11-21

11-6-3 Objects to be Set Automatically .............................................................................................. 11-22

11-6-4 Operating Procedure...............................................................................................................11-22

11-7 Notch Filters......................................................................................................................... 11-23

11-7-1 Objects Requiring Settings ..................................................................................................... 11-24

11-7-2 Notch Filter Width and Depth..................................................................................................11-24

11-8 Disturbance Observer Function ......................................................................................... 11-26

11-8-1 Operating Conditions ..............................................................................................................11-26

11-8-2 Objects Requiring Settings ..................................................................................................... 11-27

11-8-3 Operating Procedure...............................................................................................................11-27

11-9 Friction Force Compensation Function............................................................................. 11-28

11-9-1 Operating Conditions ..............................................................................................................11-28

11-9-2 Objects Requiring Settings ..................................................................................................... 11-28

11-9-3 Operation Example ................................................................................................................. 11-29

11-10 Feed-forward Function....................................................................................................... 11-30

11-10-1 Objects Requiring Settings .....................................................................................................11-30

11-10-2 Operating Procedure...............................................................................................................11-31

11-11Instantaneous Speed Observer Function ......................................................................... 11-33

11-11-1 Operating Conditions ..............................................................................................................11-33

11-11-2 Objects Requiring Settings .....................................................................................................11-34

11-11-3 Operating Procedure...............................................................................................................11-34

Section 12 Troubleshooting and Maintenance

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

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 Servo Drive ........................................................................................................12-3

12-2 Warnings ................................................................................................................................ 12-4

12-2-1 Related Objects.........................................................................................................................12-4

12-2-2 Warning List ..............................................................................................................................12-5

12-3 Errors ...................................................................................................................................... 12-7

12-3-1 Error List ................................................................................................................................... 12-7

12-3-2 Immediate Stop Operation at Errors .........................................................................................12-9

12-4 Troubleshooting................................................................................................................... 12-11

12-4-1 Troubleshooting with Error Displays........................................................................................ 12-11

12-4-2 Troubleshooting Using the Operation State ............................................................................12-22

12-5 Periodic Maintenance.......................................................................................................... 12-28

Appendicies

A-1 CiA402 Drive Profile ................................................................................................................A-2

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

CONTENTS

Index

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

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

A-1-3 Communications Cycles and Corresponding Modes of Operation .............................................A-5

A-1-4 Modes of Operation and Applied Functions................................................................................A-6

A-1-5 Changing the Mode of Operation................................................................................................A-7

A-1-6 Homing Mode Specifications ....................................................................................................A-15

A-1-7 Object Dictionary ......................................................................................................................A-22

A-1-8 Communication Objects............................................................................................................A-24

A-1-9 PDO Mapping Objects..............................................................................................................A-30

A-1-10 Sync Manager Communication Objects ...................................................................................A-43

A-1-11 Manufacturer Specific Objects..................................................................................................A-48

A-1-12 Servo Drive Profile Object ........................................................................................................A-54

A-2 Object List ..............................................................................................................................A-75

A-3 Sysmac Error Status Codes .................................................................................................A-93

A-3-1 Error Table ................................................................................................................................A-93

A-3-2 Error Description..................................................................................................................... A-105

A-4 EtherCAT Terminology ........................................................................................................A-159

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Read and Understand this Manual

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS 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 OR REPAIR.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Read and Understand this Manual

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property. Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Read and Understand this Manual

Disclaimers

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 model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual 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 users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Safety Precautions

DANGER

Caution

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

To ensure that the G5-series 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 manual also gets to the end user of this product. After reading this manual, keep it in a convenient place so that it can be referenced at any time.

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of a G5 series Servo Drives and Servomotors. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.

Safety Precautions

Explanation of Symbols

This symbol indicates a prohibited item.

The specific instruction is indicated using an illustration inside and text. The symbol shown to the left indicates “disassembly prohibited.”

This symbol indicates a compulsory item.

The specific instruction is indicated using an illustration inside and text. The symbol shown to the left indicates “grounding required.”

This symbol indicates danger and caution.

The specific instruction is indicated using an illustration inside and text. The symbol shown to the left indicates “beware of electric shock.”

This symbol indicates danger and caution.

The specific instruction is indicated using an illustration inside and text. The symbol shown to the left indicates the “risk of hot surface.”

This symbol indicates danger and caution.

The specific instruction is indicated using an illustration inside and text. The symbol shown to the left indicates the “risk of fire.”

This symbol indicates danger and caution.

The specific instruction is indicated using an illustration inside and text. The symbol shown to the left indicates a “general precaution.”

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Safety Precautions

DANGER

Precautions for Safe Use of This Product

• Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the pur-

pose of showing the details. When using 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.

Be sure to ground the frame ground terminals of the Servo Drive and Servomotor to 100  or less for the Servo Drives with 100VAC or 200VAC. For the Servo Drive and Servomotor of 400VAC, ground the frame ground terminals to Electric shock may result.

Never touch the parts inside the Servo Drive. Electric shock may result.

While the power is supplied, do not remove the front cover, terminal covers, cables, and options. Electric shock may result.

Installation, operation, and maintenance or inspection by unauthorized personnel is prohibited. Electric shock or injury may result.

Before carrying out wiring or inspection, turn OFF the main circuit power and wait for at least 15 minutes. Electric shock may result.

Do not damage, pull, stress strongly, or pinch the cables or place heavy articles on them. Electric shock, stopping of Servo Drive operation, or burn damage may result.

Do not use the cable when it is laying in oil or water. Electric shock, injury, or fire may result.

Do not perform wiring or any operation with wet hands. Electric shock, injury, or fire may result.

Never connect a commercial power supply directly to the Servomotor. Fire or failure may result.

Never touch the Linear Motor during operation. Injury may result.

Never modify the Servo Drive. Injury or equipment damage may result.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Install a stopping device on the machine to ensure safety.

DANGER

* 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 cut off immediately. Injury may result.

When the power is restored after a momentary power interruption, the machine may restart suddenly. Never come close to the machine when restoring power. * Implement measures to ensure safety of people nearby even when the machine is restarted. Injury may result.

After an earthquake, be sure to conduct safety checks. Electric shock, injury, or fire may result.

Safety Precautions

Never drive the Servomotor using an external drive source. Fire may result.

Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Fire may result.

Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals. Fire may result.

When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the information in the operation manual, and apply them to the system design. Injury or damage may result.

The Linear Motor, if not controlled by some means, may not be able to keep a stopped state. Install an appropriate stopping device to ensure safety. Injury or damage may result.

Do not allow people who wear medial electronic equipment such as a cardiac pacemaker to approach the Linear Motor. The Magnet Trac and the energized Motor Coil Unit generate a strong magnetic field, which may cause medical electronic equipment to malfunction.

Do not handle objects made of magnetic materials near the Linear Motor. The objects may be attracted by the magnetic field of the Linear Motor and you may be caught between the motor parts, resulting in injury. Use nonmagnetic tools when performing installation or other work on the Linear Motor.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Safety Precautions

Caution

The Servo Drive radiator, Regeneration Resistor, Servomotor, etc., may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components. A burn injury may result.

Use the Servomotor and Servo Drive in a specified combination. Fire or equipment damage may result.

Do not store or install the Servo Drive in the following locations:

• Location subject to direct sunlight

• Location where the ambient temperature exceeds the specified level

• Location where the relative humidity exceeds the specified level

• Location subject to condensation due to rapid temperature changes

• Location subject to corrosive or flammable gases

• Location subject to high levels of dust, salt content, or iron dust

• Location subject to splashes of water, oil, chemicals, etc.

• Location where the Servo Drive may receive vibration or impact directly

Installing or storing the Servo Drive in any of these locations may result in fire, electric shock, or equipment damage.

Do not carry objects influenced by magnetic fields such as electronics and magnetic storage media (for example, a watch, personal computer, measuring instrument, magnetic card, or IC card) closer to the Linear Motor. Malfunction or failure may result.

Storage and Transportation

When transporting the Servo Drive, do not hold it by the cables. Injury or failure may result.

Do not overload the Servo Drive. (Follow the instructions on the product label.) Injury or failure may result.

When lifting a 15 kW or higher Servo Drive during moving or installation, always have two people lift the product by grasping a metal part. Do not grasp a plastic part. Risk of injury or product damage.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Installation and Wiring

Caution

Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive. Fire 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.

Use crimp terminals for wiring.

If simple twisted wires are connected directly to a terminal block, fire may result.

Provide safety measures, such as a breaker, to protect against short circuiting of external wiring. Fire may result.

Safety Precautions

Do not step on the Servo Drive or place heavy articles on it. Injury may result.

Be sure to observe the mounting direction. Failure may result.

Do not apply strong impact on the Servo Drive. Failure may result.

Wire the cables correctly and securely. Runaway Servomotor, injury, or failure may result.

Securely tighten the mounting screws, terminal block screws, and cable screws. Failure may result.

Only use the power supply voltage specified in this manual. Burn damage may result.

In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied. Equipment damage may result.

If the Servo Drive is used in the following locations, provide sufficient shielding measures.

• Location subject to noise e.g., due to static electricity

• Location subject to a strong electric or magnetic field

• Location where exposure to radioactivity may occur

• Location near power supply lines

Using the Servo Drive in any of these locations may result in equipment damage.

Connect an immediate stop relay in series with the brake control relay. Injury or failure may result.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Safety Precautions

Caution

Operation and Adjustment

If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply. Fire may result.

Conduct a test operation after confirming that the equipment is not affected. Equipment damage may result.

Before operating the Servo Drive in an actual environment, check if it operates correctly based on the parameters and switches you have set. Equipment damage may result.

Never adjust or set parameters to extreme values, because it will make the operation unstable. Injury may result.

Separate the Servomotor from the mechanical system and check its operation before installing the Servomotor to the machine. Injury may result.

If an error occurs, remove the cause of the error and ensure safety, and then reset the alarm and restart the operation. Injury may result.

Do not operate the Linear Motor connected to an excessive load mass. Failure may result.

Do not turn ON and OFF the main Servo Drive power supply frequently. Failure may result.

Maintenance and Inspection

Never repair the Servo Drive by disassembling it. Electric shock or injury may result.

After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting operation. Equipment damage may result.

Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time. Injury may result.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Safety Precautions

Warning label display location

(R88D-KN02H-ECT-L)

VOLTAGE

100~120V 1Ø 3Ø

0-120V

INPUT OUTPUT

PHASE

2.6A

50/60Hz

0~500.0Hz

1.7A

100W

A09080004

FREQ POWER

OMRON Corporation

MADE IN JAPAN

SERIAL No.

F L C

Location of Warning Label

The Servo Drive bears a warning label at the following location to provide handling warnings.

When handling the Servo Drive, be sure to observe the instructions provided on this label.

Instructions on Warning Label

Disposal

Dispose of the Servo Drive as industrial waste.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Regulations and Standards

To export (or provide to nonresident aliens) any part of this product that falls under the category of goods (or technologies) for which an export certificate or license is mandatory according to the Foreign Exchange and Foreign Trade Control Law of Japan, an export certificate or license (or service transaction approval) according to this law is required.

Therefore, for the G5-series Servo Drive which is an EC-compliant product, it is the user's responsibility to check and ensure the compliance of the equipment and the entire system with the applicable EC Directives.

Conformance to EC Directives

Directive

Low Voltage Directive

EMC Directive

Machinery Directive

Note To conform to EMC Directives, the Servo Drive must be installed under the conditions described in 4-3

Wiring Conforming to EMC Directives on page 4-31.

Product Applicable standards

AC Servo Drives EN 61800-5-1: 2007

AC Servo Drives EN 55011/A2: 2007 (CISPR11)

AC Servo Drives EN954-1: 1996 Cat.3

UL and cUL Standards

Standard Product Applicable standards File number

UL standards

CSA standards

AC Servo Drives UL 508C E164620

AC Servo Drives CSA 22.2 No. 14

IEC 61800-3: 2005

EN 61000-6-2: 2004

EN ISO13849-1: 2008 PL c, PL d

(MTTFd=85.9 years, Dcavg=87.5%)

EN61508: 2001(Part 1, 2, 4) SIL2

EN62061: 2005 SIL2

EN61800-5-2: 2007(STO)

IEC61326-3-1: 2008

SEMI F47

• Servo Drives conform to the SEMI F47 standard for momentary power interruptions (voltage sag

• This standard applies to semiconductor manufacturing equipment.

Note 1 It does not apply to Servo Drivers with single-phase 100-V specifications or with 24-VDC

immunity) for no-load or light-load operation.

specifications for the control power input.

2 Always perform evaluation testing for SEMI F47 compliance in the actual system.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan

and other countries for OMRON factory automation products.

• EtherCAT GmbH, Germany.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Regulations and Standards

is registered trademark and patented technology, licensed by Beckhoff Automation

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Items to Check after Unpacking

After unpacking, check the following items.

• Is this the model you ordered?

• Was there any damage sustained during shipment?

Accessories

Safety Precautions document x 1 copy

• 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

Singlephase 100 VAC

Singlephase/3phase 200 VAC

3-phase 200 VAC

3-phase 400 VAC

Connector for main

circuit power supply

terminals and control

circuit power supply

terminals

100 W Included Included

200 W

400 W

100 W

200 W

400 W

750 W

1 kW

1.5 kW

2 kW Included 3 kW 

5 kW

7.5 kW

15 kW 600 W Included 

1 kW

1.5 kW

2 kW Included 3 kW 

5 kW

7.5 kW

15 kW

Connector for External Regeneration Resistor

connection terminals and

Motor connection

terminals

Safety

bypass

connector

Mounting

Brackets



G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Revision History

I577-E1-01

Revision code

Cat. No.

The manual revision code is a number appended to the end of the catalog number found in the bottom left-hand corner of the front or back cover.

Example

Revision History

Revision

code

01 October 2011 Original production

Revision Date Revised content

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Revision History

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

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 G5-series Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2 What is EtherCAT? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

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

1-2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-3 Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3-1 Servo Drive Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3-2 Servo Drive Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-4 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-1

1 Features and System Configuration

1-1 Outline

The G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type supports 100-Mbps EtherCAT.

When you use the G5-series Servo Drive with a Machine Automation Controller NJ-series (Model: NJ501-1 a 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 real time autotuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.

1-1-1 Features of G5-series Servo Drives

G5-series Servo Drives have the following features.

00) or EtherCAT-compatible Position Control Unit (Model: CJ1W-NC8 ), you can construct

Optimal Functionality and Operability by Standardizing Specifications

As a Sysmac Device Motor Type is designed to provide optimal functionality and ease of use when used in conjunction with a Machine Automation Controller such as NJ series and the automation software Sysmac Studio.

*1 Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with

unified communications specifications and user interface specifications.

, the G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear

Data Transmission Using EtherCAT Communications

Combining the G5-series Servo Drive with a Machine Automation Controller NJ-series (Model: NJ501-

00) or CJ1W-NC8 EtherCAT-compatible Position Control Unit enables you to exchange all

1 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 external 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.

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 (force) OFF status, the present position of the motor is monitored by the control circuits to eliminate the need to perform an origin search when restarting.

1-2

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration

The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate.

Two damping filters are provided to enable switching the damping frequency automatically according to the operation direction and also via an external signal. In addition, the settings can be made easily by setting the damping frequency and filter values. You are assured of stable operation even if the set values are inappropriate.

1-1-2 What is EtherCAT?

EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3). Each node achieves a short 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.

EtherCAT Germany.

is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

1 Features and System Configuration

1-1 Outline

1-1-2 What is EtherCAT?

1-1-3 Object Dictionary

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type use the object dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.

An object is a special data structure inside a device that consists of data, parameters, and methods.

An object dictionary is a data structure that describes the data type objects, communications objects, and application objects.

All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.

Indexes Area Contents

0000 to 0FFF hex Data Type Area Definitions of data types.

1000 to 1FFF hex CoE Communications Area Definitions of variables that can be used by all servers for

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

3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all G5-series Servo

6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive's CiA402 drive profile.

A000 to FFFF hex Reserved Area Area reserved for future use.

*1 G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999 hex. Indexes 3 hex

correspond to G5-series Servo Drive parameters Pn. For example, object 3504 hex is the same as parameter Pn504. Pn uses decimal numbers but object 3 hex is a hexadecimal number. For details on servo parameters, refer to Section 9 Servo Parameter Objects.

designated communications.

products.

Drives (servo parameters).

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-3

1 Features and System Configuration

EtherCAT

Controller (EtherCAT(EtherCAT) )

G5 Series

AC Servo Drive

R88D-KN-ECT

-L

Programmable Controller SYSMAC CJ2

Position Control Unit CJ1W-NC8

NJ-series Machine Automation Controller

1-2 System Configuration

The system configuration for a G5-Series AC Servo Drive with Built-in EtherCAT Communications, Linear Motor Type is shown below.

1-4

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1 Features and System Configuration

USB connector (CN7)

Analog monitor connector (CN5)

Motor connection

terminals (U, V, and W)

Control circuit

power supply terminals

(L1C and L2C)

Main circuit

power supply terminals

(L1, L2, and L3)

External Regeneration

Resistor connection

terminals (B1, B2, and B3)

Protective ground terminals

Control I/O connector (CN1)

Safety connector (CN8)

External encoder connector (CN4)

Not used. (CN2)

Charge lamp

ADR

Seven-segment display

EtherCAT status indicators

Rotary switches for node address setting

EtherCAT communications connector: ECAT IN

EtherCAT communications connector: ECAT OUT

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.

1-3 Names and Functions

1-3-1 Servo Drive Part Names

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-5

1 Features and System Configuration

1-3-2 Servo Drive Functions

The functions of each part are described below.

Display

A 2-digit 7-segment display shows the node address, error codes, and other Servo Drive status.

Charge Lamp

Lights when the main circuit power supply is turned ON.

EtherCAT Status Indicators

These indicators show the status of EtherCAT communications.

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

Control I/O Connector (CN1)

Used for command input signals and I/O signals.

External Encoder Connector (CN4)

Connector for an external encoder signal.

EtherCAT Communications Connectors (ECAT IN and ECAT OUT)

Connectors for EtherCAT communications.

Analog Monitor Connector (CN5)

You can use a special cable to monitor values, such as the motor speed, force command value, etc.

USB Connector (CN7)

Communications connector for the computer.

1-6

Safety Connector (CN8)

Connector for safety devices.

If no safety devices are used, keep the factory-set safety bypass connector installed.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1 Features and System Configuration

CN2 CN4 CN5 CN7 CN8 CN1

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

L2C

L1C

FUSE

CN A

−

15 V G1

5 V

2.5 V

1.5 V ±12 V

E5 V G2

3.3 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

B1 B2 B3

CN B

U V

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External encoder

Analog

monitor

USB

Safety

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

1-4 System Block Diagram

This is the block diagram of the G5-series AC Servo Drive with Built-in EtherCAT Communications, Linear Motor Type.

 R88D-KN01L-ECT-L/-KN02L-ECT-L/-KN04L-ECT-L/

R88D-KN01H-ECT-L/-KN02H-ECT-L/-KN04H-ECT-L/-KN08H-ECT-L

1-4 System Block Diagram

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-7

1 Features and System Configuration

GR GR

L2C

L1C

FUSE

CN A

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

CN B

U V

CN8 CN1

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External encoder

Analog

monitor

USB

Safety

Internal Regeneration

Resistor

Axial-flow fan

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

 R88D-KN10H-ECT-L/-KN15H-ECT-L/-KN20H-ECT-L

1-8

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

 R88D-KN30H-ECT-L/-KN50H-ECT-L

CN2CN1

ECAT

OUT

GRGR

L2C

L1C

FUSE

15V G1

2.5V

1.5V ±12V

E5V G2

3.3V

CN4 CN5 CN7

B1 B2 B3

U V

MPU & ASIC

CN8

USB

Control

interface

Not used.

EtherCAT

communications

connector

Display and setting circuit area

Gate drive

SW power supply main circuit

Internal control

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Position, speed, and force calculation control area

• PWM control

External encoder

Analog

monitor

Safety

Internal Regeneration Resistor

Axial flow fan

control

power supply

EtherCAT

communications

connector

1 Features and System Configuration

1-4 System Block Diagram

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-9

1 Features and System Configuration

GR GR

L2C

L1C

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

U V

CN8 CN1

DB1 DB2 DB3 DB4

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External encoder

Analog monitor

USB

Safety

Axial-flow fan × 3

Fuse

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

TB1

TB2

TB1

TB2

 R88D-KN75H-ECT-L

1-10

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

 R88D-KN150H-ECT-L

GR GR

L2C

L1C

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

CN8 CN1

DB1 DB2

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External encoder

Analog

monitor

USB

Safety

Axial-flow fan × 4

Fuse

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

TB2

TB1

TB2

TB1

1 Features and System Configuration

1-4 System Block Diagram

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-11

1 Features and System Configuration

GR GR

0 V

24 V

FUSE

CN A

CN C

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

CN D

CN B

U V

CN8 CN1

DC-DC

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External encoder

Analog

monitor

USB

Safety

Internal Regeneration Resistor

Axial-flow fan

−

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

 R88D-KN06F-ECT-L/-KN10F-ECT-L/-KN15F-ECT-L/-KN20F-ECT-L

1-12

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

 R88D-KN30F-ECT-L/-KN50F-ECT-L

GR GR

0 V

24 V

FUSE

TB2

TB1

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

TB2

U V

CN8 CN1

DC-DC

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External

encoder

Analog

monitor

USB

Safety

Internal Regeneration Resistor

Axial-flow fan

−

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

1 Features and System Configuration

1-4 System Block Diagram

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-13

1 Features and System Configuration

0 V

24 V

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

U V

CN8 CN1

DB1 DB2 DB3 DB4

DC-DC

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Not used.

External encoder

Analog

monitor

USB

Safety

Axial-flow fan × 3

−

Fuse

ECAT IN

ECAT OUT

EtherCAT

communications

connector

EtherCAT

communications

connector

TB1

TB2

TB1

TB2

 R88D-KN75F-ECT-L

1-14

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

TB2

TB1

 R88D-KN150F-ECT-L

FUSE

DC-DC

−

24 V

0 V

1 Features and System Configuration

1-4 System Block Diagram

TB2

−

Voltage detection

Fuse

U V

TB2

GR GR

±12 V

Axial-flow fan × 4

communications

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5 V

ECAT IN

EtherCAT connector

SW power supply main circuit control

Internal control power supply

ECAT OUT

EtherCAT

communications

connector

Relay drive

Regeneration control

MPU & ASIC Position, speed, and force calculation control area

• PWM control

Control

interface

Not used.

CN2 CN1

Overcurrent detection

CN4 CN5 CN7

External encoder

Gate drive

Analog

monitor

Current detection

USB

Display and setting circuit area

CN8

Safety

DB1 DB2

TB1

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

1-15

1 Features and System Configuration

1-16

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Models and External Dimensions

This section explains the models of Servo Drive 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

2-3 Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-3-1 Servo Drive Model Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-3-2 Cable and Peripheral Device Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-4 External and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-4-1 Servo Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-4-2 External Regeneration Resistor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . 2-24

2-4-3 Reactor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25

2-4-4 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-1

2 Models and External Dimensions

Machine Automation Controller NJ501-100

●

CX-One FA Integrated

T ool Package CX-Programmer, CX-Position, and CX-Motion

● CX-One FA Integrated Tool Package (Including CX-Drive)

● CX-Drive WS02-DRVC1

Support SoftwareSupport Software

NJ-series CPU Unit with EtherCAT Port

Controller

● 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

2-2

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

USB communications

EtherCAT

communications

●

G5-series Servo Drive R88D-KN-ECT-L 100 VAC 200 VAC 400 VAC

Motor power signals

Feedback Signals

AC Servo Drive

Peripheral Devices

● Reactor 3G3AX-DL 3G3AX-AL

●

External Regeneration Resistors R88A-RR

External

encoder

Linear Motor / External Encoder

2-1 Servo System Configuration

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-3

2 Models and External Dimensions

2-2 How to Read Model Numbers

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

2-2-1 Servo Drive

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

R88D-KN01H-ECT-L

G5-series Servo Drive Drive Type

N: Network

Maximum Applicable Linear Motor Capacity

01: 100 W 02: 200 W 04: 400 W 06: 600 W 08: 750 W 10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW 50: 5 kW 75: 7.5 kW 150: 15 kW

Power Supply Voltage

L: 100 VAC H: 200 VAC F: 400 VAC

Communications Type ECT: EtherCAT

Motor type L: Linear motor type

2-4

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-3 Model Tables

2 Models and External Dimensions

This section lists the standard models of Servo Drives, Connectors, and peripheral equipment.

2-3-1 Servo Drive Model Table

The table below lists the Servo Drive models.

Specifications Model

Single-phase 100 VAC 100 W R88D-KN01L-ECT-L

Single-phase/3-phase 200 VAC 100 W R88D-KN01H-ECT-L

3-phase 200 VAC 2 kW R88D-KN20H-ECT-L

3-phase 400 VAC 600 W R88D-KN06F-ECT-L

200 W R88D-KN02L-ECT-L

400 W R88D-KN04L-ECT-L

200 W R88D-KN02H-ECT-L

400 W R88D-KN04H-ECT-L

750 W R88D-KN08H-ECT-L

1 kW R88D-KN10H-ECT-L

1.5 kW R88D-KN15H-ECT-L

3 kW R88D-KN30H-ECT-L

5 kW R88D-KN50H-ECT-L

7.5 kW R88D-KN75H-ECT-L

15 kW R88D-KN150H-ECT-L

1 kW R88D-KN10F-ECT-L

1.5 kW R88D-KN15F-ECT-L

2 kW R88D-KN20F-ECT-L

3 kW R88D-KN30F-ECT-L

5 kW R88D-KN50F-ECT-L

7.5 kW R88D-KN75F-ECT-L

15 kW R88D-KN150F-ECT-L

2-3 Model Tables

2-3-1 Servo Drive Model Table

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-5

2 Models and External Dimensions

2-3-2 Cable and Peripheral Device Model Tables

The following tables list the models of EtherCAT communications cables (recommended) and analog monitor cables, as well as the models of peripheral devices such as External Regeneration Resistors and Reactors.

EtherCAT Communications Cable (Recommended)

Size x Number of cable cores

(pairs)

AWG24 x 4P Tonichi kyosan Cable, Ltd. NETSTAR-C5E SAB 0.5  4P

AWG22 x 2P Kuramo Electric Co. KETH-PSB-OMR

Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided shielding) is recommended.

Recommended manufacturer Model

Kuramo Electric Co. KETH-SB

SWCC Showa Cable Systems Co. FAE-5004

Analog Monitor Cable

Name Model

Analog Monitor Cable 1 m R88A-CMK001S

Connectors

Name and applications Model

Control I/O Connector (CN1) R88A-CNW01C

External Encoder Connector (CN4) R88A-CNK41L

Safety Connector (CN8) R88A-CNK81S

2-6

Control Cables

Name Model

Connector-terminal Block Cables 1 m XW2Z-100J-B34

2 m XW2Z-200J-B34

Connector-terminal Block M3 screws XW2B-20G4

M3.5 screws XW2B-20G5

M3 screws XW2D-20G6

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

External Regeneration Resistors

Specifications Model

Regeneration process capacity: 20 W, 50  (with 150C thermal sensor) R88A-RR08050S Regeneration process capacity: 20 W, 100  (with 150C thermal sensor) R88A-RR080100S Regeneration process capacity: 70 W, 47  (with 150C thermal sensor) R88A-RR22047S1 Regeneration process capacity: 70 W, 47  (with 170C thermal sensor) R88A-RR22047S Regeneration process capacity: 180 W, 20  (with 200C thermal sensor) R88A-RR50020S

2-3 Model Tables

Reactor

Applicable Servo Drives Model Reactor type

R88D-KN01H-ECT-L (For single-phase input) 3G3AX-DL2002 DC reactor

R88D-KN01L-ECT-L/-KN02H-ECT-L (For single-phase input) 3G3AX-DL2004

R88D-KN02L-ECT-L/-KN04H-ECT-L (For single-phase input) 3G3AX-DL2007

R88D-KN04L-ECT-L/-KN08H-ECT-L/-KN10H-ECT-L (For single-phase input)

R88D-KN15H-ECT-L (For single-phase input) 3G3AX-DL2022

R88D-KN01H-ECT-L/-KN02H-ECT-L/-KN04H-ECT-L/

-KN08H-ECT-L/-KN10H-ECT-L/-KN15H-ECT-L (For 3-phase input)

R88D-KN20H-ECT-L/-KN30H-ECT-L 3G3AX-AL2055

R88D-KN50H-ECT-L 3G3AX-AL2110

R88D-KN75H-ECT-L/-KN150H-ECT-L 3G3AX-AL2220

R88D-KN06F-ECT-L/-KN10F-ECT-L/-KN15F-ECT-L 3G3AX-AL4025

R88D-KN20F-ECT-L/-KN30F-ECT-L 3G3AX-AL4055

R88D-KN50F-ECT-L 3G3AX-AL4110

R88D-KN75F-ECT-L/-KN150F-ECT-L 3G3AX-AL4220

3G3AX-DL2015

3G3AX-AL2025 AC reactor

Mounting Brackets (L-brackets for Rack Mounting)

2-3-2 Cable and Peripheral Device Model Tables

Applicable Servo Drives Model

R88D-KN01L-ECT-L/-KN01H-ECT-L/-KN02H-ECT-L R88A-TK01K

R88D-KN02L-ECT-L/-KN04H-ECT-L R88A-TK02K

R88D-KN04L-ECT-L/-KN08H-ECT-L R88A-TK03K

R88D-KN10H-ECT-L/-KN15H-ECT-L/-KN06F-ECT-L/-KN10F-ECT-L/-KN15F-ECT-L R88A-TK04K

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-7

2 Models and External Dimensions

132 70

150

140

2-M4

2-4 External and Mounting Dimensions

This section describes the external dimensions and the mounting dimensions of Servo Drives and peripheral devices.

2-4-1 Servo Drive Dimensions

The dimensional description starts with a Servo Drive of the smallest capacity, which is followed by the next smallest, and so on.

Single-phase 100 VAC: R88D-KN01L-ECT-L (50 to 100 W) Single-phase/3-phase 100 VAC: R88D-KN01H-ECT-L/-KN02H-ECT-L (100 to 200 W)

 Wall Mounting

External dimensions Mounting dimensions

2-8

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

180

170

150

5.2

R26

φ5.2

2.5

132

19.5

2-M4

170

(42)*

(158)*

* Rectangular hole dimensions are reference values.

Rectangular

hole

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-9

2 Models and External Dimensions

150

132

150

140

2-M4

φ5.2

180

170

150

5.2

R2.6

2.5

132

19.5

170

2-M4

(57)*

(158)*

* Rectangular hole dimensions are reference values.

Rectangular

hole

Single-phase 100 VAC: R88D-KN02L-ECT-L (200 W) Single-phase/3-phase 200 VAC: R88D-KN04H-ECT-L (400 W)

 Wall Mounting

External dimensions Mounting dimensions

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-10

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

172

150

140

7.5 65

2-M4

φ5.2

R2.6

5.2

180

170

150

172

19.5

2.5

170

2-M4

(67)*

(158)*

* Rectangular hole dimensions are reference values.

Rectangular

hole

Single-phase 100 VAC: R88D-KN04L-ECT-L (400 W) Single-phase/3-phase 200 VAC: R88D-KN08H-ECT-L (750 W)

 Wall Mounting

External dimensions Mounting dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-11

2 Models and External Dimensions

150

172

2-M4

140

150

8.5 86

170

R2.6

φ5.2

170

180

150

60 40

5.2

5.2 40

19.5

172

4-M4

2.5 (88)*

(158)*

* Rectangular hole dimensions are reference values.

Rectangular

hole

Single-phase/3-phase 200 VAC: R88D-KN10H-ECT-L/-KN15H-ECT-L (900 W to 1.5 kW)

 Wall Mounting

External dimensions Mounting dimensions

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-12

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

86 85

50 17.5

42.5

5.2

φ5.2

R2.6 R2.6

195

198

188

168

17.5

5.2 5.2

42.5

φ5.2

R2.6

1.8 25

188

17.5

6-M4

168

2.5

86 85 50 17.5

42.5

5.2

198

188

168

φ5.2

R2.6

195

30.7

17.5

5.2 5.2

42.5

φ5.2

R2.6

2.5

188

17.5

6-M4

(88)*

(176)*

* Rectangular hole dimensions are reference values.

Rectangular

hole

3-phase 200 VAC: R88D-KN20H-ECT-L (2 kW)

 Wall Mounting

External dimensions Mounting dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-13

2 Models and External Dimensions

R2.6

φ5.2

R2.6 R2.6

5.2

130

100

5.2

220

240

250

5.2

100

214

40.7

2.5

6-M4

240

100

(132)*

(228)*

Rectangular

hole

* Rectangular hole dimensions

are reference values.

3-phase 200 VAC: R88D-KN30H-ECT-L/-KN50H-ECT-L (3 to 5 kW)

 Wall Mounting

External dimensions Mounting dimensions

R2.6

5.2

5.2 65

130

100

φ5.2

5.2

R2.6

220

R2.6 R2.6

240

250

214

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

3.5

2.5

220

6-M4

240

100 130

2-14

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

334 3.5

2.5

117

162

207

222

233

5.2

R2.6

R2.6 R2.6

φ5.2 φ5.2

220

235

250

5.2

117

162

207

R2.6

5.2

R2.6

10-M4

235

220

27 180

233

3-phase 200 VAC: R88D-KN75H-ECT-L (7.5 kW)

 Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Mounting dimensions

2-15

2 Models and External Dimensions

117

162

207

222

233

5.2

220

235

250

5.2

117

162

207

R2.6

5.2

R2.6

R2.6 R2.6

φ5.2 φ5.2

334

2.5

10-M4

235

(227)*

180

(235)*

Rectangular

hole

* Rectangular hole dimensions are reference values.

 Front Mounting (Using Front Mounting Brackets)

External dimensions

Mounting dimensions

2-16

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

261

231

30.5

450

7.5

435

30.5

231

271

R3.5 R3.5

φ7

3-phase 200 VAC: R88D-KN150H-ECT-L (15 kW)

 Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

Mounting dimensions

261 200 30.5

4-M6

7.5

435

450

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-17

2 Models and External Dimensions

150

172

150

140

14.5

2-M4

φ5.2 φ5.2

170

180

150

5.2 5.2 10

R2.6

172

19.5

2.5

(94)*

170

(158)*

4-M4

* Rectangular hole dimensions are reference values.

Rectangular

hole

3-phase 400 VAC: R88D-KN06F-ECT-L/-KN10F-ECT-L/

 Wall Mounting

External dimensions Mounting dimensions

-KN15F-ECT-L (600 W to 1.5 kW)

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-18

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

Ø5.2

R2.6

Ø5.2

180

168

195 1.8

85 50

17.5

42.5

5.2

5.2 5.2 50

17.5

168

188

198

6-M4

26.5

2.5

Ø5.2

R2.6

Ø5.2

180

(96)*

(176)*

195

85 50

17.5

42.5

5.2

5.2 5.2 50

17.5

168

188

198

6-M4

26.5

2.5

30.7

* Rectangular hole dimensions are reference values.

Rectangular

hole

3-phase 400 VAC: R88D-KN20F-ECT-L (2 kW)

 Wall Mounting

External dimensions Mounting dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-19

2 Models and External Dimensions

Ø5.2

R2.6

Ø5.2

R2.6

100

5.2

5.2 65

130

100

5.2 5.2

220

240

250

240

220

130

100

214

3.5

6-M4

2.5

φ5.2

R2.6

φ5.2

R2.6

100

5.2

5.2 65

130

100

5.2 5.2

220

240

250

240

(228)*

(132)*

100

214

6-M4

2.5

40.7

* Rectangular hole dimensions are reference values.

Rectangular

hole

3-phase 400 VAC: R88D-KN30F-ECT-L/-KN50F-ECT-L (3 to 5 kW)

 Wall Mounting

External dimensions Mounting dimensions

 Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-20

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

5.2

117

162

207

R2.6

R2.6 R2.6

117

162

207

222

233

5.2

R2.6

R2.6 R2.6

5.2

220

235

250

334 3.5

2.5

5.2

233

10-M4

235

220

180

3-phase 400 VAC: R88D-KN75F-ECT-L (7.5 kW)

 Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Mounting dimensions

2-21

2 Models and External Dimensions

117

162

207

222

233

5.2

220

235

250

5.2

117

162

207

R2.6

R2.6 R2.6

R2.6

R2.6 R2.6

5.2

334

2.5

5.2

 Front Mounting (Using Front Mounting Brackets)

External dimensions

* Rectangular hole dimensions are reference values.

2-22

Mounting dimensions

(227)*

Rectangular

hole

180

(235)*

10-M4

235

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2 Models and External Dimensions

R3.5 R3.5

Ø7

231

30.5

435

7.5

450

30.5

231

261

271

450

435

261 200 30.5

7.5

4-M6

3-phase 400 VAC: R88D-KN150F-ECT-L (15 kW)

 Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

Mounting dimensions

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-23

2 Models and External Dimensions

t1.2 104

122 130

43.5

4.2

500

Ø3

(0.75mm

)

Ø1.5

(0.3mm

)

Thermal switch output

t1.2 200

220 230

4.2

500

Ø3

(0.75mm

)

Ø1.5

(0.3mm

)

Thermal switch output

2-4-2 External Regeneration Resistor Dimensions

R88A-RR08050S/-RR080100S

R88A-RR22047S/-RR22047S1

R88A-RR50020S

4325 10

360 386 402

5.2

2-24

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-4-3 Reactor Dimensions

4-5.2 × 8

2-M4

Ground terminal (M4)

2-M4

4-5.2 × 8

Ground terminal (M4)

3G3AX-DL2002

2 Models and External Dimensions

2-4 External and Mounting Dimensions

2-4-3 Reactor Dimensions

3G3AX-DL2004

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-25

2 Models and External Dimensions

105

2-M4

4-5.2 × 8

Ground terminal (M4)

115

2-M4

4-5.2 × 8

Ground terminal (M4)

3G3AX-DL2007

3G3AX-DL2015

2-26

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3G3AX-DL2022

116

105

2-M4

4-6 × 9

100

Ground terminal (M4)

150

4060

Ro R So S To T

Y±1

50±1

Ro R So S To

9.5

Terminal screw 6-

Ground terminal (M5)

Terminal block

Connection Diagram

(Cutout)

2 Models and External Dimensions

2-4 External and Mounting Dimensions

2-4-3 Reactor Dimensions

3G3AX-AL2025/-AL2055/-AL4025/-AL4055

Model

3G3AX-AL2025 130 82 67 4 3G3AX-AL2055 140 98 75 4 3G3AX-AL4025 130 82 67 4 3G3AX-AL4055 130 98 75 5

Dimensions [mm]

A C Y K

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-27

2 Models and External Dimensions

Ro R So S To T

55D

Y±1X±1

Ro R So S To T

W= Terminal width

Terminal hole 6-

Ground terminal (M6)

Connection Diagram

(Cutout)

3G3AX-AL2110/-AL2220/-AL4110/-AL4220

Model

3G3AX-AL2110 160 103 70 170 106 60 80 5.3 12 3G3AX-AL2220 180 113 75 190 136 90 90 8.4 16.5 3G3AX-AL4110 160 116 75 170 106 60 98 5.0 12.5 3G3AX-AL4220 180 103 75 190 138 100 80 5.3 12

A C D H H1 X Y K W

Dimensions [mm]

2-28

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-4-4 Mounting Bracket Dimensions

2-M4 countersunk

18±0.2

9.5

2.5

R1 max.

5.2

2-C5

2-M4 countersunk

5.2

9.5

18±0.2

2.5

R1 max.

2-R1

2-C5

Mounting bracket for top side Mounting bracket for bottom side

2-M4 countersunk

5.2

2.5

9.5

30±0.2

2-R1

R1 max

2-C 5

2-M4 countersunk

30±0.2

9.5

2.5

R1 max

5.2

2-C 5

Mounting bracket for top side Mounting bracket for bottom side

L-brackets for rack mounting are brackets attached to the top and bottom of a Servo Drive. Note that each bracket has a different shape when you attach these L-brackets.

R88A-TK01K

Mounting bracket for top side Mounting bracket for bottom side

2 Models and External Dimensions

2-4 External and Mounting Dimensions

2-C5

9.5 24

5.2

R88A-TK02K

2-M4 countersunk

11± 0.2

2.5

R1 max.

2-M4 countersunk

11± 0.2

5.2

2-R1

2-4-4 Mounting Bracket Dimensions

2.5

R1 max.

2.5

2-C5

9.5

2.5

R88A-TK03K

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

2-29

2 Models and External Dimensions

2-M4 countersunk

2.5

5.2

40±0.2

36±0.2

9.5

5.2

4-R1

2-C5

2-M4 countersunk

2.5

36±0.2

9.5

40±0.2

R1 max.

5.2

2-C 5

R1 max.

Mounting bracket for top side Mounting bracket for bottom side

R88A-TK04K

2-30

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Specifications

This section provides the general specifications, characteristics, connector specifications, I/O circuits of the Servo Drives, and other peripheral devices.

3-1 Servo Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

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

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

3-1-3 EtherCAT Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3-1-4 EtherCAT Communications Connector Specifications (RJ45) . . . . . . . . . . . . . 3-5

3-1-5 Control I/O Specifications (CN1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3-1-6 Control Input Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-1-7 Control Input Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-1-8 Control Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3-1-9 Control Output Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3-1-10 External Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3-1-11 External Encoder Connector Specifications (CN4). . . . . . . . . . . . . . . . . . . . . 3-17

3-1-12 Analog Monitor Connector Specifications (CN5) . . . . . . . . . . . . . . . . . . . . . . 3-21

3-1-13 USB Connector Specifications (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-1-14 Safety Connector Specifications (CN8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3-2 Overload Characteristics

(Electronic Thermal Function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3-3 Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3-3-1 Bend Radius of Robot Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3-3-2 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3-3-3 EtherCAT Communications Cable Specifications . . . . . . . . . . . . . . . . . . . . . . 3-29

3-3-4 Analog Monitor Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

3-3-5 Control Cable Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3-4 External Regeneration Resistor Specifications . . . . . . . . . . . . . . . . . . . . . 3-38

3-5 Reactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-1

3 Specifications

International standard

3-1 Servo Drive Specifications

Select a Servo Drive that matches the Linear motor to be used.

3-1-1 General Specifications

Item Specifications

Ambient operating temperature and operating humidity

Storage ambient temperature and humidity

Operating and storage atmosphere No corrosive gases

Vibration resistance

Insulation resistance

Dielectric strength

Protective structure Built into panel

EC Directives EMC Directive EN 55011/A2:2007(CISPR11), EN 61000-6-2:2005, EN 61800-3:2004

Low Voltage Directive

UL standards UL 508C (File No.E164620)

CSA standards CSA22.2 No. 14

Functional safety EN954-1:1996 Cat. 3, EN ISO13849-1:2008 PL c, PL d (MTTFd= 85.9 years, DCavg=

0 to 55C, 20 to 85% max. (with no condensation)



20 to 65C, 20 to 85% max. (with no condensation)

10 to 60 Hz and at an acceleration of 5.88 m/s resonance point)

Between power supply terminals/power terminals and FG terminal: 0.5 M min. (at 500 VDC)

Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz

EN 61800-5-1:2007

87.5 %), EN61508:2001(Part 1,2,4) SIL2, EN62061:2005 SIL2, EN61800-5-2:2007 (STO), IEC61326-3-1:2008

or less (Not to be run continuously at a

Note 1 The above items reflect individual evaluation testing. The results may differ under compound conditions.

2 Never perform dielectric strength or other megameter tests on the Servo Drive. Failure to follow this guideline may

result in damaging the internal elements.

3 Depending on the operating conditions, some Servo Drive parts will require maintenance. For details, refer to 12-5

Periodic Maintenance on page 12-28.

3-1-2 Characteristics

100-VAC Input Models

Item

Input power supply Main

circuit

Control circuit

Weight Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg

Maximum motor capacity

Rated effective current of motor 1.7 Arms 2.5 Arms 4.6 Arms

Maximum current of motor 5.1 Arms 7.5 Arms 13.8 Arms

Power supply capacity 0.4 KVA 0.5 KVA 0.9 KVA

Power supply voltage Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz

Rated current 2.6 A 4.3 A 7.6 A

Heat value

Power supply voltage Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz

Heat value

R88D-KN01L-ECT-L R88D-KN02L-ECT-L R88D-KN04L-ECT-L

16.6 W 21 W 25 W

4 W4 W4 W

*1 The heat value is given for rated operation.

3-2

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

200-VAC Input Models

3 Specifications

R88D-KN01H-

ECT-L

0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3KVA

Input power supply

Item

Main circuit

Power supply capacity

Power supply voltage

Rated

1.6/0.9 A *

current

Control circuit

Heat

value

Power supply

14.3/13.7 W *123/19 W *133/24 W *130/35.5 W *157/49 W *1104/93 W *

voltage

Heat

value

4 W4 W4 W4 W7 W7 W

Weight Approx.

0.8 kg

Maximum motor capacity

Rated effective current of motor

Maximum current of

1.2 Arms 1.6 Arms 2.6 Arms 4.1 Arms 5.9 Arms 9.4 Arms

3.6 Arms 4.8 Arms 7.8 Arms 12.3 Arms 16.9 Arms 28.2 Arms

motor

R88D-KN02H-

ECT-L

R88D-KN04H-

ECT-L

R88D-KN08H-

ECT-L

R88D-KN10H-

ECT-L

R88D-KN15H-

Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

2.4/1.3 A*14.1/2.4 A*16.6/3.6 A*19.1/5.2 A*114.2/8.1 A*

Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

Approx.

0.8 kg

Approx.

1.0 kg

Approx.

1.6 kg

Approx.

1.8 kg

ECT-L

Approx.

1.8 kg

3-1 Servo Drive Specifications

3-1-2 Characteristics

*1 The first value is for single-phase input power and the second value is for 3-phase input power.

*2 The heat value is given for rated operation.

Input power supply

Item

Main circuit

Power supply

R88D-KN20H-

ECT-L

3.3 KVA 4.5 KVA 7.5 KVA 11.0 KVA 22.0 KVA

R88D-KN30H-

ECT-L

R88D-KN50H-

ECT-L

R88D-KN75H-

ECT-L

capacity

Power

3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

supply voltage

Rated

11.8 A 15.1 A 21.6 A 32.0 A 58.0 A

current

Control circuit

Heat

value

Power supply

139 W 108 W 328 W 381 W 720 W

Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

voltage

Heat

value

Weight Approx.

Maximum motor capacity

Rated effective current of motor

Maximum current of

10 W 13 W 13 W 15 W 17 W

2.7 kg

Approx.

4.8 kg

Approx.

4.8 kg

Approx.

13.5 kg

13.4 Arms 18.7 Arms 33.0 Arms 44.0 Arms 66.1 Arms

40.2 Arms 56.1 Arms 84.8 Arms 116.6 Arms 167.2 Arms

motor

R88D-KN150H-

ECT-L

Approx.

21.0 kg

*1 The heat value is given for rated operation.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-3

3 Specifications

400-VAC Input Models

Item

Input power supply

Weight Approx. 1.9 kg Approx. 1.9 kg Approx. 1.9 kg Approx. 2.7 kg

Maximum motor capacity

*1 The heat value is given for rated operation.

Input power supply

Weight Approx. 4.7 kg Approx. 4.7 kg Approx. 13.5 kg Approx. 21.0 kg

Maximum motor capacity

Main circuit

Control circuit

Rated effective current of motor

Maximum current of motor

Main circuit

Control circuit

Rated effective current of motor

Maximum current of motor

Power supply capacity

Power supply voltage

Rated current 2.1 A 2.8 A 3.9 A 5.9 A

Heat value

Power supply voltage

Heat value

Item

Power supply capacity

Power supply voltage

Rated current 7.6 A 12.1 A 16.0 A 29.0 A

Heat value

Power supply voltage

Heat value

R88D-KN06F-ECT-L R88D-KN10F-ECT-L R88D-KN15F-ECT-L R88D-KN20F-ECT-L

1.2 KVA 1.8 KVA 2.3 KVA 3.8 KVA

3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz

32.2 W 48 W 49 W 65 W

24 VDC (20.4 to 27.6 V)

7 W 7 W 7 W 10 W

1.5 Arms 2.9 Arms 4.7 Arms 6.7 Arms

4.5Arms 8.7Arms 14.1Arms 19.7Arms

R88D-KN30F-ECT-L R88D-KN50F-ECT-L R88D-KN75F-ECT-L

4.5 KVA 6.0 KVA

3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz

108 W 200 W 300 W 590 W

24 VDC (20.4 to 27.6 V)

13 W 13 W 15 W 22 W

9.4Arms 16.5Arms 22.0Arms 33.1Arms

28.2 Arms 42.4 Arms 58.7 Arms 83.7 Arms

11.0 KVA 22.0 KVA

R88D-KN150F-ECT-L

*1 The heat value is given for rated operation.

3-4

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-1-3 EtherCAT Communications Specifications

3 Specifications

Item Specification

Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile

Physical layer 100BASE-TX (IEEE802.3) Connectors RJ45  2 (shielded)

ECAT IN: EtherCAT input ECAT OUT: EtherCAT output

Communications media Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double,

aluminum tape and braided shielding) is recommended.

Communications distance Distance between nodes: 100 m max.

Process data Fixed PDO mapping

Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information

Distributed clock (DC) Synchronization in DC mode.

DC cycle: 250 s, 500 s, 1 ms, 2 ms, 4 ms

Indicators L/A IN (Link/Activity IN)  1

L/A OUT (Link/Activity OUT)  1 RUN  1 ERR  1

CiA402 Drive Profile • Cyclic synchronous position mode

• Cyclic synchronous velocity mode

• Cyclic synchronous torque mode

• Profile potion mode

• Homing mode

• Touch probe function (Latch function)

• Torque limit function (Force limit function)

3-1 Servo Drive Specifications

3-1-3 EtherCAT Communications Specifications

3-1-4 EtherCAT Communications Connector Specifications (RJ45)

The EtherCAT twisted-pair cable is connected to a shielded connector.

• Electrical characteristics: Conforms to IEEE 802.3.

• Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877)

Pin No. Signal name Abbreviation Direction

1 Send data + TD+ Output 2 Send data  TD Output

3 Receive data + RD+ Input 4 Not used  5 Not used  6 Receive data  RD Input 7 Not used  8 Not used 

Connector hood Protective ground FG 

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-5

3 Specifications

General-purpose input 1

/ALM

Error output

General-purpose output 1

General-purpose output 2

ALMCOM

OUTM1 OUTM1COM

OUTM2COM

OUTM2 25

IN7

11 IN6

10 IN5

9 IN4

IN3

IN2

5 IN1

+24 VIN

General-purpose input 7

General-purpose input 6

General-purpose input 5

General-purpose input 4

General-purpose input 3

General-purpose input 2

12 to 24 VDC

Maximum service voltage: 30 VDC Maximum output current: 50 mADC

13 IN8

General-purpose input 8

Frame ground

Shell

4.7 kΩ

1 kΩ

4.7 kΩ

1 kΩ

GND

10 Ω

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

For the control I/O signal cable, use a shielded twisted-pair cable with 0.18 mm2 or thicker core wires.

The cable length must be 3 m or less.

Control I/O Signal Connections and External Signal Processing

Note 1 The input functions of pins 5 and 7 to 13 are determined by the servo parameter object settings.

2 The output functions of pins 1, 2, 25 and 26 are determined by the servo parameter object settings.

3 It is not necessary to wire unused input pins.

3-6

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3 Specifications

Control I/O Signal Tables

 CN1 Control Inputs

number

6 24 VIN Power supply input 12 to 24 VDC. The positive input terminal of the external

5 IN1 General-purpose

7 IN2 General-purpose

8 IN3 General-purpose

9 IN4 General-purpose

10 IN5 General-purpose

11 IN6 General-purpose

12 IN7 General-purpose

13 IN8 General-purpose

*1 Refer to 7-1 Sequence I/O Signals on page 7-2 for the allocations.

Symbol

Name Default

Input 1

Input 2

Input 3

Input 4

Input 5

Input 6

Input 7

Input 8

Signal

Immediate Stop Input

Positive Drive Prohibition Input

Negative Drive Prohibition Input

Origin Proximity Input

External Latch Signal 3

External Latch Signal 2

External Latch Signal 1

Monitor Input 0

Function and interface

power supply (12 to 24 VDC) for sequence inputs

These are general-purpose inputs. The input functions can be selected with servo parameter

objects. allocated only to IN5 to IN7 (or pins 10 to 12) respectively.

External Latch Signals 1 to 3 can be

3-1 Servo Drive Specifications

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

 CN1 Control Outputs

number

3 /ALM Error Output The output turns OFF when an error occurs in

4ALMCOM

1 OUTM1 General-purpose

2 OUTM1COM

25 OUTM2 General-purpose

26 OUTM2COM

16 GND Signal Ground This is the signal ground.

*1 Refer to 7-1 Sequence I/O Signals on page 7-2 for the allocations.

Symbol

Name Default

Output 1

Output 2

Signal

Brake Interlock Output

Servo Ready Output

Function and interface

the Servo Drive.

These are general-purpose outputs. The input functions can be selected with servo parameter

objects.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-7

3 Specifications

IN2

(POT)

IN1

(STOP)

OUTM1

(BKIR)

BATGND

OUTM2

(READY)

ALMCOM

/ALM

IN8

(MONO)

IN3

(NOT)

IN4

(DEC)

IN5

(EXT3)

IN6

(EXT2)

IN7

(EXT1)

OUTM1COM

GND

OUTM2COM

General-purpose

Output 2 Common

General-purpose

Output 1 Common

+24 VIN

12 to 24-VDC

Power

Supply Input

Error Output

Common

Error Output

Signal Ground

General-purpose

Output 1 (Brake

Interlock Output)

General-purpose

Input 2 (Positive Drive

Prohibition Input)

General-purpose

Input 3 (Negative Drive

Prohibition Input)

General-purpose

Output 2 (Servo

Ready Output)

General-purpose

Input 1 (Immediate

Stop Input)

General-purpose

Input 4 (Origin

Proximity Input)

General-purpose

Input 6 (External

Latch Input 2)

General-purpose

Input 8 (Monitor

Input 0)

General-purpose Input 5 (External

Latch Input 3)

General-purpose Input 7 (External

Latch Input 2)

CN1 Pin Arrangement

Note 1 Do not connect anything to unused pins (those marked with *).

Connectors for CN1 (Pin 26)

Plug 10126-3000PE Sumitomo 3M R88A-CNW01C

Cable Case 10326-52A0-008

3-8

2 The input functions for general-purpose inputs 1 to 8 (or IN1 to IN8) are determined by the objects 3400 to

3407 hex (Input Signal Selection 1 to 8).

3 The output functions for general-purpose outputs (OUTM1 and OUTM2) are determined by the objects

3410 and 3411 hex (Output Signal Selection 1 and 2).

4 The functions that are allocated by default are given in parentheses.

Refer to 7-1 Sequence I/O Signals on page 7-2 for details on the allocations.

Name Model Manufacturer OMRON model number

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Precautions for Safe Use

3-1-6 Control Input Circuits

4.7 kΩ

1.0 kΩ

IN1

IN2

6 +24VIN

To other input circuit

External power supply

12 VDC ± 5% to 24 VDC ± 5%

Input current

10 mA max. (per input)

Signal level ON level: 10 V or more OFF level: 3 V or less

To another input circuit GND common

Photocoupler input

4.7 kΩ

1.0 kΩ

Photocoupler input

3 Specifications

3-1 Servo Drive Specifications

3-1-7 Control Input Details

This is the detailed information about the CN1 connector input pins.

General-purpose Inputs (IN1 to IN8)

Pin 5: General-purpose Input 1 (IN1)  [Immediate Stop Input (STOP)] Pin 7: General-purpose Input 2 (IN2)  [Positive Drive Prohibition Input (POT)] Pin 8: General-purpose Input 3 (IN3)  [Negative Drive Prohibition Input (NOT)] Pin 9: General-purpose Input 4 (IN4)  [Origin Proximity Input (DEC)] Pin 10: General-purpose Input 5 (IN5)  [External Latch Input 3 (EXT3)] Pin 11: General-purpose Input 6 (IN6)  [External Latch Input 2 (EXT2)] Pin 12: General-purpose Input 7 (IN7)  [External Latch Input 1 (EXT1)] Pin 13: General-purpose Input 8 (IN8)  [Monitor Input 0 (MON0)]

Note The functions that are allocated by default are given in brackets.

Refer to 7-1 Sequence I/O Signals on page 7-2 for the allocation procedures.

 Immediate Stop Input (STOP)

• STOP is used when an external sequence such as the host forcibly turns OFF the servo.

• If the input is turned OFF when the Linear Motor is moving, the dynamic brake makes a

deceleration stop. After the motor stops, it remains in servo-free state.

• If the Immediate Stop Input (STOP) turns ON when the motor is energized, an Immediate Stop Input Error (Error No. 87.0) will occur.

• This input is allocated to the pin 5 with the default setting.

3-1-6 Control Input Circuits

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Turn OFF the Immediate Stop Input (STOP) at the same time when you turn OFF the main power. When the main power turns OFF due to an external immediate stop, the motor will continues to operate due to residual voltage. This may cause human injuries or damages to the machine and devices.

3-9

3 Specifications

Precautions for Correct UsePrecautions for Correct Use

Additional Information

Precautions for Correct UsePrecautions for Correct Use

 Positive Drive Prohibition Input (POT) / Negative Drive Prohibition Input (NOT)

• These two signals are the inputs to prohibit positive or negative drive (over-travel inputs).

• When these terminals are shorted (factory setting), the Servo Drive can drive in the specified

movement direction.

• In the drive prohibition state, motor switches to servo lock state after a deceleration stop.

• The maximum force for a deceleration stop is the same as the maximum force of the Linear Motor.

• In the drive prohibition state, the Servo Drive does not switch to an error state.

• When the Drive Prohibition Input Selection (3504 hex) is set to 1, the operation at a drive prohibit

input can be selected in the Stop Selection for Drive Prohibition Input (3505 hex).

• If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No. 38.0) will occur when there is a drive prohibition input.

• With the default settings, the Positive Drive Prohibition Input (POT) is allocated to pin 7, and the Negative Drive Prohibition Input (NOT) is allocated to pin 8.

Both signals are disabled (in a state in which drive prohibition will not operation) in the default settings. If prohibiting the drive input is required, set the Drive Prohibit Input Selection (3504 hex) to either 0 or 2. The setting on the Input Signal Selection 1 to 8 (3400 to 3407 hex) can change the logic and allocation for the respective Input terminals (CN1 to 7 and 8).

 Origin Proximity Input (DEC)

• This is the deceleration signal for origin returns.

• If the Origin Proximity Input turns ON while the Linear Motor is moving at the origin proximity input

search speed, it will decelerate to the Speed during search for zero (6099 hex).

• With the default settings, the Origin Proximity Input is assigned to pin 9.

Although this signal input is enabled also in the Speed Control Mode and the Force Control Mode, it does not affect operation.

 External Latch Input Signals (EXT1, EXT2, and EXT3)

• These are the external input signals to latch the actual value in the feedback pulse counter.

• The encoder position data is obtained when the External Latch Input is turned ON.

• With the default settings, External Latch Input 1 is allocated to pin 12, External Latch Input 2 to pin

11, and External Latch Input 3 to pin 10.

• The external latch inputs are detected by on the rising edge of the signal, but the minimal signal ON and OFF widths must be 2 ms.

• The external latch inputs can only be set to NO (normally open) contacts.

• The external latch inputs can be allocated to pins 10 to 12 only.

3-10

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

 Monitor Inputs (MON0, MON1, and MON2)

OUTM1, OUTM2, ALM

OUTMCOM, ALMCOM

Di: Surge voltage prevention diode

External power supply 12 to 24 VDC Maximum service voltage: 30 VDC or less Maximum output current: 50 mA or less

Servo Drive

• These are the general-purpose monitor inputs.

• The general-purpose monitor inputs do not affect operation and can only be monitored from the

host controller.

• With the default settings, MON0 is allocated to pin 13.

 Positive Force Limit Input (PCL)/Negative Force Limit Input (NCL)

• Turn ON these inputs to limit the force to the value set in the Positive Force Limit (3525 hex) or the

Negative Force Limit (3526 hex).

• While the input is ON, operation continues within the force limit.

• With the default settings, the inputs are not allocated.

3-1-8 Control Output Circuits

3 Specifications

3-1 Servo Drive Specifications

Sequence Outputs

*1 When driving a relay directly with an output signal, always insert a diode as shown in the above figure. Use

high-speed diodes.

3-1-8 Control Output Circuits

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-11

3 Specifications

OFF

(L1C, L2)

OFF

(L1, L2, L3)

OFF

Approx. 60 ms

Approx. 2 ms

Approx. 4 ms

0 ms or more

0 s or more

100 ms or more

Normal operation

Servo ON accepted/rejected

Dynamic brake

Motor power supply

Brake interlock output

(BKIR)

Position, speed,

or force command

Rejected

Less than 3 s Approx. 1.5 s Initialization

10 ms or more (after initialization and main circuit ON)

Approx. 100 to 300 ms

Control power supply

Internal control power supply

MPU operation

Main circuit power supply

Servo ready completed output

(READY, NO)

Servo ready completed output

(READY, NC)

Establishment

10 ms or more

Unknown

Output Tr ON

Accepted

OFF

Brake engaged Brake released

Magnetic pole position estimation in progress

Completed

Magnetic pole position estimation not completed

Magnetic pole position

estimation completion output

Completed

Magnetic pole position estimation not completed

Magnetic pole position

estimation completion output

With command

Without command

3-1-9 Control Output Details

Control Output Sequence

The chart below illustrates the timing of the command inputs after the control power supply is turned ON. Input the Servo ON/OFF operation, position, speed, and force commands in the correct timing, as shown in the chart.

*1 Once the internal control power is established, the protective function starts working about 1.5 s after the MPU

starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive are stable before the protective function starts working. This is true especially for the Positive/Negative Drive Prohibition Input (POT/ NOT), the Origin Proximity Input (DEC), and the external encoder input.

*2 The Servo Ready Completed Output (READY) turns ON only when all of these conditions are met: MPU initial-

ization is completed. The main power supply is established. No error exists. EtherCAT communications and servo are synchronized (phase alignment).

*3 If general-purpose output signals are used as NO contact, wait at least 3.3 seconds after the control power is turned ON.

*4 The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.

*5 The Brake Interlock Output (BKIR) turns ON either when a release request is received via servo controls or

when a release request is received via EtherCAT communications.

*6 The magnetic pole position estimation completion output is enabled. The Magnetic Pole Position Detection

Method (3920 hex) is set to 2 (Magnetic pole position estimation method).

3-12

*7 The Magnetic Pole Position Estimation Command Time changes with the servo parameter object settings. Make sure that the

magnetic pole position estimation completion output flag is turned "ON" before executing the command. If magnetic pole position estimation is not completed successfully, the magnetic pole position estimation completion flag will not turn "ON".

*8 The magnetic pole position estimation completion output is disabled. The Magnetic Pole Position Detection Method

(3920 hex) is set to 0 (Not specified), 1 (Reserved), or 3 (Magnetic pole position restoration method).

*9 Although the servo ON operation is accepted in this section, it is not yet enabled.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Error Output (/ALM)

3 Specifications

Pin 3: Error Output (/ALM)

Pin 4: Error Output Common (ALMCOM)

 Function

• This output is turned OFF when the drive detects an error.

• This output is OFF when the power supply is turned ON, but turns ON when the drive's initial

processing has been completed.

General-purpose Outputs (OUTM1 and OUTM2)

Pin 1: General-purpose Output 1 (OUTM1)  [Brake Interlock Output (BKIR)]

Pin 2: General-purpose Output 1 Common (OUTM1COM) Pin 25: General-purpose Output 2 (OUTM2)  [Servo Ready Output (READY)]

Pin 26: General-purpose Output 2 Common (OUTM2COM)

Note The functions that are allocated by default are given in brackets.

Refer to the description in Output Signals in 7-1 Sequence I/O Signals on page 7-2 for the allocations.

 Servo Ready Completed Output (READY)

• This output signal indicates the Drive is ready to be energized.

• It turns ON when no error is detected after the main circuit power supply turns ON.

• With the default settings, the output is allocated to pins 25 and 26.

3-1 Servo Drive Specifications

3-1-9 Control Output Details

 Brake Interlock Output (BKIR)

• The Brake Interlock Output outputs the external brake timing signal according to the settings of

the Brake Timing When Stopped (3437 hex), the Brake Timing During Operation (3438 hex), and the Brake Threshold Speed During Operation (3439 hex).

• With the default settings, the output is allocated to pins 1 and 2.

 Positioning Completion Output (INP1, INP2)

• INP1 turns ON when the position error is equal to or less than Position window (6067 hex).

• INP2 will turn 3 ON when the position error is equal to or less than Positioning Completion Range

2 (3442 hex).

• This output turns ON based on the Positioning Completion Condition Selection (3434 hex).

• The output is always OFF except in the Position Control Mode.

• With the default settings, the output is not allocated.

 Motor Speed Detection Output (TGON)

• This output turns OFF when the motor speed exceeds the value set by the Speed for Motor Detec-

tion (3436 hex).

• The output is effective both in positive and negative directions regardless the actual movement direction of the motor.

• The detection contains a hysteresis of 10 mm/s.

• The output is always OFF except in the Speed Control Mode and the Force Control Mode.

• With the default settings, the output is not allocated.

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-13

3 Specifications

OFF OFFON ON

Motor movement speed [mm/s]

Motor speed

Time

3436 hex + 10

Motor Speed Detection Output (TGON)

3436 hex − 10

− (3436 hex − 10)

− (3436 hex + 10)

Speed

Negative

direction

(3434 hex + 10) mm/s

Positive

direction

(3434 hex - 10) mm/s

Zero Speed Detection (ZSP)

 Force Limiting Signal (TLIMT)

• The output turns ON when the output force reaches the limit set in the Positive torque limit value

(60E0 hex) or the Negative torque limit value (60E1 hex).

• With the default settings, the output is not allocated.

 Zero Speed Detection Output (ZSP)

• This output turns ON when the motor speed goes below the value set in the Zero Speed Detection

(3434 hex).

• The output is effective both in positive and negative directions regardless of the actual direction that the motor rotates.

• The detection contains a hysteresis of 10 mm/s.

• With the default settings, the output is not allocated.

 Speed Conformity Output (VCMP)

• This output turns ON when the motor speed falls into the range set in the Speed Conformity

Detection Range (3435 hex).

• It is determined to be conforming when the difference between the commanded speed before acceleration or deceleration process inside the Drive and the motor speed is within the set range of Speed Conformity Detection Range (3435 hex).

• The detection contains a hysteresis of 10 mm/s.

• The output is always OFF except in the Speed Control Mode and the Force Control Mode.

• With the default settings, the output is not allocated.

3-14

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3 Specifications

Speed [mm/s]

Speed command after acceleration or deceleration process

Speed command

Motor speed

ON ON OFF OFF

Speed Conformity Detection Range (3435 hex)

Speed Conformity Detection Range (3435 hex)*

Speed Conformity Detection Range (3435 hex)

Time

Speed Conformity Output (VCMP)

*1 Because the Speed Conformity Detection Range has a hysteresis of 10 mm/s, the actual detection range is as

follows: Threshold for transition from OFF to ON: (3435 hex - 10) mm/s Threshold for transition from ON to OFF: (3435 hex + 10) mm/s

3-1 Servo Drive Specifications

3-1-9 Control Output Details

 Warning Outputs (WARN1 and WARN2)

• The Warning Output 1 (WARN1) turns ON when the warning set by the Warning Output Selection

1 (3440 hex) is detected.

• The Warning Output 2 (WARN2) turns ON when the warning set by the Warning Output Selection 2 (3441 hex) is detected.

• With the default settings, the outputs are not allocated.

 Position Command Status Output (PCMD)

• This output turns ON when the position command is in the Profile Position Mode.

• The output is always OFF except in the Profile Position Mode (pp).

• With the default settings, the outputs are not allocated.

 Speed Limiting Output (VLIMT)

• This output turns ON when the motor speed reaches the limit set in the Speed Limit Value Setting

(3321 hex).

• The output is always OFF except in the Force Control Mode.

• With the default settings, the outputs are not allocated.

 Error Clear Attribute Output (ALM-ATB)

• This output turns ON when an error that can be reset occurs.

• With the default settings, the output is not allocated.

 Speed Command Status Output (VCMD)

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

• This output turns ON when the speed command is in the Speed Control Mode.

• The output is always OFF except in the Speed Control Mode.

• With the default settings, the outputs are not allocated.

3-15

3 Specifications

 Remote Outputs (R-OUT1 and R-OUT2)

• Remote Output 1 (R-OUT1) turns ON and OFF according to the ON/OFF status of bit 16 in the

Digital outputs (60FE hex).

• Remote Output 2 (R-OUT2) turns ON and OFF according to the ON/OFF status of bit 17 in the Digital outputs (60FE hex).

• With the default settings, the output is not allocated.

 Magnetic Pole Position Estimation Completion Output (CS-CMP)

• This output turns ON when the magnetic pole position estimation is completed.

• With the default settings, the output is not allocated.

3-1-10 External Encoder Specifications

These are the specifications of the external encoder that can be used in conjunction with the Servo Drive.

Item Specifications

Resolution

Maximum length

Encoder type • Phase A/B, origin signal differential input

Supported encoder speed

External Encoder Cable

0.01 to 10 [m/ pulse]

Resolution x (2

• AT573A, ST770A, and ST770AL by Mitutoyo Corporation

• SR75, SR77, SR85, and SR87 by Magnescale Co., Ltd

• Phase A/B type (90° phase difference input)

• Serial communications type

Cable specifications : Shielded twisted-pair cable

Maximum cable length : 20 m

-1) or less

: to 4 Mpps

: to 400 Mpps

*1 Set the number of pulses per magnetic pole pitch (or one cycle of electrical angle) to at least 2048 pulses.

*2 This represents the encoder speed supported on the Servo Drive. Check separately the external encoder

operation manual for its supported speed.

*3 For the external encoder signal cable, use a shielded twisted-pair cable with 0.18 mm

*4 We recommend you to use a 5 V power supply with the double wiring technique to reduce the effects of a volt-

age drop if the wiring length is long.

or thicker core wires.

3-16

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-1-11 External Encoder Connector Specifications (CN4)

t1 > 0.25μs t2 > 1.0μs

EXA

EXB

These are the specifications of the connector that connect with the external encoder.

Pin No. Symbol Name Function and interface

1 E5V External encoder power

supply output

2 E0V This is connected to the control circuit ground connected to

3 EXS External encoder signal 4 EXS

5 EXA External encoder signal

6 EXA

7 EXB

serial interface I/O

(serial signal)

90 phase difference input

(Phases A, B and Z)

External encoder power supply: 5.0 VDC  5%, 250 mA max.

If the above capacity is exceeded, provide an appropriate power supply.

connector CN1.

This is an external encoder serial bi-directional signal.

(Conforms to EIA485)

Maximum response frequency: 400 Mpps

This is an external encoder 90° phase difference input signal.

Maximum response frequency: 4 Mpps (quadruple multiplier)

3 Specifications

3-1 Servo Drive Specifications

3-1-11 External Encoder Connector Specifications (CN4)

8 EXB

9 EXZ

10 EXZ

Shell FG Frame ground Frame ground

*1 Connect external encoder signals to the serial interface (EXS/EXS) or 90 phase difference inputs according

to the encoder type.

 Connectors for CN4 (10 Pins)

Name Model Manufacturer OMRON model number

MUF Connector MUF-PK10K-X J.S.T. Mfg. Co., Ltd. R88A-CNK41L

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-17

3 Specifications

5.0 V ±5%

250 mA max

+EXZ

-EXZ910

-EXA

+EXA

GND

E5 V

5 V

E0 V

+EXB

-EXB

7 8

120 Ω

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

+EXS

-EXS34

680 Ω

120 Ω

PULS

Shell

Phase B

Phase A

Phase Z

Serial signal

External encoder

power supply output

Connection of External Encoder Input Signals and Processing of External Signals

3-18

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Example of Connection with External Encoder

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

+5 V

0 V

/PA

/PB

/PC

-EXB

+EXB

5.0 V ±5% 250 mA max

-EXA

+EXA

GND

E5 V

5 V

E0 V

+EXZ

-EXZ

Servo Drive side (CN4)

External encoder side

Power supply area

PULS

Shell

Phase B

Phase Z

Phase A

+EXS

-EXS

GND

E5 V

5 V

E0 V

680 Ω

120 Ω

+5 V

SD/RQ

-SD/-RQ

0 V

Serial signal

Magnescale by Magnescale Co., Ltd Scale Unit SR75/SR85

Shell

Servo Drive side (CN4)

 90 Phase Difference Input (3323 Hex = 0)

3 Specifications

3-1 Servo Drive Specifications

3-1-11 External Encoder Connector Specifications (CN4)

 Serial Communications, Incremental Type External Encoder (3323 Hex = 1)

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-19

3 Specifications

+5 V

+EXS

-EXS

GND

E5 V

5 V

E0 V

GND

680 Ω

120 Ω

RQ/DT

Serial signal

Absolute Linear Scale by Mitutoyo Corporation AT573A/ST770A/ST770AL

Shell

Servo Drive side (CN4)

 Serial Communications, Absolute Type External Encoder (3323 Hex = 2)

Magnescale by Magnescale Co., Ltd Scale Unit SR77/SR87

Serial signal

Shell

+5 V

0 V

SD/RQ

-SD/-RQ

Servo Drive side (CN4)

5 V

E5 V

E0 V

680 Ω

+EXS

120 Ω

-EXS 680 Ω

Shell

GND

3-20

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-1-12 Analog Monitor Connector Specifications (CN5)

Servo Drive

Monitor equipment

GND

1/2 AM1/AM2

1 kΩ

3 Specifications

Monitor Output Signal Table

 Monitor Output (CN5)

Pin No. Symbol Name Function and interface

1 AM1 Analog monitor output 1 Outputs the analog signal for the monitor.

Default setting: Motor speed 1 V/(500 mm/s)

You can use objects 3416 hex and 3417 hex to change the item and unit.

You can use object 3421 hex to change the output method.

2 AM2 Analog monitor output 2 Outputs the analog signal for the monitor.

Default setting: Force command 1 V/(33 %)

You can use objects 3418 hex and 3419 hex to change the item and unit.

You can use object 3421 hex to change the output method.

3 GND Analog monitor ground Ground for analog monitors 1, 2 4  Not used Do not connect. 5  Not used Do not connect. 6  Not used Do not connect.

 Connectors for CN5 (6 pins)

3-1 Servo Drive Specifications

3-1-12 Analog Monitor Connector Specifications (CN5)

Name Model Manufacturer

Connector housing 51004-0600 Molex Japan

Connector terminal 50011-8000 Molex Japan

Monitor Output Circuit

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-21

3 Specifications

Precautions for Correct UsePrecautions for Correct Use

3-1-13 USB Connector Specifications (CN7)

Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking error status and error history, and parameter saving and loading can be performed.

Pin No. Symbol Name Function and interface

1 VBUS USB signal terminal Use this function for computer communication. 2D 3D 4  Reserved for manufacturer use Do not connect.

5 SENGND Signal ground Signal ground

• Use a commercially available USB cable that is shielded, equipped with a ferrite core for noise immunity, and supports USB2.0. The Mini B type USB cable can be used.

3-22

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-1-14 Safety Connector Specifications (CN8)

SF1+

External power supply 12 VDC ± 5% to 24 VDC ± 5%

SF1-

SF2+

External power supply 12 VDC ± 5% to 24 VDC ± 5%

SF2-

EDM+

EDM-

10 Ω

4.7 kΩ

1 kΩ

4.7 kΩ

1 kΩ

Maximum service voltage: 30 VDC or less Maximum output current: 50 mADC

Shell

Leakage current:

0.1 mA max. Residual voltage:

1.7 V max.

3 Specifications

Connection of Safety I/O Signals and Processing of External Signals

3-1 Servo Drive Specifications

3-1-14 Safety Connector Specifications (CN8)

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Safety I/O Signal Table

 Safety I/O (CN8)

Pin No. Symbol Name Function and interface

1  Reserved Do not connect. 2  3SF1 Safety input 1 Inputs 1 and 2 for operating the STO function, which are 2 4SF1 5SF2 Safety input 2 6SF2 7EDM EDM output A monitor signal is output to detect a safety function failure. 8EDM

Shell FG Frame ground Connected to the ground terminal inside the Servo Drive.

 Connector for CN8 (8 pins)

Name Model Manufacturer OMRON model number

Industrial Mini I/O Connector

(D-SHAPE1)

Note The recommended cable is a 6-core shielded cable with a wire size of AWG30 to AWG26 and a finished

outer diameter of 6.7 mm or less.

2013595-1 Tyco Electronics AMP KK R88A-CNK81S

independent circuits. This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor.

3-23

3 Specifications

Servo Drive

External power supply

12 VDC ± 5% to 24 VDC ± 5%

Signal level ON level: 10 V min. OFF level: 3 V max.

4.7 kΩ

1.0 kΩ

SF1+ 4

SF1- 3

SF2+ 6

SF2- 5

Photocoupler input

4.7 kΩ

1.0 kΩ

Photocoupler input

External power supply 12 to 24 VDC Maximum service voltage: 30 VDC or less Maximum output current: 50 mA max. Leakage current: 0.1 mA max. Residual voltage: 1.7 V max.

Di: Surge voltage prevention diode (Use a high-speed diode.)

7 -EDM

8 +EDM

10 Ω

Servo Drive

Safety Input Circuits

EDM Output Circuit

Note When driving a relay directly with an output signal, always insert a diode as shown in the above figure.

3-24

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3 Specifications

115

100 150 200 250 300 350 400 450 500

0.1

100

1000

3929 hex=0 3929 hex=1 3929 hex=2 3929 hex=3 3929 hex=4 3929 hex=5 3929 hex=6 3929 hex=7

3929 hex=5, 6

Time [s]

Force [%]

3-2 Overload Characteristics (Electronic

Thermal Function)

An overload protection function (electronic thermal) is built into the Servo Drive to protect the drive and linear motor from overloading.

Overload protection will be activated according to the timing characteristic if the feedback value for the force command exceeds the overload level.

Set the overload level in the Overload Detection Level Setting (3512 hex) and the timing characteristic in the Motor Overload Curve Selection (3929 hex), respectively. Be sure that these settings conform to the environment in which the Servo Drive is used.

Index Name Unit Setting range Explanation Reference

3512 hex Overload

Detection Level Setting

3929 hex Motor Overload

Curve Selection

% 0 to 500 Set the overload detection level.

If set to 0, the overload level will be 115%. If set to 115 or higher, this will be restricted internally to 115%.

 0 to 7 Select one of the eight motor overload

characteristic curves.

If set to 0, the standard motor overload characteristic curve will be selected.

page 9-39

page 9-64

3-2 Overload Characteristics (Electronic Thermal

Function)

If an overload does occur, first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again. If the error reset is repeated at short intervals, the motor may burn out.

The following graphs show the motor overload characteristic curves that can be selected in the Motor Overload Curve Selection (3929 hex), where the horizontal axis represents the load ratio and the vertical axis represents electronic thermal operation time.

 When Overload Detection Level Setting is 100%

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

3-25

3 Specifications

Precautions for Correct UsePrecautions for Correct Use

Additional Information

0.1

100

1000

100 150 200 250 300 350 400 450 500

115

3929 hex=0 3929 Hex=1 3929 Hex=2 3929 Hex=3 3929 Hex=4 3929 Hex=5 3929 Hex=6 3929 Hex=7

3929 hex=5, 6

Force (%)

Time (s)

 When Overload Detection Level Setting is 115%

If a constant force command is continuously applied after a period of time equivalent to 3 or more times the overload time constant with the force command value set to 0, the overload time t [s] will be:

t [s] = -Overload time constant [s] x log

(1 - Overload level [%]/Force command [%])

• The overload protection function is not designed to provide protection against errors caused by heat generated by the motor.

• If you improperly set the Motor Overload Curve Selection (3929 hex) value too high, the Motor Coil Unit may burn. Check in the actual operating environment to be sure that no problem occurs due to heat generated by the motor or other causes before using the Servo Drive.

The overload time constant [s] depends on the linear motor. The standard overload level is 100%.

3-26

G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Omron R88D-KN User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

G5-series WITH BUILT-IN EtherCAT COMMUNICATIONS Linear Motor Type

Introduction

Structure of This Document

Manual Structure

Sections in this Manual

CONTENTS

Read and Understand this Manual

Safety Precautions

Regulations and Standards

Items to Check after Unpacking

Revision History

1-1 Outline

1-1-1 Features of G5-series Servo Drives

1-1-2 What is EtherCAT?

1-1-3 Object Dictionary

1-2 System Configuration

1-3 Names and Functions

1-3-1 Servo Drive Part Names

1-3-2 Servo Drive Functions

1-4 System Block Diagram

2-1 Servo System Configuration

2-2 How to Read Model Numbers

2-2-1 Servo Drive

2-3 Model Tables

2-3-1 Servo Drive Model Table

2-3-2 Cable and Peripheral Device Model Tables

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

2-4-2 External Regeneration Resistor Dimensions

2-4-3 Reactor Dimensions

2-4-4 Mounting Bracket Dimensions

3-1 Servo Drive Specifications

3-1-1 General Specifications

3-1-2 Characteristics

3-1-3 EtherCAT Communications Specifications

3-1-4 EtherCAT Communications Connector Specifications (RJ45)

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

3-1-7 Control Input Details

3-1-6 Control Input Circuits

3-1-8 Control Output Circuits

3-1-9 Control Output Details

3-1-10 External Encoder Specifications

3-1-11 External Encoder Connector Specifications (CN4)

3-1-12 Analog Monitor Connector Specifications (CN5)

3-1-13 USB Connector Specifications (CN7)

3-1-14 Safety Connector Specifications (CN8)