Omron R88D-KN04H-ECT-L, R88D-KN01H-ECT-L, R88D-KN08H-ECT-L, R88D-KN10H-ECT-L, R88D-KN06F-ECT-L User Manual

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AC SERVOMOTORS/SERVO DRIVES G5-series WITH BUIL T-IN

EtherCAT® COMMUNICATIONS Linear Motor Type

User’s Manual

R88L-EC- (Linear Motors) R88D-KN-ECT-L (AC Servo Drives)

I577-E1-04

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 a G5-series Servo Drive. This manual explains how to install and wire the Servo Drive, set parameters needed to operate the Servo Drive, an d remedies to be taken and inspection methods to be used in case that problems occur.

Intended Readers

This manual is intended for the following individuals.

Those who have electrical knowledge (certified electricians or individuals who have equivalent knowledge) and also are 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 Linear Motors/Servo Drives With Built-in EtherCAT Communications

Manual Configuration

This manual consists of the following sections.

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, wiring methods which

Section 5 EtherCAT

Communications

Section 6 Basic Control

Functions

Section 7 Applied Functions This section outlines the applied functions such as the electronic gear

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

Section 9 Servo Parameter

Objects

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

Section 11 Adjustment

Functions

Section 12 Troubleshooting

and Maintenance

Appendices The appendices provide the 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 Drive, Linear Motors, and peripheral devices, and provides the external dime nsions and mounting dimensions.

connector specifications, I/O circuits of the Servo Drives and Linear Motors, as well as specifications of other peripheral devices.

include wiring conforming to EMC directives, and regenerative energy calculation methods for the Servo Drive and Linear Motor, and also describes the performance of External Regeneration Resistors.

This section describes EtherCAT communications under the assumption that the G5-series Servo Drive is connected to the Machine Automation Controller NJ-series (Model: NJ301(Model: CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/NCF82).

This section outlines basic control functions, and explains the settings.

and gain switching, and explains the settings.

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

This section explains the settings of each object.

each mode. This section explains the functions, setting methods, and items to note

regarding various gain adjustments. This section describes the items to check when problems occur,

troubleshooting using the error displays, troubleshooting based on the operating conditions, and periodic maintenance.

control the Servo Drive, lists of objects, Sysmac error status codes, and other information.



Outline

/NJ501-



) or Position Control Unit

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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 UsePrecautions for Correct Use

The disturbance observer function may not work properly under the c onditions 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 a utotuning function is disabled operation.

•

When instantaneous speed observer function is disabled (The setting of 361 0 he x bi t 0 is “0”.).

progress.

• Dis turbance obse rver operation is disabled wh en magnetic pole position estimation is in

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 the 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 he x) , t he l e s s the lag you will have during disturbance force estimation. 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 Settings Set 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 Linear Motors/Servo Drives With Built-in EtherCAT Communications

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 an d 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 Track (the magnets on the secondary side).

In addition to these components, constr u ctin g a Lin ea r Mot or syste m 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 Track (the magnets on the secondary side)

• 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 Linear

Torque [N·m] Force [N]

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

Inertia [kg·m

] Mass [kg]

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 Linear Motors/Servo Drives With Built-in EtherCAT Communications

Features and System Configuration

Operation

Models and External Dimensions

Adjustment Functions

Specifications

Troubleshooting and Maintenance

System Design Appendices

Index

EtherCAT Communications

Basic Control Functions

Applied Functions

Safety Function

Servo Parameter Objects

Sections in this Manual

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CONTENTS

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

Manual Configuration ...............................................................................................2

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

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

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

Terms and Conditions Agreement.........................................................................12

Safety Precautions..................................................................................................14

Regulations and Standards....................................................................................24

Items to Check after Unpacking.............................................................................27

Revision History......................................................................................................30

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............................................................................................................. 1-6

1-3-1 Servo Drive Part Names ...................................................................... .......................................1-6

1-3-2 Servo Drive Functions......................................................... ... ..................................... ... .............1-7

1-4 System Block Diagram................................ ... ... ....................................... ... ............................ 1-8

1-5 Unit Versions .........................................................................................................................1-12

1-5-1 Confirmation Method.................................................................................................................1-12

1-5-2 Unit Versions........................................................................................... ... ... ............................1-12

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

2-2-2 Linear Motor..................................................... ... .. ..................................... ... ..............................2-5

2-3 Model Tables............................................................................................................................ 2-7

2-3-1 Servo Drive Model Table.............................................................................................................2-7

2-3-2 Linear Motor Model Table...........................................................................................................2-7

2-3-3 Servo Drive and Linear Motor Combination Tables....................................................................2-8

2-3-4 Cable and Peripheral Device Model Tables..............................................................................2-10

2-4 External and Mounting Dimensions..................................................................................... 2-12

2-4-1 Servo Drive Dimensions.................................................................. .. ........................................2-12

2-4-2 Linear Motor Dimensions............................................... .................................... ... ... .................2-20

2-4-3 External Regeneration Resistor Dimensions ............................................................................2-27

2-4-4 Reactor Dimensions........................................................................................... ... ... .................2-28

2-4-5 Mounting Bracket Dimensions ..................................................................................................2-31

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CONTENTS

Section 3 Specifications

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

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

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

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..................................................................................................................3-8

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)....................................................................................3-22

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

3-3 Linear Motor Specifications ................................................................................................. 3-28

3-3-1 General Specifications of Iron-core Linear Motors ................................................................... 3-28

3-3-2 Performance Specifications of Iron-core Linear Motors............................................................3-29

3-3-3 Iron-core Linear Motor Speed - Force Characteristics.............................................................. 3-32

3-3-4 Temperature Sensor Specifications of Iron-core Linear Motors............................................... 3-35

3-3-5 General Specifications of Ironless Linear Motors..................................................................... 3-36

3-3-6 Performance Specifications of Ironless Linear Motors ............................................................. 3-36

3-3-7 Ironless Linear Motor Speed - Force Characteristics ............................................................... 3-39

3-3-8 Temperature Sensor Specifications of Ironless Linear Motors.................................................3-44

3-3-9 Cable Specifications................................................................................................................. 3-45

3-4 Cable and Connector Specifications................................................................................... 3-46

3-4-1 Resistance to Bending of Robot Cable........................................ ............................... .. ............ 3-46

3-4-2 External Encoder Cable Specifications..................................................................................... 3-47

3-4-3 Connector Specifications..........................................................................................................3-48

3-4-4 EtherCAT Communications Cable Specifications..................................................................... 3-49

3-4-5 Analog Monitor Cable Specifications........................................................................................3-52

3-4-6 Control Cable Specifications............................ .................................... ... .................................. 3-53

3-5 External Regeneration Resistor Specifications.................................................................. 3-58

3-6 Reactor Specifications.......................................................................................................... 3-59

Section 4 System Design

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

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

4-1-2 Iron-core Linear Motor Installation Conditions............................................................................ 4-4

4-1-3 Ironless Linear Motor Installation Conditions............................................................................ 4-10

4-2 Wiring ..................................................................................................................................... 4-14

4-2-1 Peripheral Equipment Connection Examples ........................................................................... 4-14

4-2-2 Main Circuit and Linear Motor Connections........................... ..................................... .. ............ 4-18

4-2-3 Terminal Block Wire Sizes........................................................................................................ 4-22

4-2-4 Terminal Block Wiring Procedure.............................................................................................4-24

4-3 Wiring Conforming to EMC Directives ................................................................................ 4-26

4-3-1 100-VAC and 200-VAC Input Servo Drive Models...................................................................4-26

4-3-2 400-VAC Input Servo Drive Models..........................................................................................4-27

4-4 Noise Reduction.................................................................................................................... 4-29

4-4-1 Wiring Method........................................................................................................................... 4-29

4-4-2 Selecting Connection Components ..........................................................................................4-33

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CONTENTS

4-5 Regenerative Energy Absorption......................................................................................... 4-47

4-5-1 Calculating the Regenerative Energy........................................................................................4-47

4-5-2 Servo Drive Regeneration Absorption Capacity........................................................................4-49

4-5-3 Regenerative Energy Absorption with an External Regeneration Resistor ...............................4-50

4-5-4 Connecting an External Regeneration Resistor........................................................................4-51

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

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.....................................................................................................................6-10

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CONTENTS

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....................................................................................................... 7-22

7-8 Soft Start ............................................... .... ... ... ... ....................................... ... .......................... 7-24

7-8-1 Objects Requiring Settings....................................................................................................... 7-24

7-8-2 Soft Start Acceleration or Deceleration Time.......................................... ... .. .............................7-24

7-8-3 S-curve Acceleration or Deceleration Time .............................................................................. 7-25

7-9 Gain Switching Function ......................................................................................................7-26

7-9-1 Objects Requiring Settings....................................................................................................... 7-26

7-9-2 Gain Switching Based on the Control Mode.............................................................................7-28

7-9-3 Diagrams of Gain Switching Setting. ........................................................................................7-31

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 Example............................................................................................................... 8-7

Section 9 Servo Parameter Objects

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

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

9-3 Vibration Suppression Settings........................................................................................... 9-18

9-4 Analog Control Objects ........................................................................................................9-25

9-5 Interface Monitor Settings.................................................................................................... 9-30

9-6 Extended Objects..................... ... ... ... ....................................... ... .......................................... 9-41

9-7 Special Objects...................................................................................................................... 9-47

9-8 Linear Motor Objects............................................................................. ... ............................. 9-61

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CONTENTS

Section 10 Operation

10-1 Operational Procedure.......................................................................................................... 10-2

10-2 Preparing for Operation........................................................................................................10-4

10-2-1 Items to Check Before Turning ON the Power Supply..............................................................10-4

10-2-2 Turning ON the Power Supply..................................................................................................10-6

10-2-3 Checking the Displays................................ ..................................... .. ........................................10-6

10-2-4 Preparing the Linear Motor for Operation .................................................................................10-8

10-3 Linear Motor Setup.............................................................................................................. 10-13

10-3-1 Outline of Linear Motor Setup.................................................................................................10-14

10-3-2 Operation from the CX-Drive...................................................................................................10-14

10-3-3 Connection from the CX-Drive via Network ............................................................................10-23

10-3-4 Connection from the Sysmac Studio via Network...................................................................10-25

10-4 Trial Operation..................................................................................................................... 10-27

10-4-1 Preparations for Trial Operation..............................................................................................10-27

10-4-2 Trial Operation via USB Communications from the CX-Drive.................................................10-28

10-4-3 Setup via Network............................................... .. ..................................... ... ............... ...........10-28

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

11-3-1 Operating Conditions ................................................................................................................11-8

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

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

11-3-4 Setting Machine Rigidity..........................................................................................................11-10

11-3-5 Objects to Be Updated................................................ ... .................................... ... ... ...............11-12

11-4 Manual Tuning .....................................................................................................................11-15

11-4-1 Preparation for Manual Tuning................................................................................................11-15

11-4-2 Position Control Mode Adjustment..........................................................................................11-16

11-5 Damping Control ............ ..................................................................................................... 11-17

11-5-1 Operating Conditions ..............................................................................................................11-17

11-5-2 Objects Requiring Settings......................................................................................................11-18

11-5-3 Operating Procedure...............................................................................................................11-19

11-6 Adaptive Filter .... ... ....................................... ... ....................................... ... ... ........................ 11-21

11-6-1 Operating Conditions ..............................................................................................................11-22

11-6-2 Objects Requiring Settings......................................................................................................11-22

11-6-3 Objects to Be Set Automatically..............................................................................................11-23

11-6-4 Operating Procedure...............................................................................................................11-23

11-7 Notch Filters......................................................................................................................... 11-24

11-7-1 Objects Requiring Settings......................................................................................................11-25

11-7-2 Notch Filter Width and Depth............................................ .. ..................................... ... ............11-26

11-8 Disturbance Observer Function......................................................................................... 11-28

11-8-1 Operating Conditions ..............................................................................................................11-28

11-8-2 Objects Requiring Settings......................................................................................................11-29

11-8-3 Operating Procedure...............................................................................................................11-29

11-9 Friction Force Compensation Function.............................................................................11-30

11-9-1 Operating Conditions ..............................................................................................................11-30

11-9-2 Objects Requiring Settings......................................................................................................11-30

11-9-3 Operating Procedure...............................................................................................................11-31

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CONTENTS

11-10Feed-forward Function...................... ... .... ... ... ... .... ...... ... .... ... ... ... ... .... ... ... ... .... ... ... ... ... .... . ... 11-32

11-10-1 Objects Requiring Settings ..................................................................................................... 11-32

11-10-2 Operating Procedure .............................. ... .................................... ... ...................................... 11-33

11-11Instantaneous Speed Observer Function ......................................................................... 11-35

11-11-1 Operating Conditions..............................................................................................................11-35

11-11-2 Objects Requiring Settings ..................................................................................................... 11-36

11-11-3 Operating Procedure .............................. ... .................................... ... ...................................... 11-36

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 Linear Motor or Servo Drive...............................................................................12-3

12-2 Warnings ................................................................................................................................ 12-5

12-2-1 Related Objects........................................................................................................................ 12-5

12-2-2 Warning List............................................................................................... .. ............................. 12-6

12-3 Errors...................................................................................................................................... 12-9

12-3-1 Error List................................................................................................................................... 12-9

12-3-2 Immediate Stop Operation at Errors.......................................................................................12-11

12-4 Troubleshooting .................................................................................................................. 12-13

12-4-1 Troubleshooting with Error Displays.......................................................................................12-13

12-4-2 Troubleshooting with the AL Status Code.............................................................................. 12-27

12-4-3 Troubleshooting Using the Operation State............................................................................ 12-28

12-5 Periodic Maintenance.......................................................................................................... 12-35

12-5-1 Linear Slider Life Expectancy................................................................................................. 12-35

12-5-2 Servo Drive Life Expectancy................................................................................................... 12-36

Appendices

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

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-25

A-1-9 PDO Mapping Objects..............................................................................................................A-31

A-1-10 Sync Manager Communication Objects ...................................................................................A-44

A-1-11 Manufacturer Specific Objects..................................................................................................A-49

A-1-12 Servo Drive Profile Objects.......................................................................................................A-55

A-2 Object List..............................................................................................................................A-77

A-3 Sysmac Error Status Codes .................................................................................................A-95

A-3-1 Error Table................................................................................................................................A-95

A-3-2 Error Description.....................................................................................................................A-109

A-4 Response Time in EtherCAT Process Data Communications ........................................A-167

A-4-1 Input Response Time..............................................................................................................A-167

A-4-2 Output Response Time............................................ ... ... .................................... ... ..................A-168

A-5 EtherCAT Terminology .......................................................................................................A-169

Index

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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 electi on, to (i) replace (in the form origin ally 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 rega rding 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.

G5-series Linear Motors/Servo Drives 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‚Äôs 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 b ased on improve ments 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.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

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

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

DANGER

Caution

Safety Precautions

To ensure that the G5-series Servo Drive and Servomotor 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 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 display of precautions used in this manual and their meanings are explained below.

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 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 The symbol shown to the left indicates a “general precaution.”

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

and text.

Precautions for Safe Use of This Product

DANGER

• 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.

Be sure to ground the frame ground terminals and ground wires for the Servo Drive and Motor with 100 VAC or 200 VAC to 100 Ω or less, and for the Servo Drive and Motor with 400 VAC to 10 Ω or less.

Electric shock may result. Never touch the parts inside the Servo Drive or the cable ends of the Motor Coil Unit.

Electric shock may result.

Safety Precautions

Do not remove the front cover, terminal covers, cables, or optional items while the power is being supplied.

Doing so may result in electric shock. 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.

Install the Servo Drive and Motor before wiring. Improper grounding may result in electrical shock.

Do not damage, pull, or put excessive stress or heavy objects on the cables. Doing so may cause electric shock, malfunction, or burning.

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.

Do not touch the Servo Drive radiator, Regeneration Resistor, or Motor while the power is supplied or for a while after the power is turned OFF becuse they get hot. Fire or a burn injury may result.

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

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

Do not enter the operating area 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 is 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 Motor using an external drive source. Fire may result.

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

Install the Motor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals.

Fire may result. When constructing a system that includes safety functions, be sure you understand the

relevant safety standards and all related information in user documentation, and design the system to comply with the standards.

Not doing so may result in injury or equipment damage. If the motor is not controlled, it may not be possible to maintain the stop.

To ensure safety, install a stop device. Risk of equipment damage and human injury.

Do not handle objects made of magnetic materials ne ar the Linear Motor. Use nonmagnetic tools when performing installation or other work on the Linear Moto r.

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.

People using a pacemaker or other electronic medical device must stay away from the linear motor.

A powerful magnetic field is generated by the stator and powered needle. This may cause malfunctioning of electronic devices. When shipping or transporting the Magnet Track, be sure to display that the content is a

strong magnetic product. Medical electronics such as cardiac pacemakers may malfunction or injury may result.

Do not put the product into the fire. Burst or gas may occur and injury may result.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

Caution

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 vib ration or impact directly

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

The magnetic attraction force always affects between the Motor Coil Unit and Magnet Track even when the power supply is turned OFF. Design a machine which supports the magnetic attraction force and provides enough rigidity to maintain the accuracy.

Malfunction or failure may result. Design a machine with consideration of the magnetic attraction force.

Malfunction or failure may result.

Do not hit the Motor Coil Unit against the stopper. Design the configuration so that the table mounted on the Motor Coil Unit hits against the stopper.

Equipment damage may result. Do not apply strong impact on the product. Failure may result.

Prevent adhesion of foreign objects to the product. Malfunction may result.

You cannot use the Linear Motor because its magnetic pole cannot be detected in an unbalanced load such as vertical axis.

If the magnetic pole cannot be detected, an error may occur and the Linear Motor may be in the free-run status.

Injury or equipment damage may result. The protective structure of the Linear Motor is IP00. Take necessary measures to prevent

dust, oil, etc. Failure may result. Ensure that the Linear Slider has a sufficient rigidity. Equipment damage or malfunction may result.

Provide appropriate safety measures to prevent crashes, etc. if you design a system which cooperates multiple motor coil units such as multi-head or tandem.

Equipment damage may result. Do not bring electronic devices, magnetic recording media, or other articles that may be

affected by magnetism (clocks, computers, measuring instruments, magnetic cards, IC cards, etc.) near the linear motor.

This may cause malfunctioning or equipment damage.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

Storage and Transportation

When transporting the Motor Coil Unit, do not hold the cable. Injury or equipment damage may result.

When transporting the Magnet Track, do not hold the cover to protect the magnet. Injury or equipment damage may result.

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

Be sure to store the product as packed in the same packing as delivered. Injury or equipment damage may result.

Caution

When transporting or storing the magnet track, pack the product in the same condition as delivered or cover the magnetic side by 30 mm or more thick material such as high density plastics. (Be sure to provide more than 60 mm of thickness.)

Equipment damage may result. The magnetic body (Motor Coil Unit, other Magnet Track or tools) generates attractive force

by Magnet Track. Be careful about the ambient environment when and after disassembling the Linear Motor, and handling the Magnet Track.

Injury such as getting one’s hand caught in the Linear Motor or equipment damage may result.

When lifting a 15 kW or higher Servo Drive du ring moving or installation, always have two people lift the product by grasping a metal part.

Do not grasp a plastic part. Injury or failure may result.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Installation and Wiring

Caution

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 to wire screw type terminal blocks. Do not connect bare stranded wires

directly to terminals blocks. Fire may result.

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

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

Injury may result.

Safety Precautions

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

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

Tighten the mounting screws, terminal block screws, and cable screws for the product to the specified torque.

Failure may result. Use non-magnetic mounting screws. Note also that the depth of any mounted screw is less

than the effective thread depth. Equipment damage may result.

Be sure to wire the motor coil unit cable fixedly. Equipment damage may result.

For wiring between the Motor Coil Unit cable and the Servo Drive, use a robot cable. Equipment damage may result.

Be sure to securely fix the Linear Motor to the machine. The Linear Motor may come off during operation and equipment damage may result.

When installing the Linear Motor, match the center of gravity of the motor coil unit and load. Malfunction or equipment damage may result by the increase of the running loa d.

Install linear guides with great caution to comply with the gap specification of the motor coil unit and magnet track. (If the gap is small, the running load by the friction will increase in proportion to the magnetic attraction force.)

Malfunction may result. Do not allow foreign objects to enter between the Motor Coil Unit and Magnet Track. Equipment damage or malfunction may result.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

Set a parameter to operate the Motor and external encoder in the same direction. Malfunction or equipment damage may result.

When installing more than one Magnet Track, set the mounting screw accumulative pitch tolerance within ± 0.2 mm.

Malfunction may result. Use the specified screws for the tap holes of Motor Coil Unit. The tap holes are used to

install the Motor Coil Unit. Equipment damage may result.

Use all tap holes of Motor Coil Unit and threaded holes of Magnet Track to install the Linear Motor.

Equipment damage may result. Always use the power supply voltage specified in the User’s Manual.

An incorrect voltage may result in malfunction or burning.

Take appropriate measures to ensure that the specified power with the rated voltage is supplied.

Be particularly careful in locations where the power supply is unstable. An incorrect power supply may result in failure. Connect the Servo Drive to the Motor without a contactor, etc. Malfunction or equipment damage may result.

Take appropriate and sufficient countermeasures to provide shielding when installing systems in the following locations.

Not doing so may result in failure.

• Locati ons subject to static electricity or other forms of noise.

• Locati ons subject to strong electromagnetic fields and magnetic fields.

• Locati ons subject to possible exposure to radioactivity.

• Locati ons close to power supplies.

Do not use the Linear Motor in the location sub j ect to magnetic powders such as iron filings.

They may adhere to the Linear Motor and failure may result. Connect an emergency stop (immediate stop) relay in series with the brake control relay.

Injury or failure may result.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Operation and Adjustment

Caution

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

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

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

Check any newly set parameters and software switch settings for proper execution before actually using them.

Not doing so may result in equipment damage. Never adjust or set parameters to extreme values, because it will make the operation

unstable. Injury may result.

Separate the Motor from the mechanical system and check its operation before installing the Motor to the machine.

Injury may result. If the magnetic body is near the Linear Motor, the cogging will occur and affect the

performance. Malfunction or equipment damage 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 Motor connected to an excessive load mass. Failure may result.

Safety Precautions

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

Install equipment to prevent crash and reduce shock. Crash against the stroke edge may occur depending on stopping distance and equipment

damage may result. If a problem occurs in serial communications during a test operation, you have no means to

stop the Motor. Install external hardware to ensure that the Motor can be stopped at any time.

Before transferring parameters or data from the CX-Drive and Sysmac Studio to any other node, check the safety around the target node.

Injury may result. Check the axis (shaft) number before operating with the CX-Drive and Sysmac Studio.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

Maintenance and Inspection

Do not attempt to disassemble, repair, or modify the Servomotor or Servo Drive. Any attempt to do so may result in electric shock or other injury.

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

Equipment damage may result. Turn OFF the power supply when not using the Servomotor or Servo Drive for a long period

of time. Not doing so may result in injury or malfunction.

Design the system to stop for at least ten minutes after the dynamic brake operates. If it is used under more conditions, the dynamic brake may break and the brake may not

operate.

Caution

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety Precautions

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

(R88D-KN02H-ECT-L)

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.

• When disposing of the battery, insulate it using tape and dispose of it by following the applicable

ordinance of your local government.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Regulations and Standards

Overseas Use

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 certifica te or license is ma ndato ry accordi ng to the For eign Exchange and Foreign Trade Control Law of Japan, an export certificate or license (or service transaction approval) according to this law is required.

Conformance to EC Directives

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.

EC Directive Product Applicable standards

Low Voltage Directive AC Servo Drives EN61800-5-1

Linear Motor EN60034-1

EMC Directive AC Servo Drives EN55011 classA group1

EN61000-6-2 EN61800-3

Machinery Directives AC Servo Drives EN954-1 Cat.3

EN ISO13849-1 PL c, PL d EN61508 (Part 1, 2, 4) SIL2 EN62061 SIL2 EN61800-5-2 (STO) IEC61326-3-1

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 4-26.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Precautions for Correct UsePrecautions for Correct Use

UL and cUL Standards

Standard Product Applicable standards File number

UL standards AC Servo Drives UL 508C CSA standards AC Servo Drives CSA C22.2 No. 14 E179149

*1 The R88D-KT20 and lower capacity Servo Drives are UL-listed .

The R88D-KT30 and higher capacity Servo Drives are UL-recognized.

This product complies with the UL 508C standard (file No. E179149) only when the following two installation conditions are met.

Use the Servo Drive in an environment rated as Pollution Degree 2 or Pollution Degree 1 defined in

•

IEC60664-1. For example, the product meets this requirement when installed inside an IP54 control panel.

• Be sure to connect between the power supply and the no ise filter a circuit breaker or fuse that bears the mark (which means a UL-listed product).

Refer to the following table for the rated current of the circuit breaker/fuse. For wiring, use a copper conductor wire with a temperature rating of 75 ºC or higher.

Regulations and Standards

E179149

Servo Drive model Circuit breaker rated current [A]

R88D-KN01L-ECT-L 10 R88D-KN02L-ECT-L R88D-KN04L-ECT-L R88D-KN01H-ECT-L R88D-KN02H-ECT-L R88D-KN04H-ECT-L R88D-KN08H-ECT-L 15 R88D-KN10H-ECT-L R88D-KN15H-ECT-L 20 R88D-KN06F-ECT-L 15 R88D-KN10F-ECT-L R88D-KN15F-ECT-L R88D-KN20F-ECT-L 20 R88D-KN30F-ECT-L 30

Korean Radio Regulations (KC)

• The G5-series Servo Drives comply with the Korean Radio Regulations (KC).

• The G5-series Servomotors and Linear Motors are exempt from the Korean Radio Regulations (KC).

SEMI F47

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

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

• This standard applies to semiconductor manufacturing equipment.

• It does not apply to Servo Drives with single-phase 100-V specifications or with 24 VDC

specifications for the control power input.

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Regulations and Standards

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 reg istered trademarks of their respective companies.

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Items to Check after Unpacking

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

Warning label display location

(R88D-KN02H-ECT-L)

Items to Check after Unpacking

After unpacking, check the following items.

• Is this the model you ordered?

• Was there any damage sustained during shipment?

Servo Drive

Location of Servo Drive Rating Label

Servo Drive Rating Label

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Items to Check after Unpacking

Location of Rating Label

Servo Drive Accessories

Safety Precautions document × 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.

• The safety bypass connector is required if the safety function is not used. To use the safety function, provide a separate safety I/O signal connector.

• 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.

Connector for main

circuit power supply

Specifications

Single-phase

100 VAC

Single-phase/

3-phase

200 VAC

3-phase

400 VAC

*1 Provide a safety connector separately to use the safety function.

100 W Included 200 W 400 W 200 W 400 W 750 W

1 kW

1.5 kW 600 W

1 kW

1.5 kW

2 kW Included Included 3 kW –

terminals and control

circuit power supply

terminals

Connector for External

Regeneration Resistor

connection terminals

and motor connection

terminals

Safety

bypass

connector

Included

Mounting

brackets

–

Location of Iron-core Linear Motor Coil Unit Rating Label

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Items to Check after Unpacking

Protective cover

Location of Rating Label

Location of Iron-core Linear Motor Magnet Track Rating Label

The iron-core Linear Motor Magnet Track bears no labels. For the model and the production lot number, check the in formation pro vided on the produ ct packaging

box.

Iron-core Linear Motor Accessories

• Safety Precautions document × 1 copy

• Protective cover (for Magnet Track only) × 1

The Magnet Track has a protective cover for cushioning the impact of collision due to the magnetic attraction force until assembled. Do not remove this protective cover until you finish installing the iron-core Linear Motor.

Parts such as connectors, mounting screws, and mounting brackets are not included. Provide them separately. If any item is missing or a problem is found such as product damage, contact the OMRON dealer or sales office where you purchased your product.

Location of Coreless Linear Motor Rating Label

Location of Rating Label

For the model and the production lot number, check the information provided on the rating label or the product packaging box.

Coreless Linear Motor Attachments

• Safety Precautions document × 1 copy

Parts such as connectors, mounting screws, and mounting brackets are not included. Provide them separately.

If any item is missing or a problem is found such as product damage, contact the OMRON dealer or sales office where you purchased your product.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Revision History

The manual revision code is a number appended to the end of the catalog number found in the bottom right-hand corner of the front and back covers.

Example

Cat. No.

Revision

code

01 October 2011 Original production 02 November 2012 Descriptions about Linear Motors were added. 03 January 2017 Added information and made corrections. 04 January 2018 Added information and made corrections.

Revision date Revised content

I577-E1-04

Revision code

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-3-1 Servo Drive Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-3-2 Servo Drive Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-4 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1-5 Unit Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1-5-1 Confirmation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1-5-2 Unit Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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: NJ301-/NJ501-) or EtherCAT-compatible Position Control Unit (Model: CJ1W-NC8), you can construct 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.

Optimal Functionality and Operability by Standardizing Specifications

As a Sysmac Device Motor Type is designed to provide optimal functionality and ease of use wh en 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 Ma ch in e Aut oma tion Controller NJ-series (Model: NJ301-/NJ501-) or EtherCAT-compatible Position Control Unit (Model: CJ1W-NC8) enables you to exchange all position in formatio n 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 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.

Safe Torque OFF (STO) Function to Ensure Safety

1 - 2

You can cut off the motor current to stop the motor based on a signal from an emergency sto p 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.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 Features and System Configuration

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 fr equency automatically accor ding to the movement direction and also via an external signal. In addition, the settings can be made easily by setting the damping frequency and filter values.

1-1 Outline

1-1-2 What is EtherCAT?

EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3). Each node achieves a short cycle time by transmitting Ethernet frames at high speed. A mechanism that allows sharing clock information enables high-precision synchronization control with low communications jitter.

“EtherCAT

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

Germany.”

1-1-3 Object Dictionary

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

An object is a special data structure inside a device that consists of data, parameters, and methods. An object dictionary is a data structure that describes the data type objects, communications objects,

and application objects. All objects are assigned four-digit hexadec ima l numbers in the areas shown in the following table.

1-1-2 What is EtherCAT?

Indexes Area Contents

0000 to 0FFF hex Data Type Area Definitions of data types. 1000 to 1FFF hex CoE Communications

Area

2000 to 2FFF hex Manufacturer Specific

Area 1

3000 to 5FFF hex Manufacturer Specific

Area 2

6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive’s CiA402 drive profile. A000 to FFFF hex Reserved Area Area reserved for future use.

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

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

Definitions of variables that can be used by all servers for designated communications.

Variables with common definitions for all OMRON products.

Variables with common definitions for all G5-series Servo Drives (servo parameters).

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 - 3

1 Features and System Configuration

2 11

DC24V 7mA

M ACH

N o

AD042

RUN E RC E RH

B1 A1

x 10

EtherCAT

communications

NJ-series CPU Unit with built-in EtherCAT port

Controller (EtherCAT)

 G5-series Servo Drive R88D-KN-ECT-L

AC Servo Drive

CJ-series CPU Unit + Position Control Unit with EtherCAT Interface

Position Control Unit (NC) CJ1W-NC8

100 VAC 200 VAC 400 VAC

Programmable Controller CJ-CPU

Machine Automation Controller NJ301-/NJ501-

1-2 System Configuration

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

1 - 4

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 Features and System Configuration

Motor power signal

I/O signal

Feedback signal

Linear Motor

 Commercial Product

 Serial Communications Cable

R88A-CRKE010SR

 90° phase difference output cable

supplied by the user

External Encoder Cable



Power cable

supplied by the user

Power Cable

 Iron-core family

External encoder

 Connector-Terminal Block

Conversion Unit

XW2-20G

 Cable

XW2Z-J-B34

Terminal Block and Cable

 Ironless family

Motor Coil Unit: R88L-EC-FW- Magnet Track: R88L-EC-FM-

Motor Coil Unit: R88L-EC-GW- Magnet Track: R88L-EC-GM-

1-2 System Configuration

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 - 5

1 Features and System Configuration

1-3 Names and Functions

This section describes the names and functions of Servo Drive parts.

1-3-1 Servo Drive Part Names

The Servo Drive part names are given below.

EtherCAT status indicators

Seven-segment display

Analog monitor connector

(CN5)

Rotary switches for node address setting

USB connector (CN7)

supply terminals (L1, L2, and L3)

Main circuit power

Control circuit power supply terminals

(L1C and L2C)

Charge lamp

External Regeneration Resistor

connection terminals

(B1, B2, and B3)

Motor connection terminals

(U, V, and W)

EtherCAT communications connector: ECAT IN

EtherCAT communications connector: ECAT OUT

Safety connector (CN8)

Control I/O connector (CN1)

External encoder connector (CN4)

1 - 6

Protective ground terminals

Not used (CN2)

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1-3-2 Servo Drive Functions

The functions of each part are described below.

Display

A 2-digit 7-segment display shows the node ad dres s , er ror cod e s , and other Servo Drive status.

1 Features and System Configuration

1-3 Names and Functions

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 5-1-2 Status Indicators on page 5-3.

Control I/O Connector (CN1)

Used for command input signals and I/O signals.

External Encoder Connector (CN4)

Connector for an external encoder signal.

EtherCAT Communications Connectors (ECAT IN and ECAT OUT)

Connectors for EtherCAT communications.

1-3-2 Servo Drive Functions

Analog Monitor Connector (CN5)

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

USB Connector (CN7)

Communications connector for the computer.

Safety Connector (CN8)

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 - 7

1 Features and System Configuration

1-4 System Block Diagram

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

z R88D-KN01L-ECT-L/-KN02L-ECT-L

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

L1C

L2C

CN A

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

SW power supply main circuit control

Internal control power supply

Voltage

detection

Regeneration

Relay drive

control

Overcurrent detection

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

• PWM control

Gate drive

Current detection

Display and setting circuit area

CN B

U V

1 - 8

ECAT

EtherCAT

communications

connector

communications

ECAT

OUT

EtherCAT

connector

CN1

interface

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

CN2 CN4 CN5 CN7

Not used

External encoder

Analog

monitor

USB

CN8

SafetyControl

1 Features and System Configuration

CN8CN2CN1

ECAT

OUT

15 V G1

5 V

2.5 V

1.5 V E5V

3.3 V

CN4 CN5 CN7

CN B

U V

L2C

L1C

FUSE

CN A

±12 V

Axial-flow fan

Internal

Regeneration

Resistor

Overcurrent detection

Current detection

Regeneration control

Relay drive

Gate drive

SW power supply main circuit control

Internal control power supply

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

• PWM control

Display and setting circuit area

Voltage

detection

USB

EtherCAT

communications

connector

EtherCAT

communications

connector

Not used

External encoder

Analog

monitor

SafetyControl

interface

(except for the R88D-KN04L-ECT-L/

-KN08H-ECT-L)

z R88D-KN04L-ECT-L/-KN08H-ECT-L/-KN10H-ECT-L/-KN15H-ECT-L

1-4 System Block Diagram

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 - 9

1 Features and System Configuration

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

24 V

0 V

CN A

FUSE

CN C

GRGR

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

DC-DC

SW power supply main circuit control

Internal control power supply

CN D

CN B

U V

Internal

Regeneration

Resistor

Voltage

detection

Relay drive

Regeneration control

Overcurrent detection

Gate drive

MPU & ASIC Position, speed, and force calculation

Current detection

Display and setting circuit area

control area

• PWM control

Axial-flow fan

ECAT

EtherCAT

communications

connector

ECAT

OUT

EtherCAT

communications

connector

interface

CN2CN1

Not used

CN4 CN5 CN7

External encoder

Analog

monitor

USB

CN8

SafetyControl

1 - 10

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

z R88D-KN30F-ECT-L

GRGR

0 V

24 V

FUSE

CN A

CN C

15 V G1

5 V

2.5 V

1.5 V E5V

3.3 V

CN4 CN5 CN7

CN D

CN B

U V

CN8

DC-DC

CN2CN1

ECAT

OUT

±12 V

Axial-flow fan

Internal

Regeneration

Resistor

SW power supply main circuit control

Internal control power supply

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

• PWM control

Display and setting circuit area

Voltage

detection

USB

EtherCAT

communications

connector

EtherCAT

communications

connector

Not used

External encoder

Analog

monitor

SafetyControl

interface

Overcurrent detection

Current detection

Regeneration control

Relay drive

Gate drive

1 Features and System Configuration

1-4 System Block Diagram

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

1 - 11

1 Features and System Configuration

VOLTAGE

100~120V 1Ø 3Ø

0-120V

INPUT OUTPUT

PHASE

2.6A 50/60Hz

0~500.0Hz

1.7A

100W

A09080004

FREQ POWER

OMRON Corp

oration

MADE IN JAPAN

SERIAL No.

F L C

(R88D-KN01L-ECT-L)

Nameplate location

Unit V ersion Here, the unit version is 1.1.

Product Nameplate

1-5 Unit Versions

The G5-series Servo Drive uses unit versions. Unit versions are used to manage differences in supported functions when product upgrades are made.

1-5-1 Confirmation Method

The unit version of a G5-series Servo Drive is given on the product’s nameplate as shown below.

1-5-2 Unit Versions

Unit version

Ver. 1.0 New release Ver. 2.70 or higher Ver. 1.1 Added the Linear Motor Setup function. Ver. 2.70 or higher

Upgraded content

Supported CX-Drive versions

1 - 12

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Models and External Dimensions

This section explains the models of Servo Drive, Linear Moto rs, and peripheral devices, and provides the external dimensions and mounting dimensions.

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

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

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

2-2-2 Linear Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-3 Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-3-1 Servo Drive Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-3-2 Linear Motor Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-3-3 Servo Drive and Linear Motor Combination Tables . . . . . . . . . . . . . . . . . . . . . 2-8

2-3-4 Cable and Peripheral Device Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-4 External and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-1 Servo Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-2 Linear Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20

2-4-3 External Regeneration Resistor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . 2-27

2-4-4 Reactor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28

2-4-5 Mounting Bracket Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 1

2 Models and External Dimensions

2 11

DC24V 7mA

M ACH

N o

AD042

RUN E RC ERH

B1 A1

x 10



CX-Drive

WS02-DRVC1

Support SoftwareSupport Software

(

)

NJ-series CPU Unit with EtherCAT Port

Controller



Automation Software

Sysmac Studio

Support Software

CJ-series CPU Unit + Position Control Unit with EtherCAT Interface

Position Control Unit (NC) CJ1W-NC8

Programmable Controller CJ-CPU



CX-One FA Integrated Tool Package CX-Programmer, CX-Position, and CX-Motion

Machine Automation Controller NJ301-/NJ501-

2-1 Servo System Configuration

2 - 2

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

USB communications

EtherCAT

communications



G5-series Servo Drive

R88D-KN-ECT-L

Motor power signal

I/O signal

Feedback signal

AC Servo Drive

Peripheral Devices



Reactor 3G3AX-DL 3G3AX-AL



External Regeneration Resistors R88A-RR

Linear Motor

100 VAC 200 VAC 400 VAC



Commercial Product



Serial Communications Cable

R88A-CRKE010SR



90° phase difference output cable

supplied by the user

External Encoder Cable



Motor power cable

Supplied by the user

Motor power cable

External Encoder Cable



Connector-Terminal Block

Conversion Unit XW2-20G



Cable

XW2Z-



J-B34

Terminal Block and Cable

Use these connectors when making your own cable.



Control I/O Signal Connector (CN1)

R88A-CNW01C



External Encoder Connector (CN4)

R88A-CNK41L



Safety Connector (CN8)

R88A-CNK81S

Peripheral Conector



Iron-core family



Ironless family

Motor Coil Unit: R88L-EC-FW- Magnet Track: R88L-EC-FM-

Motor Coil Unit: R88L-EC-GW- Magnet Track: R88L-EC-GM-

2-1 Servo System Configuration

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 3

2 Models and External Dimensions

: 100 W : 200 W : 400 W : 600 W : 750 W : 1 kW : 1.5 kW : 2 kW : 3 kW

01 02 04 06 08 10 15 20 30

R88D-KN01H-ECT-L

L: Linear Motor Type

ECT: EtherCAT

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

N: Network

Motor Type

Communications Type

G5-series Servo Drive

Drive Type

Power Supply Voltage

Maximum Applicable Linear Motor Capacity

2-2 How to Read Model Numbers

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

2-2-1 Servo Drive

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

2 - 4

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2-2-2 Linear Motor

R88L-EC-FW-0303-ANPC

03 : 30 mm 06 : 60 mm 11 : 110 mm

FW: Iron-core family Motor Coil Unit

03 : 06 : 09 : 12 : 15 :

A : Ver.A

C: Compact type

NP: Not provided

Coil Model

Version

Connector

Type

G5-series Linear Motor

Component Type

Effective Magnet Width

3-coil 6-coil 9-coil 12-coil 15-coil

R88L-EC-FM-03096-A

03 : 30 mm 06 : 60 mm 11 : 110 mm

FM: Iron-core family Magnet Track

096 : 96 mm 144 : 144 mm 192 : 192 mm 288 : 288 mm 384 : 384 mm

A : Ver.A

Magnet Track Unit Length

Version

G5-series Linear Motor

Component Type

Effective Magnet Width

Two models of Linear Motors are available: iron-core family and ironless family. For each of these models, the model numbers of the Motor Coil Unit and Magnet Track are defined as follows.

Iron-core family

z Motor Coil Uni

2 Models and External Dimensions

2-2 How to Read Model Numbers

2-2-2 Linear Motor

z Magnet Track

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 5

2 Models and External Dimensions

R88L-EC-GW-0303-ANPS

03 : 30 mm 05 : 50 mm 07 : 70 mm

GW: Ironless family Motor Coil Unit

03 : 06 : 09 :

A : Ver.A

NP: Not provided

S: Standard type

Coil Model

Version

Connector

Type

G5-series Linear Motor

Component Type

Effective Magnet Width

3-coil 6-coil 9-coil

Ironless family

z Motor Coil Unit

z Magnet Track

2 - 6

G5-series Linear Motor

Component Type

GM: Ironless family Magnet Track

Effective Magnet Width

03 : 30 mm 05 : 50 mm 07 : 70 mm

Magnet Track Unit Length

090 : 90 mm 114 : 114 mm 120 : 120 mm 126 : 126 mm 168 : 168 mm 171 : 171 mm 210 : 210 mm 390 : 390 mm 456 : 456 mm 546 : 546 mm

Version

A : Ver.A

R88L-EC-GM-03090-

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2-3 Model Tables

2 Models and External Dimensions

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

2-3-1 Servo Drive Model Table

The table below shows the Servo Drive models.

Specifications Model

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

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

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

200 W R88D-KN02L-ECT-L 400 W R88D-KN04L-ECT-L

200 W R88D-KN02H-ECT-L 400 W R88D-KN04H-ECT-L 750 W R88D-KN08H-ECT-L

1 kW R88D-KN10H-ECT-L

1.5 kW R88D-KN15H-ECT-L

1 kW R88D-KN10F-ECT-L

1.5 kW R88D-KN15F-ECT-L 2 kW R88D-KN20F-ECT-L 3 kW R88D-KN30F-ECT-L

2-3 Model Tables

2-3-1 Servo Drive Model Table

2-3-2 Linear Motor Model Table

The table below shows the Linear Motor models.

Iron-core Linear Motors

Motor Coil Unit model

R88L-EC-FW-0303-ANPC 48 105 R88L-EC-FM-03096-A R88L-EC-FW-0306-ANPC 96 210

R88L-EC-FW-0606-ANPC 160 400 R88L-EC-FM-06192-A R88L-EC-FW-0609-ANPC 240 600 R88L-EC-FW-0612-ANPC 320 800 R88L-EC-FW-1112-ANPC 608 1,600 R88L-EC-FM-11192-A R88L-EC-FW-1115-ANPC 760 2,000

*1 The continuous force is subject to temperature conditions. For details, refer to 3-3-2 Performance

Specifications of Iron-core Linear Motors on page 3-29.

Continuous

force

[N]

Momentary

maximum force

[N]

Magnet Track model

R88L-EC-FM-03144-A R88L-EC-FM-03384-A

R88L-EC-FM-06288-A

R88L-EC-FM-11288-A

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 7

2 Models and External Dimensions

Ironless Linear Motors

Motor Coil Unit model

R88L-EC-GW-0303-ANPS 26.5 100 R88L-EC-GM-03090-A R88L-EC-GW-0306-ANPS 53 200 R88L-EC-GW-0309-ANPS 80 300 R88L-EC-GW-0503-ANPS 58 240 R88L-EC-GM-05126-A R88L-EC-GW-0506-ANPS 117 480 R88L-EC-GW-0509-ANPS 175 720

R88L-EC-GW-0703-ANPS 117 552 R88L-EC-GM-07114-A R88L-EC-GW-0706-ANPS 232 1,110 R88L-EC-GW-0709-ANPS 348 1,730

*1 The continuous force is subject to temperature conditions. For details, refer to 3-3-6 Performance

Specifications of Ironless Linear Motors on page 3-36.

Continuous

force

[N]

Momentary

maximum force

[N]

R88L-EC-GM-03120-A R88L-EC-GM-03390-A

R88L-EC-GM-05168-A R88L-EC-GM-05210-A R88L-EC-GM-05546-A

R88L-EC-GM-07171-A R88L-EC-GM-07456-A

2-3-3 Servo Drive and Linear Motor Combination Tables

The following table shows appropriate combinations with G5-series AC Servo Drives and Linear Motors.

Magnet Track model

Iron-core family

Motor Coil Unit model Voltage [V] Servo Drive model

R88L-EC-FW-0303-ANPC 100 R88D-KN01L-ECT-L 2.5

200 R88D-KN02H-ECT-L 5 400 R88D-KN06F-ECT-L 10

R88L-EC-FW-0306-ANPC 100 R88D-KN02L-ECT-L 2.5

200 R88D-KN04H-ECT-L 5 400 R88D-KN10F-ECT-L 10

R88L-EC-FW-0606-ANPC 100 R88D-KN04L-ECT-L 2

200 R88D-KN08H-ECT-L 4 400 R88D-KN15F-ECT-L 8

R88L-EC-FW-0609-ANPC 200 R88D-KN10H-ECT-L 4

400 R88D-KN20F-ECT-L 8

R88L-EC-FW-0612-ANPC 200 R88D-KN15H-ECT-L 4

400 R88D-KN30F-ECT-L 8

R88L-EC-FW-1112-ANPC 200 R88D-KN15H-ECT-L 2

400 R88D-KN30F-ECT-L 4

R88L-EC-FW-1115-ANPC 200 R88D-KN15H-ECT-L 2

400 R88D-KN30F-ECT-L 4

Maximum speed

[m/s]

2 - 8

Note The maximum operation speed is restricted by the guide mechanism, encoder, and other aspects. If it is

5 m/s or higher, please consult with your OMRON represe ntative.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Ironless family

2 Models and External Dimensions

Motor Coil Unit model Voltage [V] Servo Drive model

R88L-EC-GW-0303-ANPC 100 R88D-KN01L-ECT-L 8

200 R88D-KN02H-ECT-L 16

R88L-EC-GW-0306-ANPC 100 R88D-KN04L-ECT-L 8

200 R88D-KN08H-ECT-L 16 R88L-EC-GW-0309-ANPC 200 R88D-KN10H-ECT-L 16 R88L-EC-GW-0503-ANPC 100 R88D-KN01L-ECT-L 2.2

200 R88D-KN01H-ECT-L 4.4 R88L-EC-GW-0506-ANPC 100 R88D-KN02L-ECT-L 2.2

200 R88D-KN04H-ECT-L 4.4 R88L-EC-GW-0509-ANPC 100 R88D-KN04L-ECT-L 2.2

200 R88D-KN08H-ECT-L 4.4 R88L-EC-GW-0703-ANPC 100 R88D-KN02L-ECT-L 1.2

200 R88D-KN04H-ECT-L 2.4 R88L-EC-GW-0706-ANPC 100 R88D-KN04L-ECT-L 1.2

200 R88D-KN08H-ECT-L 2.4 R88L-EC-GW-0709-ANPC 200 R88D-KN10H-ECT-L 2.4

Note The maximum operation speed is restricted by the guide mechanism, encoder, and other aspects. If it is

5 m/s or higher, please consult with your OMRON representative.

Maximum speed

[m/s]

2-3 Model Tables

2-3-3 Servo Drive and Linear Motor Combination Tables

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 9

2 Models and External Dimensions

2-3-4 Cable and Peripheral Device Model Tables

The following tables show the models of EtherCAT communica tions cables (recommend ed) and analog monitor cables, as well as the models of peripheral devices such as External Regeneration Resistors and Reactors.

EtherCAT Communications Cable (Recommended)

Size x Number of cable cores (pairs) Recommended manufacturer Model

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

Kuramo Electric Co. KETH-SB SWCC Showa Cable Systems Co. FAE-5004

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

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

Analog Monitor Cable

Name Model

Analog Monitor Cable 1 m R88A-CMK001S

Connectors

Name Model

Control I/O Connector (CN1) R88A-CNW01C External Encoder Connector (CN4) R88A-CNK41L Safety Connector (CN8) R88A-CNK81S

Control Cables

Name Model

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

2 m XW2Z-200J-B34

Connector-terminal Blocks M3 screws XW2B-20G4

M3.5 screws XW2B-20G5 M3 screws XW2D-20G6

2 - 10

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

External Regeneration Resistors

Specifications Model

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

Reactor

Applicable Servo Drives

Model Number of power phases

R88D-KN01L-ECT-L Single-phase input 3G3AX-DL2004 R88D-KN02H-ECT-L 3G3AX-DL2007 R88D-KN04L-ECT-L 3G3AX-DL2015 R88D-KN01H-ECT-L Single-phase input 3G3AX-DL2002

3-phase input 3G3AX-AL2025

R88D-KN02H-ECT-L Single-phase input 3G3AX-DL2004

3-phase input 3G3AX-AL2025

R88D-KN04H-ECT-L Single-phase input 3G3AX-DL2007

3-phase input 3G3AX-AL2025

R88D-KN08H-ECT-L Single-phase input 3G3AX-DL2015

3-phase input 3G3AX-AL2025

R88D-KN10H-ECT-L Single-phase input 3G3AX-DL2015

3-phase input 3G3AX-AL2025

R88D-KN15H-ECT-L Single-phase input 3G3AX-DL2022

3-phase input 3G3AX-AL2025 R88D-KN06F-ECT-L 3-phase input 3G3AX-AL4025 R88D-KN10F-ECT-L R88D-KN15F-ECT-L R88D-KN20F-ECT-L 3G3AX-AL4055 R88D-KN30F-ECT-L

Reactor type

2-3 Model Tables

2-3-4 Cable and Peripheral Device Model Tables

Mounting Brackets (L-Brackets for Rack Mounting)

Applicable Servo Drives Model

R88D-KN01L-ECT-L/-KN01H-ECT-L/-KN02H-ECT-L R88A-TK01K R88D-KN02L-ECT-L/-KN04H-ECT-L R88A-TK02K R88D-KN04L-ECT-L/-KN08H-ECT-L R88A-TK03K R88D-KN10H-ECT-L/-KN15H-ECT-L/-KN06F-ECT-L/-KN10F-ECT-L/-KN15F-ECT-L R88A-TK04K

Note Servo Drives with 2 kW or greater includes a mounting bracket. Use it when installing the Servo Drive using

front mounting.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 11

2 Models and External Dimensions

13270

150

140

2-M4

2-4 External and Mounting Dimensions

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

2-4-1 Servo Drive Dimensions

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

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

z Wall Mounting

External dimensions

Mounting dimensions

2 - 12

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

180

170

150

5.2

R26

Ø5.2

2.5

132

19.5

2-M4

170

(42)*

(158)*

Rectangular

hole

* Rectangular hole dimensions are reference values.

z Front Mounting (Using Front Mounting Brackets)

2-4 External and Mounting Dimensions

External dimensions

Mounting dimensions

2-4-1 Servo Drive Dimensions

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 13

2 Models and External Dimensions

150

132

150

140

2-M4

Ø5.2

180

170

150

5.2

R2.6

2.5

132

19.5

170

2-M4

(57)*

(158)*

Rectangular

hole

* Rectangular hole dimensions are reference values.

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

z Wall Mounting

External dimensions Mounting dimensions

z Front Mounting (Using Front Mounting Brackets)

External dimensions

Mounting dimensions

2 - 14

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

172

150

140

7.5

2-M4

Ø5.2

R2.6

5.2

180

170

150

172

19.5

2.5

170

2-M4

(67)*

(158)*

Rectangular

hole

* Rectangular hole dimensions are reference values.

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

z Wall Mounting

External dimensions Mounting dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

z Front Mounting (Using Front Mounting Brackets)

External dimensions

Mounting dimensions

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 15

2 Models and External Dimensions

Single-phase/3-phase 200 VAC: R88D-KN10H-ECT-L/-KN15H-ECT-L (1 to 1.5 kW)

z Wall Mounting

External dimensions Mounting dimensions

150

172

z Front Mounting (Using Front Mounting Brackets)

External dimensions

Ø5.2

19.5

172

2-M4

140

8.5

150

70 86

Mounting dimensions

4-M4

R2.6

170

180

150

5.2

R2.6

5.2

2.5

* Rectangular hole dimensions are reference values.

170

Rectangular

hole

(88)*

(158)*

2 - 16

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

150

172

150

140

14.5

2-M4

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

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

z Wall Mounting

External dimensions Mounting dimensions

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

z Front Mounting (Using Front Mounting Brackets)

External dimensions

172

* Rectangular hole dimensions are reference values.

R2.6

5.2

5.2 5.2 10

5.2

150

170

180

19.5

2.5

Mounting dimensions

Rectangular

hole

(94)*

(158)*

4-M4

170

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 17

2 Models and External Dimensions

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

z Wall Mounting

External dimensions Mounting dimensions

17.5

42.5

5.2

Ø5.2

5.2

195 1.8

6-M4

168

26.5

R2.6

5.2 5.2

17.5

168

Ø5.2

188

198

R2.6

2.5

z Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

17.5

42.5

5.2

168

188

198

30.7

195

Rectangular

(176)*

hole

180

6-M4

180

2 - 18

R2.6

5.2 5.2

17.5

R2.6

5.2

2.5

26.5

(96)*

* Rectangular hole dimensions are reference values.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

Ø5.2

R2.6

Ø5.2

R2.6

100

5.2

5.2 65

130 100

5.2 5.2

220

240

250

240

220

130

100

214

3.5

6-M4

2.5

5.2

R2.6

5.2

R2.6

100

5.2

5.2 65

130 100

5.2 5.2

220

240

250

240

(228)*

(132)*

100

214

6-M4

2.5

40.7

* Rectangular hole dimensions are reference values.

Rectangular

hole

3-phase 400 VAC: R88D-KN30F-ECT-L (3 kW)

z Wall Mounting

2-4 External and Mounting Dimensions

External dimensions

z Front Mounting (Using Front Mounting Brackets)

Mounting dimensions

2-4-1 Servo Drive Dimensions

External dimensions

Mounting dimensions

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 19

2 Models and External Dimensions

(11)

18.6±0.7

20.5±0.7

R2.5

89º

+0.15

-0.35

12.4±0.7

23.9±0.7

28.6

-0.2

37.1±0.1

+0.1

-0.2

450 min.

9.5

4.8

N-M4, effective thread depth 5

2-4-2 Linear Motor Dimensions

Iron-core Motors

z R88L-EC-FW-0303/-0306

Motor Coil Unit

2 - 20

*1 These values indicate mounting dimensions.

Model L1 [mm] Number of holes [N]

R88L-EC-FW-0303 79 +0.15/–0.35 4 0.72 R88L-EC-FW-0306 127 +0.15/–0.35 6 1.03

*2 The weight of a 450-mm cable is included.

Enlarged view

Mass*2 [kg]

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

of portion A

0.3±0.1

2 Models and External Dimensions

4848 48 48

27.5 48 48

82º

(20.5)

N-

8.2

5 Depth 4

450 min.

37.1 ±0.1

-0.2

28.6

(11)

30.6±0.7

32.5±0.7

+0.1

-0.2

89º

R2.5

+0.15

-0.35

12.4 ±0.7

23.9 ±0.7

9.5

4.8

N-M4, effective thread depth 5

0.3±0.1

Enlarged view of portion A

Magnet Track

*3 Use M5 low head allen head bolts.

Model

[mm]

R88L-EC-FM-03096-A 96 48 4 Approx. 0.22 R88L-EC-FM-03144-A 144 96 6 Approx. 0.32 R88L-EC-FM-03384-A 384 336 16 Approx. 0.85

[mm]

Number of

holes [N]

Mass [kg]

Enlarged view of portion B

Depth

5.5

2-4 External and Mounting Dimensions

2-4-2 Linear Motor Dimensions

z R88L-EC-FW-0606/-0609/-0612

Motor Coil Unit

*1 These values indicate mounting dimensions.

Model L1 [mm] Number of holes [N]

R88L-EC-FW-0606 127 +0.15/–0.35 6 1.59 R88L-EC-FW-0609 175 +0.15/–0.35 8 2.15 R88L-EC-FW-0612 223 +0.15/–0.35 10 2.7

*2 The weight of a 450-mm cable is included.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Mass*2 [kg]

2 - 21

2 Models and External Dimensions

0.3±0.1

Enlarged view of portion A

Magnet Track

Enlarged view of portion B

12 12

Depth

5.5

N-

5 Depth 4

86º

27 (21)

48 4848 48 48

*3 Use M5 low head allen head bolts.

Model L2 [mm] L3 [mm] Numbe r of holes [N] Mass [kg]

R88L-EC-FM-06192-A 192 144 8 Approx. 0.77 R88L-EC-FM-06288-A 288 240 12 Approx. 1.15

z R88L-EC-FW-1112/-1115

Motor Coil Unit

N-M4, effective thread depth 5

8.2

(11)

R2.5

2 - 22

12.4±0.7

23.9±0.7

9.5

89º

+0.1

-0.2

130

55.6±0.7

57.5±0.7

+0.15

-0.35

4.8

*1 These values indicate mounting dimensions.

Model L1 [mm] Number of holes [N]

R88L-EC-FW-1112 223 +0.15/–0.35 15 4.89 R88L-EC-FW-1115 271 +0.15/–0.35 18 5.94

*2 The weight of a 450-mm cable is included.

450 min.

Mass*2 [kg]

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

-0.2

28.6

41.1±0.1

Magnet Track

1212

4826 48

88º

120

130

N-

48 4848 (22)

12.2

5 Depth 8

5.5

Depth

Enlarged view of portion B

*3 Use M5 low head allen head bolts.

2 Models and External Dimensions

2-4 External and Mounting Dimensions

2-4-2 Linear Motor Dimensions

Model L2 [mm] L3 [mm] Number of holes [N] Mass [kg]

R88L-EC-FM-11192-A 192 144 8 Approx. 2.12 R88L-EC-FM-11288-A 288 240 12 Approx. 3.18

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 23

2 Models and External Dimensions

N-Ø3.5

18.5

3.5

5.3

3.2

950 min.

7.5

4.4

(

4.5)

N-Ø4.5

(Depth4)

5.5±0.1

0.05

Motor Coil Unit mounting surface

Magnet Track mounting surface

Ironless Motors

z R88L-EC-GW-0303/-0306/-0309

Motor Coil Unit

Model L1 [mm] L2 [mm] Number of holes [N]

R88L-EC-GW-0303 78 60 4 0.2 R88L-EC-GW-0306 138 120 7 0.28 R88L-EC-GW-0309 198 180 10 0.36

*1 The weight of a 950-mm cableis included.

Mass*1 [kg]

Magnet Track

Model L3 [mm] L4 [mm] Number of holes [N] Mass [kg]

R88L-EC-GM-03090-A 90 60 3 Approx. 0.46 R88L-EC-GM-03120-A 120 90 4 Approx. 0.61 R88L-EC-GM-03390-A 390 360 13 Approx. 1.97

Combination diagram

5.5

2 - 24

5.5

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

950 min.

4.9

N-

4.5

5.8

(

5.5)

9.2

2128.4

N-Ø5.5

(

Depth 6

)

8.2

105

28.4

8.2±0.1

A0.05

0.1

Motor Coil Unit mounting surface Magnet Track mounting surface

z R88L-EC-GW-0503/-0506/-0509

Motor Coil Unit

Model L1 [mm] L2 [mm] Number of holes [N]

R88L-EC-GW-0503 106 84 4 0.48 R88L-EC-GW-0506 190 168 7 0.71 R88L-EC-GW-0509 274 252 10 0.94

*1 The weight of a 950-mm cableis included.

2-4 External and Mounting Dimensions

Mass*1 [kg]

2-4-2 Linear Motor Dimensions

Magnet Track

Model L3 [mm] L4 [mm] Number of holes [N] Mass [kg]

R88L-EC-GM-05126-A 126 84 3 Approx. 1.49 R88L-EC-GM-05168-A 168 126 4 Approx. 1.98 R88L-EC-GM-05210-A 210 168 5 Approx. 2.47 R88L-EC-GM-05546-A 546 504 13 Approx. 6.43

Combination diagram

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 25

2 Models and External Dimensions

23.8

11.5

6.4

950 min.

4.3

N-

5.3

(

6.5)

28.557

100

N-Ø6.5

(Depth 10)

16.5±0.1

A0.05 A

0.1

Motor Coil Unit mounting surface

Magnet Track mounting surface

z R88L-EC-GW-0703/-0706/-0709

Motor Coil Unit

Model L1 [mm] L2 [mm] Number of holes [N]

Mass*1 [kg]

R88L-EC-GW-0703 134 114 4 0.9 R88L-EC-GW-0706 248 228 7 1.32 R88L-EC-GW-0709 362 342 10 1.74

*1 The weight of a 950-mm cableis included.

Magnet Track

Model L3 [mm] L4 [mm] Number of holes [N] Mass [kg]

R88L-EC-GM-07114-A 114 57 2 Approx. 2.88 R88L-EC-GM-07171-A 171 114 3 Approx. 4.31 R88L-EC-GM-07456-A 456 399 8 Approx. 11.5

Combination diagram

16.5

124.8

2 - 26

16.5

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

4.2

500

Ø3

(0.75 mm

)

Ø1.5

(0.3 mm

)

104

122

130

43.5

t1.2

Thermal switch output

4.2

500

Ø3

(0.75 mm

)

Ø1.5

(0.3 mm

)

200

220

230

t1.2

Thermal switch output

4325 10

5.3

360 386 402

2-4-3 External Regeneration Resistor Dimensions

R88A-RR08050S/-RR080100S

2-4 External and Mounting Dimensions

2-4-3 External Regeneration Resistor Dimensions

R88A-RR22047S1

R88A-RR50020S

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 27

2 Models and External Dimensions

4-5.2 × 8

2-M4

Ground terminal (M4)

4-5.2 × 8

2-M4

Ground terminal (M4)

2-4-4 Reactor Dimensions

3G3AX-DL2002

3G3AX-DL2004

2 - 28

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3G3AX-DL2007

4-5.2 × 8

2-M4

105

Ground terminal (M4)

4-5.2 × 8

2-M4

115

Ground terminal (M4)

2 Models and External Dimensions

2-4 External and Mounting Dimensions

2-4-4 Reactor Dimensions

3G3AX-DL2015

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 29

2 Models and External Dimensions

100

4-6 × 9

2-M4

116

105

Ground terminal (M4)

150

4060

Ro R So S To T

Y±1

50±1

Ro R So S To

4-Ø6

9.5

(Cutout)

Ground terminal (M5)

Terminal screw 6-

Terminal block

Connection Diagram

3G3AX-DL2022

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

Model

3G3AX-AL2025 120 82 67 4 3G3AX-AL2055 120 98 75 4 3G3AX-AL4025 120 82 67 4 3G3AX-AL4055 120 98 75 5

A C Y K

Dimensions [mm]

2 - 30

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 Models and External Dimensions

Ro R So S To T

Y±1X±1

55D

Ro R So S To T

W = Terminal width

Ground terminal (M6)

Terminal hole 6-

Connection Diagram

(Cutout)

2-M4 countersunk

2-C5

9.5 24 11±0.2

ø5.2

2.5

R1 max.

2.5

2-M4 countersunk

2-C5

9.5

11±0.2

5.2

2-R1

R1 max.

2.5

Mounting bracket for bottom sideMounting bracket for top side

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

2-4 External and Mounting Dimensions

2-4-5 Mounting Bracket Dimensions

Model

A C D H H1 X Y K W

Dimensions [mm]

3G3AX-AL2110 150 103 70 170 108 60 80 5.3 12 3G3AX-AL2220 180 113 75 190 140 90 90 8.4 16.5 3G3AX-AL4110 150 116 75 170 106 60 98 5.0 12.5 3G3AX-AL4220 180 103 75 190 140 100 80 5.3 12

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

R88A-TK01K

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2 - 31

2 Models and External Dimensions

2-M4 countersunk

2-C5

9.5

30±0.2

ø5.2

2.5

R1 max.

2.5

2-M4 countersunk

2-C5

9.5

30±0.2

2-R1

5.2

2.5

R1 max.

2.5

Mounting bracket for top side Mounting bracket for bottom side

R88A-TK02K

Mounting bracket for top side Mounting bracket for bottom side

2-C5

9.5

ø5.2

R88A-TK03K

2-M4 countersunk

18±0.2

2.5

R1 max.

2.5

2-C5

9.5

2-M4 countersunk

18±0.2

2-R1

5.2

2.5

R1 max.

2.5

R88A-TK04K

Mounting bracket for bottom sideMounting bracket for top side

2-C5

9.5

36±0.2

40±0.2

2-M4 countersunk

2.5

2-ø5.2

R1 max.

2.5

2 - 32

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

2-C5

9.5

5.2

36±0.2

4-R1

40±0.2

2-M4 countersunk

5.2

2.5

R1 max.

2.5

Specifications

This section provides the general specifications, characteristics, connector specifications, I/O circuits of the Servo Drives and Linear Motors, as well as specifications of other peripheral device s.

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

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

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

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

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) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

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

3-3 Linear Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3-3-1 General Specifications of Iron-core Linear Motors . . . . . . . . . . . . . . . . . . . . 3-28

3-3-2 Performance Specifications of Iron-core Linear Motors . . . . . . . . . . . . . . . . . 3-29

3-3-3 Iron-core Linear Motor Speed - Force Characteristics . . . . . . . . . . . . . . . . . . 3-32

3-3-4 Temperature Sensor Specifications of Iron-core Linear Motors . . . . . . . . . . 3-35

3-3-5 General Specifications of Ironless Linear Motors . . . . . . . . . . . . . . . . . . . . . 3-36

3-3-6 Performance Specifications of Ironless Linear Motors . . . . . . . . . . . . . . . . . 3-36

3-3-7 Ironless Linear Motor Speed - Force Characteristics . . . . . . . . . . . . . . . . . . 3-39

3-3-8 Temperature Sensor Specifications of Ironless Linear Motors . . . . . . . . . . . 3-44

3-3-9 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45

3-4 Cable and Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46

3-4-1 Resistance to Bending of Robot Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46

3-4-2 External Encoder Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47

3-4-3 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

3-4-4 EtherCAT Communications Cable Specifications . . . . . . . . . . . . . . . . . . . . . 3-49

3-4-5 Analog Monitor Cable Specifica ti o ns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52

3-4-6 Control Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53

3-5 External Regeneration Resistor Specifications . . . . . . . . . . . . . . . . . . . . 3-58

3-6 Reactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-59

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 1

3 Specifications

3-1 Servo Drive Specifications

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

3-1-1 General Specifications

Item Specifications

Operating ambient temperature and humidity

Storage ambient temperature and humidity

Operating and storage atmosphere

Vibration resistance

Insulation resistance Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at 500 VDC) Dielectric strength Between power supply/power terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz Protective structure Built into panel

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

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

No corrosive gases

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

or less (Not to be run continuously at a

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

2 Disconnect all connections to the Servo Drive before attempting a megameter test (insulation resistance

measurement) on a Servo Drive. Failure to follow this guideline may result in damaging the Servo Drive.

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

result in damaging the internal elements.

4 Some Servo Drive parts will require maintenance. For details, refer to 12-5 Periodic Maintenance on page 12-35. 5 Following may be caused by incoming electrical noise (unstable, vibration, accoustic noise, etc.). In such case, refer

to 4-4 Noise Reduction on page 4-29 for measure to reduce noise.

z International standard

EC Directives

UL standards UL 508C CSA standards CSA C22.2 No.14 Korean Radio Regulations (KC) Compliant

*1 This Servo Drive is third-party certified in combination with rotary motor models. It is the user's responsibility to perform

final checks on the compliance of the entire system.

EMC Directive EN55011, EN61000-6-2, EN61800-3 Low Voltage

Directive Machinery

Directives

EN 61800-5-1

EN954-1(Cat.3), EN ISO13849-1 (Cat.3)(PLc, d), ISO13849-1(Cat.3)(PLc, d), EN61508(SIL2), EN62061(SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL 2)

3 - 2

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3-1-2 Characteristics

3 Specifications

100-VAC Input Models

Item

Input power supply Main circuit Power supply capacity 0.4 kVA 0.5 kVA 0.9 kVA

Power supply voltage Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz Rated current 2.6 A 4.3 A 7.6 A

Control circuit

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

Heat value* Mass Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg Maximum motor

capacity

Motor Rated Rms Current 1.7 Arms 2.5 Arms 4.6 Arms Maximum current of motor 5.1 Arms 7.5 Arms 13.8 Arms

*1 The heat value is given for rated operation.

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

16.6 W 21 W 25 W

4 W4 W4 W

200-VAC Input Models

Item

Input power supply Main circuit Power supply capacity 0.5 kVA 0.5 kVA 0.9 kVA

Power supply voltage Single-phase or 3-phase 200 to 240 VAC

Rated current

Control circuit

Heat value

Power supply voltage Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz

Heat value Mass Approx. 0.8 kg Approx. 0.8 kg Approx. 1.0 kg Maximum motor

capacity

Rated current of motor 1.2 Arms 1.6 Arms 2.6 Arms Maximum current of motor 3.6 Arms 4.8 Arms 7.8 Arms

*1 The first value is for single-phase input power and the second value is fo r 3-phase input power. *2 The heat value is given for rated operation.

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

(170 to 264 VAC) 50/60 Hz

1.6/0.9 A

14.3/13.7 W

2.4/1.3 A 23/19 W

4.1/2.4 A 33/24 W

4 W4 W4 W

3-1 Servo Drive Specifications

3-1-2 Characteristics

Item

R88D-KN08H-ECT-L R88D-KN10H-ECT-L R88D-KN15H-ECT-L

Input power supply Main circuit Power supply capacity 1.3 kVA 1.8 kVA 2.3 kVA

Power supply voltage Single-phase or 3-phase 200 to 240 VAC

(170 to 264 VAC) 50/60 Hz

Control circuit

Rated current Heat value

6.6/3.6 A

30/35.5 W

9.1/5.2 A

57/49 W

Power supply voltage Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz Heat value

4 W7 W7 W

14.2/8.1 A 104/93 W

Mass Approx. 1.6 kg Approx. 1.8 kg Approx. 1.8 kg Maximum motor

capacity

Rated current of motor 4.1 Arms 5.9 Arms 9.4 Arms

Maximum current of motor 12.3 Arms 16.9 Arms 28.2 Arms *1 The first value is for single-phase input power and the second value is fo r 3-phase input power. *2 The heat value is given for rated operation.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 3

3 Specifications

400-VAC Input Models

Item

Input power supply Main circuit Power supply capacity 1.2 kVA 1.8 kVA 2.3 kVA

Power supply voltage 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz Rated current 2.1 A 2.8 A 3.9 A

Heat value

Control circuit

Mass Approx. 1.9 kg Approx. 1.9 kg Approx. 1.9 kg Maximum motor

capacity

*1 The heat value is given for rated operation.

Input power supply Main circuit Power supply capacity 3.8 kVA 4.5 kVA

Mass Approx. 2.7 kg Approx. 4.7 kg Maximum motor

capacity

Rated current of motor 1.5 Arms 2.9 Arms 4.7 Arms Maximum current of motor 4.5 Arms 8.7 Arms 14.1 Arms

Control circuit

Rated current of motor 6.7 Arms 9.4 Arms Maximum current of motor 19.7 Arms 28.2 Arms

Power supply voltage 24 VDC (20.4 to 27.6 VAC) Heat value

Item R88D-KN20F-ECT-L R88D-KN30F-ECT-L

Power supply voltage 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz Rated current 5.9 A 7.6 A

Heat value Power supply voltage 24 VDC (20.4 to 27.6 VAC)

Heat value

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

32.2 W 48 W 49 W

7 W7 W7 W

65 W 108 W

10 W 13 W

*1 The heat value is given for rated operation.

3 - 4

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3-1-3 EtherCAT Communications Specifications

3 Specifications

Item Specifications

Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile Physical layer 100BASE-TX (IEEE802.3) Connectors RJ45 × 2 (shielded)

ECAT IN: EtherCAT input ECAT OUT: EtherCAT output

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

aluminum tape and braided shielding) is recommended. Communications distance Distance between nodes: 100 m max. Process data Fixed PDO mapping Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information Distributed clock (DC) Sync hronization in DC mode.

DC cycle: 250 µs, 500 µs, 1 ms, 2 ms, 4 ms Indicators L/A IN (Link/Activity IN) × 1

L/A OUT (Link/Activity OUT) × 1

RUN × 1

ERR × 1 CiA402 Drive Profile • Cyclic synchronous position mode

• Cyclic synchronous velocity mode

• Cyclic synchronous torque mode

• Profile position mode

• Homing mode

• Touch probe function (Latch function)

• Torque limit functio n (Force limit function)

3-1 Servo Drive Specifications

3-1-3 EtherCAT Communications Specifications

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

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

• Electrical characteristics: Conform to IEEE 802.3.

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

Pin No. Signal name Abbreviation Direction

1 Send data + TD+ Output 2 Se nd data – TD– Output 3 Receive data + RD+ Input 4 Not used – – 5 Not used – – 6 Receive data – RD– Input 7 Not used – – 8 Not used – –

Connector

hood

Protective

ground

FG –

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 5

3 Specifications

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

For the control I/O signal cable, use a shielded twisted-pair cable with 0.18 mm2 or thicker core wires. The cable length must be 3 m or less.

Control I/O Signal Connections and External Signal Processing

+24VIN12 to 24 VDC

General-purpose input 1

General-purpose input 2

General-purpose input 3

General-purpose input 4

General-purpose input 5

General-purpose input 6

General-purpose input 7

IN2

IN3

IN7

4.7 kΩ

1 kΩ

5IN1

4.7 kΩ

1 kΩ

4.7 kΩ

1 kΩ

4.7 kΩ

1 kΩ

9IN4

4.7 kΩ

1 kΩ

10IN5

4.7 kΩ

1 kΩ

11IN6

4.7 kΩ

1 kΩ

4.7 kΩ

10 Ω

/ALM

Error output

ALMCOM

OUTM1

General-purpose input 1

OUTM1COM

OUTM225

General-purpose input 2

OUTM2COM

GND

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

General-purpose input 8

1 kΩ

13IN8

Shell

Frame ground

Note 1 The input function of pins 5 and 7 to 13 are determined by the servo parameter object setti ngs.

2 The output function of pins 1, 2, 25 and 26 are determined by the servo parameter object settings. 3 It is not necessary to wire unused input pins.

3 - 6

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Control I/O Signal Tables

3 Specifications

z CN1 Control Inputs

Pin No. Symbol

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

5 IN1 General-purpose

7 IN2 General-purpose

8 IN3 General-purpose

9 IN4 General-purpose

10 IN5 General-purpose

11 IN6 General-purpose

12 IN7 General-purpose

13 IN8 General-purpose

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

Name Default

Input 1

Input 2

Input 3

Input 4

Input 5

Input 6

Input 7

Input 8

Signal

Immediate Stop Input

Positive Drive Prohibition Input

Negative Drive Prohibition Input

Origin Proximity Input

External Latch Signal 3

External Latch Signal 2

External Latch Signal 1

Monitor Input 0

Function and interface

power supply (12 to 24 VDC) for sequence inputs

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

objects. External Latch Signals 1 to 3 can be allocated

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

3-1 Servo Drive Specifications

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

z CN1 Control Outputs

Pin No. Symbol

3 /ALM Error Output The output turns OFF when an error occurs in 4ALMCOM 1 OUTM1 General-purpose

2 OUTM1COM 25 OUTM2 General-purpose 26 OUTM2COM 16 GND Signal ground This is the signal ground.

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

Name Default

Output 1

Output 2

Signal

Brake Interlock Output

Servo Ready Output

Function and interface

the Servo Drive. These are general-purpose outputs. The input

functions can be selected with servo parameter objects.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 7

3 Specifications

OUTM2

(READY)

General-purpose

Output 2

(Servo Ready Output)

GND

OUTM2COM

General-purpose

Output 2 Common

Signal

Ground

IN2

(POT)

IN1

(STOP)

OUTM1

(BKIR)

/ALM

IN8

(MON0)

IN4

(DEC)

IN6

(EXT2)

General-purpose Input 2 (Positive

Drive Prohibition Input)

General-purpose

Output 1

(Brake Interlock Output)

Error Output

General-purpose

Input 8

(Monitor Input 0)

General-purpose

Input 4

(Origin Proximity Input)

General-purpose

Input 6

(External Latch Input 2)

General-purpose

Input 1

(Immediate Stop Input)

ALMCOM

IN3

(NOT)

IN5

(EXT3)

IN7

(EXT1)

OUTM1COM

+24VIN

General-purpose

Output 1 Common

12 to 24 VDC

Power Supply Input

Error Output

Common

General-purpose

Input 5 (External

General-purpose

Latch Input 3)

General-purpose

Input 7 (External

Latch Input 1)

General-purpose

Input 3 (Negative Drive

Prohibition Input)

1.0 k

4.7 k

1.0 k

IN1

IN2

6+24VIN

12 VDC ±5% to 24 VDC ±5%

Photocoupler input

External power supply

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

To another input circuit GND common

Photocoupler input

To other input circuit

Input current 10 mA max. (per input)

CN1 Pin Arrangement

Connectors for CN1 (Pin 26)

3-1-6 Control Input Circuits

3 - 8

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

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

3407 hex (Input Signal Selection 1 to 8).

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

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

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

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

Name Model Manufacturer OMRON model number

Plug 10126-3000PE Sumitomo 3M R88A-CNW01C Cable Case 10326-52A0-008

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Precautions for Safe Use

3-1-7 Control Input Details

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

General-purpose Inputs (IN1 to IN8)

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

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

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

3 Specifications

3-1 Servo Drive Specifications

3-1-7 Control Input Details

z Immediate Stop Input (STOP)

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

• If the Immediate Stop Input (STOP) is turned ON while the p ower is supplied to the Linear Motor,

the Servo Drive will stop its output, causing the Servo Motor to fall in a free state. In this case, the Linear Motor decelerates to stop according to the setting of the Fault reaction option code (605E hex). By default, the Fault reaction option code (605E hex) is set to -1 (Dynamic brake operation).

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

Enable the Immediate Stop Input (STOP) at the same time when you turn OFF the main power. When the main power turns OFF due to an external immediate stop, the motor will continues to

operate due to residual voltage. This may cause human injuries or damages to the machine and devices.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 9

3 Specifications

Precautions for Correct UsePrecautions for Correct Use

Additional Information

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

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

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

movement direction.

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

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

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

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

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

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

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

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

z Origin Proximity Input (DEC)

• This is the deceleration signal for origin returns.

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

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

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

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

3 - 10

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 Specifications

Precautions for Correct UsePrecautions for Correct Use

OUTMCOM, ALMCOM

OUTM1, OUTM2, ALM

Di: Surge voltage prevention diode

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

Servo Drive

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

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

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

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

11, and External Latch Input 3 to pin 10.

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

• The external latch inputs can only be set to N.O. (normally open) contacts.

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

z Monitor Inputs (MON0, MON1, and MON2)

3-1 Servo Drive Specifications

3-1-8 Control Output Circuits

• These are the general-purpose monitor inputs.

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

host controller.

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

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

• Turn ON these inputs to limit the force to the value se t in the Positive Force Limit (352 5 hex) or the

Negative Force Limit (3526 hex).

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

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

3-1-8 Control Output Circuits

Sequence Outputs

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

Use high-speed diodes.

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 11

3 Specifications

OFF

(L1C, L2)

OFF

(L1, L2, L3)

OFF

Approx. 60 ms

Approx. 2 ms

Approx. 4 ms

0 ms or more

0 s or more

100 ms or more

Normal operation

Servo ON accepted/rejected

Dynamic brake

Motor power supply

Brake interlock output

(BKIR)

Position, speed, or force command

Rejected

Less than 3 s

Approx. 1.5 s

Initialization

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

Approx. 100 to 300 ms

Control power supply

Internal control power supply

MPU operation

Main circuit power supply

Servo ready completed output

(READY, NO)

Servo ready completed output

(READY, NC)

Establishment

10 ms or more

Unknown

Output Tr ON

Accepted

OFF

Brake engaged Brake released

Magnetic pole position estimation in progress

Completed

Magnetic pole position estimation not completed

Magnetic pole position estimation

completion output

Completed

Magnetic pole position estimation not completed

Magnetic pole position estimation

completion output

With command

Without command

3-1-9 Control Output Details

Control Output Sequence

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

shown in the chart.

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

the MPU starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive are stable before the protective function starts working. This is true especially for the Positive/Negative Drive Prohibition Input (POT/NOT), the Origin Proximity Input (DEC), and the external encoder input. The period can be extended by setting the Power Supply ON Initialization Time (3618 hex).

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

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

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

turned ON. *4 The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled. *5 The Brake Interlock Output (BKIR) turns ON either when a release request is received via servo controls or

when a release request is received via EtherCAT communications *6 The magnetic pole position estimation completion output is enabled. The Magnetic Pole Detection Method

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

3 - 12

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 Specifications

*7 The Magnetic Pole Position Estimation Command Time ch anges with the servo paramet er object settings. Make

sure that the magnetic pole position esti mati on compl etion output flag is turned “ON” before executin g t he command. If magnetic pole position estimation is not completed successfully, the magnetic pole position estimation completion flag will not turn “ON.”

*8 The magnetic pole position es ti ma ti on c ompletion output is disabled. The Magnetic Pole Detection Method

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

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

Error Output (/ALM)

Pin 3 : Error Output (/ALM) Pin 4 : Error Output Common (ALMCOM)

z Function

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

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

processing has been completed.

3-1 Servo Drive Specifications

3-1-9 Control Output Details

General-purpose Outputs (OUTM1 and OUTM2)

Pin 1 : General-purpose Output 1 (OUTM1) –[Brake Interlock Output (BKIR)] Pin 2 : General-purpose Output 1 Common (OUTM1COM) Pin 25 : General-purpose Output 2 (OUTM2) –[Servo Ready Output (READY)] Pin 26 : General-purpose Output 2 Common (OUTM2COM)

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

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

z Servo Ready Completed Output (READY)

• This output signal indicates the Servo Drive is ready to supply power to the Linear Motor.

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

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

z Brake Interlock Output (BKIR)

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

the Brake Timing When Stopped (3437 hex), the Brake Timi ng Duri ng Opera tion ( 343 8 he x), and the Brake Threshold Speed During Operation (3439 hex).

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

z Positioning Completion Outputs (INP1, INP2)

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

• INP2 will turn ON when the position error is equal to or less than Positioning Completion Range 2

(3442 hex).

• This output turns ON based on the Positioning Completion Condition Selection (3432 hex).

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

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 13

3 Specifications

3436 hex +10

3436 hex –10

– (3436 hex –10)

– (3436 hex +10)

OFF OFFON ON

Motor movement speed [mm/s]

Motor speed

Time

Motor Speed Detection Output

(3434 hex + 10) mm/s

(3434 hex –10) mm/s

Speed

Negative direction

Positive direction

Zero Speed

Detection (ZSP)

z Motor Speed Detection Output (TGON)

• This output turns ON when the motor speed exceeds the value set by the Speed for Motor

Detection (3436 hex).

• The output is effective both in positive and negative directions regardless the direction in which the motor moves.

• The setting has a hysteresis of 10 mm/s.

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

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

z Force Limiting Signal (TLIMT)

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

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

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

z Zero Speed Detection Output (ZSP)

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

(3434 hex).

• The output is effective both in positive and negative directions regardless the direction in which the motor moves.

• The setting has a hysteresis of 10 mm/s.

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

3 - 14

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 Specifications

ON ONOFF OFF

Speed Conformity Detection Range (3435 hex)

Time

Speed Conformity Output (VCMP)

Speed [mm/s]

Speed command after acceleration or deceleration process

Speed command

Motor speed

z Speed Conformity Output (VCMP)

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

Detection Range (3435 hex).

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

• The setting has a hysteresis of 10 mm/s.

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

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

3-1 Servo Drive Specifications

3-1-9 Control Output Details

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

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

z Warning Outputs (WARN1 and WARN2)

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

1 (3440 hex) is detected.

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

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

z Position Command Status Output (PCMD)

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

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

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

z Speed Limiting Output (VLIMT)

• This output turns ON when the motor speed reac hes the limit set in the Speed Lim it Value Setting

(3321 hex).

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

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

z Error Clear Attribute Output (ALM-ATB)

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

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 15

3 Specifications

z Speed Command Status Output (VCMD)

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

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

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

z Remote Outputs (R-OUT1 and R-OUT2)

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

Digital outputs (60FE hex).

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

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

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

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

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

3-1-10 External Encoder Specifications

These are the specifications of the exte rn al en co der th at can be used in conjunction with the Servo Drive.

Item Specifications

–1) or less

Resolution Maximum length

Encoder type

Supported encoder speed

External encoder cable

*1 Set the number of pulses per magnetic pole pitch (or one cycle of electrical angle) to at least 2,048 pulses. *2 OMRON checked the connection of these products in serial communications by using each representative

model. Although the connection is confirmed, it does not mean that the functions and performance are guaranteed in the resolution, model, and all aspects of an external encoder.

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

operation manual for its supported speed.

*4 For the external encoder signal cable, use a shielded twisted-pair cable with 0.18 mm2 or thicker core wires. *5 We recommend you to use a 5 V power supply with the double wiring technique to reduce the effects of a

voltage drop if the wiring length is long.

0.001 to 10 [µm/Pulse] Resolution x (2

• Phase A/B, origin signal differential input

• AT573A, ST778A, and ST778AL by Mitutoyo Corporation

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

•

Phase A/B type (90° phase difference output)

• Seri al communications type

• Cable specifications

• Max imum cable length

: to 4 Mpps : to 400 Mpps

: Shielded twisted-pair cable

: 20 m

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G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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

t1>0.25 μs

t2>1.0 μs

EXA

EXB

These are the specifications of the connector that co nnect with the external encoder.

Pin No.

Symbol

1 E5V External encoder power

supply output

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

3 +EXS External encoder signal

I/O (serial signal)

4–EXS

Name Function and interface

External encoder power supply: 5.0 VDC ± 5%, 250 mA max. If the above capacity is exceeded, provide an appropriate power

supply.

connector CN1. This is an external encoder serial bi-directional signal.

(Conforms to EIA485) Maximum response frequency: 400 Mpps

3 Specifications

3-1 Servo Drive Specifications

5 +EXA External encoder signal

90° phase difference input

6–EXA

7 +EXB

8–EXB

9 +EXZ

10 –EXZ

Shell FG Frame ground Frame ground

*1 Connect external encoder signals to the serial interface (+EXS/–EXS) or 90° phase difference inputs according

to the encoder type.

(Phases A, B and Z)

This is an external encoder 90° phase difference input signal. Maximum response frequency: 4 Mpps (quadruple multiplier)

z Connectors for CN4 (10 Pins)

Name Model Manufacturer OMRON model number

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

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

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 17

3 Specifications

5.0 V ±5%

250 mA max.

+EXZ

–EXZ910

–EXA

+EXA

GND

E5V

5 V

E0V

+EXB

–EXB

120 Ω

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

+EXS

–EXS34

680 Ω

120 Ω

Puls

Shell

Phase B

Phase A

Phase Z

Serial signal

External encoder power supply output

Connection of External Encoder Input Signals and Processing of External Signals

3 - 18

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Example of Connection with External Encoder

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

20 kΩ

2 kΩ

20 kΩ

120 Ω

2 kΩ

+5V

/PA

/PB

/PC

–EXB

+EXB

5.0 V ±5%

250 mA max.

–EXA

+EXA

GND

E5V

5 V

E0V

+EXZ

–EXZ

Servo Drive side (CN4)

External encoder side

Power supply area

Puls

Shell

Phase B

Phase Z

Phase A

+EXS

–EXS

GND

E5V

5 V

E0V

680 Ω

120 Ω

+5V

SD/RQ

–SD/–RQ

Serial signal

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

Shell

Servo Drive side (CN4)

3 Specifications

z 90° Phase Difference Output (3323 hex = 0)

3-1 Servo Drive Specifications

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

z Serial Communications, Incremental Type External Encoder (3323 hex = 1)

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 19

3 Specifications

+5V

+EXS

–EXS

GND

E5V

5 V

E0V

GND

680 Ω

120 Ω

RQ/DT

Serial signal

Absolute Linear Scale by Mitutoyo Corporation AT573A/ST770A/ST770AL

Shell

Servo Drive side (CN4)

+5V

+EXS

–EXS

E5V

5 V

E0V

GND

680 Ω

120 Ω

SD/RQ

–SD/–RQ

Serial signal

Magnescale by Magnescale Co., Ltd Scale Unit SR77/SR87

Shell

Servo Drive side (CN4)

z Serial Communications, Absolute Type External Encoder (3323 hex = 2)

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G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

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

1 k

GND

1/2 AM1/AM2

Servo Drive

Monitor equipment

3 Specifications

Monitor Output Signal Table

z Monitor Output (CN5)

Pin No. Symbol Name Function and interface

1 AM1 Analog monitor output 1 Ou tpu ts the analog signal for the monitor.

Default setting: Motor speed 1 V/(500 mm/s) You can use objects 3416 hex and 3417 hex to change the

item and unit. You can use object 3421 hex to change the output method.

2 AM2 Analog monitor output 2 Ou tpu ts the analog signal for the monitor.

Default setting: Force command 1 V/(33%) You can use objects 3418 hex and 3419 hex to change the

item and unit.

You can use object 3421 hex to change the output method. 3 GND Analog monitor ground Ground for analog monitors 1, 2 4 – Not used Do not connect. 5 – Not used Do not connect. 6 – Not used Do not connect.

z Connectors for CN5 (6 Pins)

3-1 Servo Drive Specifications

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

Name Model Manufacturer

Connector housing 51004-0600 Molex Japan Connector terminal 50011-8000 Molex Japan

Monitor Output Circuit

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 21

3 Specifications

Precautions for Correct UsePrecautions for Correct Use

SF2+

SF2–

EDM+

EDM–

1 k

4.7 k

SF1+

SF1–43

1 k

4.7 k

Maximum service voltage : 30 VDC or less Maximum output current : 50 mADC Leakage current : 0.1 mA max. Residual voltage : 1.7 V max.

Shell

External power supply

12 VDC ±5% to 24 VDC ±5%

External power supply

12 VDC ±5% to 24 VDC ±5%

3-1-13 USB Connector Specifications (CN7)

Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking error status and error history, and parameter saving and loading can be performed.

Pin No. Symbol Name Function and interface

1 VBUS USB signal terminal Use this function for computer communication. 2D – 3D + 4 – Reserved for manufacturer use Do not connect. 5 GND Signal ground Signal ground

Use a commercially available USB cable that is shielded, equipped with a ferrite core for noise immunity, and supports USB2.0.

The Mini B type USB cable can be used.

3-1-14 Safety Connector Specifications (CN8)

Connection of Safety I/O Signals and Processing of External Signals

3 - 22

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Safety I/O Signal Table

4.7 k

1.0 k

SF1+ 4

SF1– 3

SF2+ 6

SF2– 5

4.7 k

1.0 k

Photocoupler input

Servo Drive

External power supply

12 VDC ±5% to 24 VDC ±5%

Signal level ON level: 10 V min. OFF level: 3 V max.

Photocoupler input

3 Specifications

z Safety I/O (CN8)

Pin No. Symbol Name Function and interface

1 – Reserved Do not connect. 2– 3 SF1– Safety input 1 Inputs 1 and 2 for operating the STO function, which are 2 4SF1+ 5 SF2– Safety input 2 6SF2+ 7 EDM– EDM output A monitor signal is output to detect a safety function failure. 8EDM+

Shell FG Frame ground Connected to the ground terminal inside the Servo Drive.

independent circuits. This input turns OFF the power transistor drive signals in the

Servo Drive to cut off the current output to the motor.

z Connector for CN8 (8 pins)

Name Model Manufacturer

Industrial Mini I/O Connector (D-SHAPE1)

Note The recommended cable is a 6-core shielded cable with a wire size of AWG30 to AWG26 and a finished

outer diameter of 6.7 mm or less.

2013595-1 Tyco Electronics AMP KK R88A-CNK81S

OMRON model

number

3-1 Servo Drive Specifications

3-1-14 Safety Connector Specifications (CN8)

Safety Input Circuits

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

3 - 23

3 Specifications

7 –EDM

8 +EDM

External power supply 12 to 24 VDC Maximum service voltage : 30 VDC or less Maximum output current : 50 mA max. Leakage current : 0.1 mA max. Residual voltage : 1.7 V max.

Di: Surge voltage prevention diode (Use a high–speed diode.)

Servo Drive

EDM Output Circuit

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

3 - 24

G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications

Omron R88D-KN04H-ECT-L, R88D-KN01H-ECT-L, R88D-KN08H-ECT-L, R88D-KN10H-ECT-L, R88D-KN06F-ECT-L User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Manual Configuration

Manual Structure

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Safety Precautions

Regulations and Standards

Items to Check after Unpacking

Revision History

1-1 Outline

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

1-1-3 Object Dictionary

1-1-2 What is EtherCAT?

1-2 System Configuration

1-3 Names and Functions

1-3-1 Servo Drive Part Names

1-3-2 Servo Drive Functions

1-4 System Block Diagram

1-5 Unit Versions

1-5-1 Confirmation Method

1-5-2 Unit Versions

2-1 Servo System Configuration

2-2 How to Read Model Numbers

2-2-1 Servo Drive

2-2-2 Linear Motor

2-3 Model Tables

2-3-1 Servo Drive Model Table

2-3-2 Linear Motor Model Table

2-3-3 Servo Drive and Linear Motor Combination Tables

2-3-4 Cable and Peripheral Device Model Tables

2-4 External and Mounting Dimensions

2-4-1 Servo Drive Dimensions

2-4-2 Linear Motor Dimensions

2-4-3 External Regeneration Resistor Dimensions

2-4-4 Reactor Dimensions

2-4-5 Mounting Bracket Dimensions

3-1 Servo Drive Specifications

3-1-1 General Specifications

3-1-2 Characteristics

3-1-3 EtherCAT Communications Specifications

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

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

3-1-6 Control Input Circuits

3-1-7 Control Input Details

3-1-8 Control Output Circuits

3-1-9 Control Output Details

3-1-10 External Encoder Specifications

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

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

3-1-13 USB Connector Specifications (CN7)

3-1-14 Safety Connector Specifications (CN8)