Omron R88D-KN User Manual

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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

+ 540 hidden pages

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