Omron R88D-KN04L-ECT-R, R88D-KN01L-ECT-R, R88D-KN02L-ECT-R, R88D-KN02H-ECT-R, R88D-KN01H-ECT-R User Manual
...
Cat. No. I573-E1-03
USER’S MANUAL
OMNUC G5 SERIES
R88M-K@
(AC Servomotors)
R88D-KN@-ECT-R
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN EtherCAT COMMUNICATIONS
Trademarks and Copyrights
•
EtherCAT is registered trademark and patented technology, licensed by Bechhoff Automation
GmbH, Germany.
•
Other system names and product names that appear in this manual are the trademarks or
registered trademarks of the relevant companies.
OMRON, 2010
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.
Introduction
Thank you for purchasing an OMNUC 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
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.
Introduction
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
z Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and
workmanship for a period of twelve months from the date of sale by Omron (or such other
period expressed in writing by Omron). Omron disclaims all other warranties, express or
implied.
z Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED,
ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF
THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any intellectual property right.
z Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form
originally shipped with Buyer responsible for labor charges for removal or replacement
thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or
credit Buyer an amount equal to the purchase price of the non-complying Product; provided
that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims
or expenses regarding the Products unless Omron’s analysis confirms that the Products were
properly handled, stored, installed and maintained and not subject to contamination, abuse,
misuse or inappropriate modification. Return of any Products by Buyer must be approved in
writing by Omron before shipment. Omron Companies shall not be liable for the suitability or
unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be
construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL
LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS
BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product
on which liability is asserted.
2
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents
identifying ratings and limitations of use which apply to the Product. This information by itself is
not sufficient for a complete determination of the suitability of the Product in combination with the
end product, machine, system, or other application or use. Buyer shall be solely responsible for
determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE
OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN
DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY
RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
Terms and Conditions Agreement
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in determining suitability and does not constitute a warranty. It may represent
the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change part numbers when published ratings or features
are changed, or when significant construction changes are made. However, some specifications
of the Product may be changed without any notice. When in doubt, special part numbers may be
assigned to fix or establish key specifications for your application. Please consult with your
Omron’s representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3
Safety Precautions
Safety Precautions
To ensure that the OMNUC G5-series Servomotor and 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
in order to learn items you should know regarding the equipment as well as 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 precautions explained in this section describe important information regarding safety and must be followed
without fail.
The display of precautions in this manual and their meanings are explained below.
Indicates an imminently hazardous situation which,
DANGER
if not avoided, will result in death or serious injury.
Additionally, there may be severe property damage.
Caution
Even those items denoted by the caution symbol may lead to a serious outcome depending on the
situation. Accordingly, be sure to observe all safety precautions.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure proper operation and
performance.
Reference
Indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
This symbol indicates danger and caution.
Indicates a potentially hazardous situation which,
if not avoided, may result in minor or moderate
injury, or property damage.
Example of symbols
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “beware of electric shock.”
This symbol indicates a prohibited item (an item you must not do).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “disassembly prohibited,”
This symbol indicates a compulsory item (an item that must be done).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “grounding required,”
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Precautions
Precautions for Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the
purpose 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.
DANGER
Be sure to ground the frame ground terminals of the Servo Drive and Servomotor to 100 Ω
or less.
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 power supply 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.
Never touch the rotating part of the Servomotor during operation.
Injury may result.
Never modify the Servo Drive.
Injury or equipment damage may result.
Install a stopping device on the machine to ensure safety.
* The holding brake is not a stopping device to ensure safety.
Injury may result.
Install an immediate stop device externally to the machine so that the operation can be
stopped and the power supply 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.
Never drive the Servomotor using an external drive source.
Fire may result.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5
Safety Precautions
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.
Do not use the cable when it is laying in oil or water.
Electric shock, injury, or fire may result.
Never connect a commercial power supply directly to the Servomotor.
Fire or failure may result.
DANGER
Do not perform wiring or any operation with wet hands.
Electric shock, injury, or fire may result.
Do not touch the key grooves with bare hands if a Servomotor with shaft-end key grooves is
being used.
Injury may result.
Caution
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.
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.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Storage and Transportation
When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft.
Injury or failure may result.
Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product
label.)
Injury or failure may result.
Use the Servomotor eye-bolts only when transporting the Servomotor.
Do not use them to transport the machine.
Injury or failure may result.
Safety Precautions
Caution
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7
Safety Precautions
Installation and Wiring
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo
Drive.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control
panel or other equipment.
Fire or failure may result.
Do not apply strong impact on the Servomotor shaft or Servo Drive.
Failure may result.
Caution
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.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire 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.
Provide safety measures, such as a breaker, to protect against short circuiting of external
wiring.
Fire 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.
When connecting the battery, make sure the polarity is correct.
Battery damage or explosion may result.
8
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Operation and Adjustment
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 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.
Safety Precautions
Caution
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 use the built-in brake of the Servomotor for normal braking operation.
Failure may result.
Do not operate the Servomotor connected to an excessive load inertia.
Failure may result.
Install safety devices to prevent idling or locking of the electromagnetic brake or the gear
head, or leakage of grease from the gear head.
Injury, damage, or taint damage result.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
Maintenance and Inspection
Caution
After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume
operation, before restarting operation.
Equipment damage may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury 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.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Safety Precautions
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.
Warning label display location
VOLTAGE
PHASE
F L C
FREQ
POWER
SERIAL No.
OMRON Corporation
INPUT OUTPUT
100~120V
1Ø 3Ø
2.6A
50/60H
z
A09080004
0-120V
1.7A
0~500.0Hz
100W
MADE IN JAPAN
(R88D-KN02H-ECT-R)
Instructions on Warning Label
Disposal
• When disposing of the battery, insulate it using tape, and dispose of it by following the applicable
ordinances of your local government.
• Dispose of the Servo Drive as industrial waste.
10
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Items to Check after Unpacking
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
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
600 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
Connector for main circuit
power supply terminals and
control circuit power supply
terminals
Connector for External
Regeneration Resistor
connection terminals and
Motor connection terminals
Included
− Included
Included
− Included
Safety bypass
connector
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Revision History
Revision History
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
Cat. No.
Revision
code
01 March 2010 Original production
02 October 2010 Added models and made corrections.
03 July 2014 Added information and made corrections.
Revision Date Revised content
I573-E1-03
Revision code
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring the following table.
Structure of This Document
Outline
Chapter 1 Features and
System
Configuration
Chapter 2 Standard Models
and External
Dimensions
Chapter 3 Specifications This chapter provides the general specifications, characteristics,
Chapter 4 System Design This chapter explains the installation conditions for the Servo Drive,
Chapter 5 EtherCAT
Communications
Chapter 6 CiA 402 Drive
Profile
Chapter 7 Applied
Functions
Chapter 8 Safety Function This chapter gives an outline of application functions, such as
Chapter 9 Details on Servo
Parameters and
Objects
Chapter 10 Operation This chapter gives the operating procedures and explains how to
Chapter 11 Adjustment
Functions
This chapter explains the features of the Servo Drive, name of each
part, and applicable EC Directives and UL standards.
This chapter explains the models of Servo Drives, Servomotors, 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 Servomotors and other peripheral devices.
Servomotor, and Decelerator, wiring methods including wiring
conforming to EMC Directives and regenerative energy calculation
methods as well as the performance of External Regeneration
Resistors.
This chapter describes EtherCAT communications under the
assumption that the Servo Drive is connected to a CJ1W-NC281/
NC481/NC881/NCF81/NC482/NC882 Position Control Unit.
This chapter describes the profile that is used to control the Servo
Drive.
This chapter outlines the applied functions such as the electronic gear,
gain switching and soft start, and explains the settings.
electronic gears, gain switching, and soft start, and explains the
settings.
This chapter explains the set values and contents of each object.
operate in each mode.
This chapter explains the functions, setting methods, and items to note
regarding various gain adjustments.
Chapter 12 Troubleshooting
and Maintenance
Appendix The appendix provides a list of objects and EtherCAT terminology.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
This chapter 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.
13
Table Of Contents
Introduction ............................................................................................1
Terms and Conditions Agreement .........................................................2
Safety Precautions.................................................................................4
Items to Check after Unpacking...........................................................11
Revision History...................................................................................12
Structure of This Document .................................................................13
Chapter 1 Features and System Configuration
1-1 Outline ................................................................................................... 1-1
Outline of the OMNUC G5 Series................................................................................ 1-1
Features of OMNUC G5-series Servo Drives.............................................................. 1-1
What Is EtherCAT?...................................................................................................... 1-2
Object Dictionary ......................................................................................................... 1-2
1-2 System Configuration ............................................................................ 1-3
1-3 Names and Functions............................................................................ 1-4
Servo Drive Part Names.............................................................................................. 1-4
Servo Drive Functions ................................................................................................. 1-5
1-4 System Block Diagram .......................................................................... 1-6
1-5 Applicable Standards........................................................................... 1-11
EC Directives............................................................................................................. 1-11
UL and cUL Standards .............................................................................................. 1-12
Chapter 2 Models and External Dimensions
2-1 Servo System Configuration .................................................................. 2-1
2-2 How to Read Model Numbers................................................................ 2-3
Servo Drive.................................................................................................................. 2-3
Servomotors ................................................................................................................ 2-4
2-3 Model Tables ......................................................................................... 2-5
Servo Drive Model Table ............................................................................................. 2-5
Servomotor Model Tables ........................................................................................... 2-6
Servo Drive and Servomotor Combination Tables .................................................... 2-10
Cable and Peripheral Device Model Tables .............................................................. 2-12
2-4 External and Mounting Dimensions ..................................................... 2-21
Servo Drive Dimensions ............................................................................................ 2-21
Servomotor Dimensions ............................................................................................ 2-31
External Regeneration Resistor Dimensions ............................................................. 2-50
2-5 EMC Filter Dimensions ........................................................................ 2-51
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
Chapter 3 Specifications
3-1 Servo Drive Specifications......................................................................3-1
General Specifications................................................................................................. 3-1
Characteristics............................................................................................................. 3-2
EtherCAT Communications Specifications.................................................................. 3-6
Main Circuit and Motor Connections ........................................................................... 3-7
EtherCAT Communications Connector Specifications (RJ45) .................................. 3-12
Control I/O Connector Specifications (CN1).............................................................. 3-13
Control Input Circuits ................................................................................................. 3-16
Control Input Details .................................................................................................. 3-17
Control Output Circuits .............................................................................................. 3-19
Control Output Details ............................................................................................... 3-20
Encoder Connector Specifications (CN2).................................................................. 3-23
External Encoder Connector Specifications (CN4).................................................... 3-23
Analog Monitor Connector Specifications (CN5) ....................................................... 3-27
USB Connector Specifications (CN7)........................................................................ 3-28
Safety Connector Specifications (CN8) ..................................................................... 3-29
3-2 Overload Characteristics (Electronic Thermal Function) ......................3-31
Overload Characteristics Graphs .............................................................................. 3-31
3-3 Servomotor Specifications....................................................................3-32
General Specifications............................................................................................... 3-32
Characteristics........................................................................................................... 3-33
Encoder Specifications .............................................................................................. 3-56
3-4 Cable and Connector Specifications ....................................................3-57
Encoder Cable Specifications.................................................................................... 3-57
Absolute Encoder Battery Cable Specifications ........................................................ 3-59
Motor Power Cable Specifications............................................................................. 3-60
Connector Specifications........................................................................................... 3-67
EtherCAT Communications Cable Specifications ..................................................... 3-70
Analog Monitor Cable Specifications......................................................................... 3-73
Control Cable Specifications ..................................................................................... 3-75
3-5 External Regeneration Resistor Specifications ....................................3-80
External Regeneration Resistor Specifications ......................................................... 3-80
3-6 EMC Filter Specifications .....................................................................3-82
Chapter 4 System Design
4-1 Installation Conditions ............................................................................4-1
Servo Drive Installation Conditions.............................................................................. 4-1
Servomotor Installation Conditions.............................................................................. 4-2
Decelerator Installation Conditions.............................................................................. 4-5
4-2 Wiring .....................................................................................................4-6
Peripheral Equipment Connection Examples.............................................................. 4-6
Main Circuit and Motor Connections ......................................................................... 4-12
4-3 Wiring Conforming to EMC Directives ..................................................4-20
Wiring Method ........................................................................................................... 4-20
Selecting Connection Component ............................................................................. 4-27
4-4 Regenerative Energy Absorption..........................................................4-41
Calculating the Regenerative Energy ........................................................................ 4-41
Servo Drive Regeneration Absorption Capacity ........................................................ 4-43
Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-44
Connecting an External Regeneration Resistor ........................................................ 4-45
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
15
Table Of Contents
Chapter 5 EtherCAT Communications
5-1 Display Area and Settings ..................................................................... 5-1
Node Address Setting.................................................................................................. 5-1
Status Indicators.......................................................................................................... 5-2
5-2 Structure of the CAN Application Protocol over EtherCAT .................... 5-3
5-3 EtherCAT State Machine ....................................................................... 5-4
5-4 Process Data Objects (PDOs) ............................................................... 5-5
PDO Mapping Settings ................................................................................................ 5-5
Sync Manager PDO Assignment Settings ................................................................... 5-6
Fixed PDO Mapping .................................................................................................... 5-6
5-5 Service Data Objects (SDOs) ................................................................ 5-7
Abort Codes................................................................................................................. 5-7
5-6 Synchronization with Distributed Clocks................................................ 5-8
Communications Cycle (DC Cycle) ............................................................................. 5-8
5-7 Emergency Messages ........................................................................... 5-9
Chapter 6 Drive Profile
6-1 Controlling the State Machine of the Servo Drive.................................. 6-1
State Machine.............................................................................................................. 6-1
6-2 Modes of Operation ............................................................................... 6-4
6-3 Cyclic Synchronous Position Mode ....................................................... 6-5
Related Objects ........................................................................................................... 6-6
Block Diagram for Position Control Mode.................................................................... 6-7
6-4 Torque Limit........................................................................................... 6-8
Related Objects ........................................................................................................... 6-8
6-5 Touch Probe Function (Latch Function) ................................................ 6-9
Related Objects ........................................................................................................... 6-9
Trigger Signal Settings ................................................................................................ 6-9
Operation Sequences................................................................................................ 6-10
6-6 Fully-closed Control ............................................................................. 6-12
Outline of Operation .................................................................................................. 6-12
Objects Requiring Settings ........................................................................................ 6-13
Parameter Block Diagram for Fully-closed Control Mode ......................................... 6-18
6-7 Object Dictionary ................................................................................. 6-19
Object Dictionary Area............................................................................................... 6-19
Data Types ................................................................................................................ 6-19
Object Description Format ......................................................................................... 6-20
Communication Objects ............................................................................................ 6-21
PDO Mapping Objects............................................................................................... 6-27
Sync Manager Communication Objects .................................................................... 6-29
Manufacturer Specific Objects................................................................................... 6-33
Servo Drive Profile Object ......................................................................................... 6-36
Reserved Objects ...................................................................................................... 6-52
6-8 Connecting with OMRON Controllers .................................................. 6-53
Related Objects ......................................................................................................... 6-53
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
Chapter 7 Applied Functions
7-1 Sequence I/O Signals.............................................................................7-1
Input Signals................................................................................................................ 7-1
Output Signals ............................................................................................................. 7-4
7-2 Forward and Reverse Drive Prohibition Functions .................................7-6
Objects Requiring Settings .......................................................................................... 7-6
7-3 Overrun Protection .................................................................................7-9
Operating Conditions................................................................................................... 7-9
Objects Requiring Settings .......................................................................................... 7-9
Operation Example.................................................................................................... 7-10
7-4 Backlash Compensation.......................................................................7-11
Objects Requiring Settings ........................................................................................ 7-11
7-5 Brake Interlock......................................................................................7-13
Objects Requiring Settings ........................................................................................ 7-13
Operation Timing ....................................................................................................... 7-14
7-6 Electronic Gear Function ......................................................................7-18
Objects Requiring Settings ........................................................................................ 7-18
Operation Example.................................................................................................... 7-20
7-7 Torque Limit Switching .........................................................................7-21
Operating Conditions................................................................................................. 7-21
Objects Requiring Settings ........................................................................................ 7-21
7-8 Gain Switching Function.......................................................................7-23
Objects Requiring Settings ........................................................................................ 7-24
Gain Switching........................................................................................................... 7-25
Diagrams of Gain Switching Setting .......................................................................... 7-27
7-9 Gain Switching 3 Function....................................................................7-30
Operating Conditions................................................................................................. 7-30
Objects Requiring Settings ........................................................................................ 7-30
Operation Example.................................................................................................... 7-31
Chapter 8 Safety Function
8-1 Safe Torque OFF Function.....................................................................8-1
I/O Signal Specifications.............................................................................................. 8-2
8-2 Operation Example.................................................................................8-4
8-3 Connection Examples.............................................................................8-6
Chapter 9 Details on Servo Parameter Objects
9-1 Basic Settings.........................................................................................9-1
9-2 Gain Settings..........................................................................................9-6
9-3 Vibration Suppression Settings ............................................................9-15
9-4 Analog Control Objects.........................................................................9-21
9-5 Interface Monitor Settings.....................................................................9-24
9-6 Extended Objects .................................................................................9-32
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
17
Table Of Contents
9-7 Special Objects.................................................................................... 9-38
9-8 Reserved Objects ................................................................................ 9-50
Chapter 10Operation
10-1 Operational Procedure......................................................................... 10-1
10-2 Preparing for Operation ....................................................................... 10-2
Items to Check Before Turning ON the Power Supply .............................................. 10-2
Turning ON the Power Supply................................................................................... 10-3
Checking the Displays ............................................................................................... 10-4
Absolute Encoder Setup............................................................................................ 10-6
Setting Up an Absolute Encoder from the CX-Drive.................................................. 10-6
10-3 Trial Operation ..................................................................................... 10-7
Preparations for Trial Operation ................................................................................ 10-7
Test Operation via USB Communications from the CX-Drive ................................... 10-8
Chapter 11Adjustment Functions
11-1 Analog Monitor..................................................................................... 11-1
Objects Requiring Settings ........................................................................................ 11-1
11-2 Gain Adjustment .................................................................................. 11-4
Purpose of the Gain Adjustment................................................................................ 11-4
Gain Adjustment Methods ......................................................................................... 11-4
Gain Adjustment Procedure ...................................................................................... 11-5
11-3 Realtime Autotuning ............................................................................ 11-6
Objects Requiring Settings ........................................................................................ 11-7
Setting Realtime Autotuning ...................................................................................... 11-7
Setting Machine Rigidity ............................................................................................ 11-8
11-4 Manual Tuning ................................................................................... 11-13
Basic Settings.......................................................................................................... 11-13
11-5 Damping Control................................................................................ 11-15
Outline of Operation ................................................................................................ 11-15
Objects Requiring Settings ...................................................................................... 11-15
11-6 Adaptive Filter.................................................................................... 11-18
Objects Requiring Settings ...................................................................................... 11-19
Operating Procedure ............................................................................................... 11-20
11-7 Notch Filters....................................................................................... 11-21
Objects Requiring Settings ...................................................................................... 11-22
11-8 Disturbance Observer Function ......................................................... 11-24
Operating Conditions............................................................................................... 11-24
Objects Requiring Settings ...................................................................................... 11-25
Operating Procedure ............................................................................................... 11-25
11-9 Friction Torque Compensation Function............................................ 11-26
Operating Conditions............................................................................................... 11-26
Objects Requiring Settings ...................................................................................... 11-26
Operation Example.................................................................................................. 11-27
18
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
11-10 Hybrid Vibration Suppression Function .............................................11-28
Operating Conditions............................................................................................... 11-28
Objects Requiring Settings ...................................................................................... 11-28
Operating Procedure ............................................................................................... 11-28
11-11 Feed-forward Function ......................................................................11-29
Objects Requiring Settings ...................................................................................... 11-29
Operating Procedure ............................................................................................... 11-30
11-12 Instantaneous Speed Observer Function ..........................................11-32
Operating Conditions............................................................................................... 11-32
Objects Requiring Settings ...................................................................................... 11-32
Operating Procedure ............................................................................................... 11-33
Chapter 12Troubleshooting and Maintenance
12-1 Troubleshooting....................................................................................12-1
Preliminary Checks When a Problem Occurs ........................................................... 12-1
Precautions When a Problem Occurs ....................................................................... 12-2
Replacing the Servomotor or Servo Drive ................................................................. 12-2
12-2 Warnings ..............................................................................................12-4
Related Objects ......................................................................................................... 12-4
Warning List............................................................................................................... 12-5
12-3 Errors....................................................................................................12-7
Immediate Stop Operation at Errors........................................................................ 12-11
12-4 Troubleshooting..................................................................................12-13
Troubleshooting with Error Displays........................................................................ 12-13
Troubleshooting Using the Operation State ............................................................ 12-25
12-5 Periodic Maintenance .........................................................................12-31
Servomotor Life Expectancy.................................................................................... 12-31
Servo Drive Life Expectancy ................................................................................... 12-32
Replacing the Absolute Encoder Battery ................................................................ 12-33
Appendices
A-1 Object List.............................................................................................. A-1
A-2 EtherCAT Terminology ........................................................................ A-19
Index
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
19
Features and System Configuration
This chapter explains the features of the Servo Drive, name of each part, and
applicable EC Directives and UL standards.
1-1 Outline ...........................................................................1-1
1-2 System Configuration ..................................................1-3
1-3 Names and Functions ..................................................1-4
1-4 System Block Diagram.................................................1-6
1-5 Applicable Standards .................................................1-11
1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1
1-1 Outline
1-1 Outline
Outline of the OMNUC G5 Series
The OMNUC G5-series Servo Drives with Built-in EtherCAT Communications support 100Mbps EtherCAT.
When you use the Servo Drive with a Position Control Unit with EtherCAT interface (CJ1WNC@8@), you can create 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.
Features of OMNUC G5-series Servo Drives
OMNUC G5-series Servo Drives have the following features.
Data Transmission Using EtherCAT Communications
When you use it with a Position Control Unit with EtherCAT interface (CJ1W-NC@8@), you can
exchange all control data between the Servo Drive and the Controller through high-speed data
communications.
Since the various control commands are transmitted via data communications, Servomotor's
operational performance is maximized without being limited by interface specifications such as
the response frequency of the encoder feedback pulses.
You can use the Servo Drive's various control parameters and monitor data on a host
controller, and unify the system data for management.
Features and System Configuration
Achievement of Accurate Positioning by Fully-closed Control
Feedback from the external encoder connected to the motor is used to accurately control
positioning. Position control is not affected by deviations caused by ball screws or temperature
changes.
Wide Range of Power Supplies to Meet Any Need
The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at
overseas facilities and in wide-ranging applications and environment. Since the utilization ratio
of facility equipment also increases, the TCO (total cost of ownership) will come down.
1-1
Safe Torque OFF (STO) Function to Ensure Safety
You can cut off the motor current to stop the motor based on a signal from an emergency stop
button or other safety equipment. This can be used for an emergency stop circuit that is
compliant with safety standards without using an external contactor. Even during the torque
OFF status, the present position of the motor is monitored by the control circuits to eliminate
the need to perform an origin search when restarting.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-1 Outline
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 rotation 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
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 is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT
technology is protected by patents.
Object Dictionary
OMNUC G5-series Servo Drives with Built-in EtherCAT Communications use the object
dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.
An object is 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
2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all
Features and System Configuration
servers for designated communications.
OMRON products.
3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all
OMNUC G5-series Servo Drives (servo
parameters).
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.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-2
1-2 System Configuration
BS
(EtherCAT
1-2 System Configuration
The system configuration for a OMNUC G5-Series AC Servo Drive with Built-in EtherCAT
Communications is shown below.
1
Controller (EtherCAT
Programmable Controller
SYSMAC CJ2
)
Position Control Unit
CJ1W-NC@8@
EtherCAT
OMNUC G5 Series
AC Servo Drive
R88D-KN@-ECT-R
Features and System Configuration
INCNCABS
OMNUC G5 Series
AC Servomotor
R88M-K@
1-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-3 Names and Functions
A
This section describes the names and functions of Servo Drive parts.
Servo Drive Part Names
The Servo Drive part names are given below.
1-3 Names and Functions
EtherCAT status indicators
Seven-segment display
nalog monitor connector (CN5)
power supply terminals
power supply terminals
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
Main circuit
(L1, L2, and L3)
Control circuit
(L1C and L2C)
Charge lamp
ADR
Rotary switches for node
address setting
USB connector (CN7)
EtherCAT communications
connector: ECAT IN
EtherCAT communications
connector: ECAT OUT
Safety connector (CN8)
Control I/O connector (CN1)
1
Features and System Configuration
Motor connection
terminals (U, V, and W)
External encoder
connector (CN4)
Protective ground terminals
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Encoder connector (CN2)
1-4
1
1-3 Names and Functions
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 5-2.
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
External Encoder Connector (CN4)
Features and System Configuration
Connector for an encoder signal used during fully-closed control.
EtherCAT Communications Connectors (ECAT IN and ECAT OUT)
These connectors are for EtherCAT communications.
Analog Monitor Connector (CN5)
You can use a special cable to monitor values, such as the motor rotation speed, torque
command value, etc.
1-5
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector installed.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-4 System Block Diagram
This is the block diagram of the OMNUC G5-series AC Servo Drive with Built-in EtherCAT
Communications.
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R
R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R
1-4 System Block Diagram
L1
L2
L3
L1C
L2C
CN A
FUSE
FUSE
FG
FUSE
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5V
±12 V
G2
+
−
+
−
SW power
supply main
circuit control
Internal
control power
supply
Volta ge
detection
Relay
drive
Regeneration
control
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Overcurrent
detection
Gate drive
Current detection
Display and
setting circuit
area
CN B
B1
B2
B3
W
1
U
V
FG
Features and System Configuration
ECAT
IN
EtherCAT
communications
connector
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
ECAT
OUT
EtherCAT
communications
connector
Control
interface
CN2 CN4 CN5 CN7
Encoder
External
encoder
Analog
monitor
CN8CN1
USB Safety
1-6
1-4 System Block Diagram
R88D-KN04L-ECT-R
R88D-KN08H-ECT-R/-KN10H-ECT-R/-KN15H-ECT-R
1
L1
L2
L3
L1C
L2C
CN A
FUSE
FUSE
FG
FUSE
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5V
±12 V
G2
+
−
+
−
SW power
supply main
circuit control
Internal
control power
supply
Volta ge
detection
Relay
drive
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Regeneration
control
Overcurrent
detection
Gate drive
Internal regeneration
resistor
Current detection
Display and
setting circuit
area
CN B
B1
B2
B3
U
V
W
FG
Axial fan
ECAT
IN
Features and System Configuration
EtherCAT
communications
connector
ECAT
OUT
EtherCAT
communications
connector
Control
interface
Encoder
CN4 CN5 CN7
External
encoder
Analog
monitor
CN8CN2CN1
USB Safety
1-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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