OMRON R88M, R88D User Manual

Download

AC Servomotors/Servo Drives

1S-series with Built-in

EtherCAT® Communications and Safety Functionality

User’s Manual

R88M-1AL/-1AM (AC Servomotors) R88D-1SAN-ECT (AC Servo Drives)

I621-E1-03

NOTE

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.

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

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

•

• Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

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

Introduction

Thank you for purchasing a 1S-series Servo Drive Advance Type. This User’s Manual describes the installation and wiring methods of the 1S-series Servo Drives and parameter setting method which is required for the operation, as well as troubleshooting and inspection methods.

Intended Audience

This User’s Manual is intended for the following personnel, who must also have electrical knowledge (certified electricians or individuals who have equivalent knowledge).

• Personnel in charge of introducing the FA equipment

• Personnel in charge of designing the FA systems

• Personnel in charge of installing and connecting the FA equipment

• Personnel in charge of managing the FA systems and facilities

Introduction

Notice

This User’s Manual contains information you need to know to correctly use the 1S-series Servo Drives and peripheral equipment.

Before using the Servo Drive, read this User’s Manual and gain a full understanding of the information provided herein.

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

Make sure this User’s Manual is delivered to the end user.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Manual Structure

7 Applied Functions

7 - 30

1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

7-9 Soft Start Function

This function sets the acceleration and deceleration against the velocity command input inside the Servo Drive and uses these values for speed control.

With this function, soft starts are possible when the step rotation velocity commands are input. To reduce any impacts made by acceleration changes, you can also use the velocity command filter (first-order lag).

For a step velocity command input, set the time until the velocity command reaches 1,000 r/min in Acceleration Time.

Similarly, set the time until the velocity command slows from 1,000 r/min down to 0 r/min in Deceleration Time.

Acceleration Time (ms) = Vc/1,000 r/min × Acceleration Time × 0.1 ms

Deceleration Time (ms) = Vc/1,000 r/min × Deceleration Time × 0.1 ms

7-9-1 Objects Requiring Settings

Index

(hex)

Subindex

(hex)

Name Description

Refer-

ence

3021

–

Velocity Command Filter

–

P. 9 -1 9

01 Acceleration Time Sets the acceleration time during accelera-

tion.

P. 9 -1 9

02 Deceleration Time Sets the deceleration time during decelera-

tion.

P. 9 -1 9

03 IIR Filter Enable Selects whether to enable or disable the

IIR filter in the velocity command filter.

0: Disabled

1: Enabled

P. 9 -2 0

04 Filter Cutoff Frequency Sets the cutoff frequency for the IIR filter. P. 9-20

7-9-2 Soft Start Acceleration/Deceleration Time

Time

Velocity command [r/min]

Acceleration Time × 0.1 ms Deceleration Time × 0.1 ms

1,000 [r/min]

Velocity command before acceleration control (step type command)

Velocity command after acceleration control (trapezoidal type command)

Level 1

heading

Level 2

heading

Level 3

heading

Manual name

Manual Structure

This section explains the page structure and symbol icons.

Page Structure

The following page structure is used in this manual.

Note The above page is only a sample for illustrative purposes. It is not the actual content of this User’s Manual.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Precautions for Safe Use

Precautions for Correct Use

Additional Information

Version Information

7 - 31

7 Applied Functions

1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

7-9 Soft Start Function

7-9-3 Velocity Command Filter (First-order Lag)

Precautions for Correct Use

Do not set the Acceleration Time and the Deceleration Time when the position loop structure with a host controller is used.

The velocity command filter (first-order lag) is an IIR filter used for speed commands.

7-9-3 Velocity Command Filter (First-order Lag)

Vc × 0.632

(s)

Vc × 0.368

Time

Velocity command [r/min]

Target velocity

Velocity command before filter process

Velocity command after filter process

1/(2π × Filter Cutoff Frequency)

Icons indicate precautions, additional information, or reference information.

Special information

Level 2 heading

Gives the current heading.

Page tab

Gives the number of the main section.

Level 3 heading

Gives the current heading.

Manual Structure

Note This illustration is provided only as a sample. It may not literally appear in this manual.

Special Information

Special information in this manual is classified as follows:

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Information on differences in specifications and functionality for Servo Drives with different unit versions and for different versions of the Sysmac Studio is given.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Manual Configuration

This User’s Manual consists of the following sections.

Read the necessary section or sections by reference to the following table.

Section Outline

Section 1

Section 2

Section 3 Specifications

Section 4

Section 5

Section 6

Section 7 Applied Functions

Section 8 Safety Function

Section 9

Section 10 Operation

Section 11

Section 12 Troubleshooting

Section 13

Appendices

Features and System Configuration

Models and External Dimensions

Configuration and Wiring

EtherCAT Communications

Basic Control Functions

Details on Servo Parameters

Adjustment Functions

Maintenance and Inspection

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

This section explains the models of Servo Drives, Servomotors, Decelerators, and peripheral devices, and provides the external dimensions and mounting dimensions. This section provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices.

This section explains the conditions for installing Servo Drives, Servomotors, and Decelerators, the wiring methods including wiring conforming to EMC Directives, the regenerative energy calculation methods, as well as the performance of External Regeneration Resistors.

This section explains EtherCAT communications under the assumption that the Servo Drive is connected to a Machine Automation Controller NJ/NX-series CPU Unit, NY-series IPC Machine Controller, or Position Control Unit (Model: CJ1W-NC8).

This section explains the outline and settings of basic control functions.

This section provides the outline and settings of the applied functions such as electronic gear and gain switching.

This section provides the outline of each safety function (STO, SS1, SS2, SOS, SLS, SLP, SDI, and SBC) and examples of operation and connection.

This section explains the details on each servo parameter, including the set values, settings, and the display. This section provides the operational procedure and explains how to operate in each mode.

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

This section explains the items to check when problems occur, and troubleshooting by the use of error displays or operation state. This section explains maintenance and inspection of the Servomotors and Servo Drives.

The appendices provide explanation for the profile that is used to control the Servo Drive, lists of objects, and Sysmac error status codes.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

6 I

Features and System Configuration

Models and External Dimensions

Operation

Specifications

Adjustment Functions

Troubleshooting

Configuration and Wiring

Maintenance and Inspection

EtherCAT Communications

Appendices

Applied Functions

Basic Control Functions

Index

Safety Function

Details on Servo Parameters

Sections in this Manual

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

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

Manual Structure ......................................................................................................2

Manual Configuration ..............................................................................................4

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

Terms and Conditions Agreement ........................................................................18

Safety Precautions .................................................................................................20

Items to Check After Unpacking ...........................................................................31

Related Manuals .....................................................................................................39

Terminology ............................................................................................................44

Revision History .....................................................................................................47

Section 1 Features and System Configuration

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

1-1-1 Features of 1S-series Servo Drive Advance Type.................................................................... 1-2

1-1-2 EtherCAT .................................................................................................................................. 1-3

1-1-3 Object Dictionary ...................................................................................................................... 1-4

1-2 System Configuration .........................................................................................................1-5

1-3 Names and Functions ......................................................................................................... 1-6

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

1-3-2 Servo Drive Functions ............................................................................................................1-10

1-3-3 Servomotor Part Names ......................................................................................................... 1-13

1-3-4 Servomotor Functions............................................................................................................. 1-15

1-3-5 Shield Clamp Part Names ...................................................................................................... 1-16

1-4 System Block Diagram...................................................................................................... 1-17

1-5 Applicable Standards........................................................................................................ 1-21

1-5-1 EU Directives .......................................................................................................................... 1-21

1-5-2 UL and cUL Standards............................................................................................................1-22

1-5-3 Korean Radio Regulations (KC) .............................................................................................1-23

1-5-4 SEMI F47................................................................................................................................ 1-23

1-5-5 Australian EMC Labeling Requirements (RCM) ..................................................................... 1-23

1-5-6 EAC Requirements ................................................................................................................. 1-23

1-6 Unit Versions...................................................................................................................... 1-24

1-6-1 Confirmation Method ..............................................................................................................1-24

1-6-2 Unit Versions and Sysmac Studio Versions ............................................................................1-24

1-7 Procedures to Start Operation ......................................................................................... 1-25

1-7-1 Overall Procedure...................................................................................................................1-25

1-7-2 Procedure Details ................................................................................................................... 1-27

Section 2 Models and External Dimensions

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

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

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

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

2-2-2 Servomotor............................................................................................................................... 2-5

2-2-3 Integrated Cable....................................................................................................................... 2-6

2-2-4 Decelerator............................................................................................................................... 2-7

2-3 Model Tables........................................................................................................................ 2-9

2-3-1 Servo Drive Model Table .......................................................................................................... 2-9

2-3-2 Servomotor Model Tables....................................................................................................... 2-10

2-3-3 Servo Drive and Servomotor Combination Tables.................................................................. 2-12

2-3-4 Decelerator Model Tables....................................................................................................... 2-13

2-3-5 Servomotor and Decelerator Combination Tables.................................................................. 2-15

2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps ................................................. 2-16

2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit

Model Tables .......................................................................................................................... 2-19

2-3-8 Reactor Model Table............................................................................................................... 2-20

2-4 External and Mounting Dimensions ................................................................................ 2-21

2-4-1 Servo Drive Dimensions......................................................................................................... 2-21

2-4-2 Servomotor Dimensions ......................................................................................................... 2-23

2-4-3 Cable Outlet Direction of Integrated Connector ..................................................................... 2-43

2-4-4 Cable Wiring Dimension for a Case of Servomotor Installing ................................................ 2-44

2-4-5 Decelerator Dimensions ......................................................................................................... 2-46

2-4-6 Dimensions of External Regeneration Resistors and

External Regeneration Resistance Units................................................................................ 2-55

2-4-7 Reactor Dimensions ............................................................................................................... 2-56

Section 3 Specifications

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

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

3-1-2 Characteristics.......................................................................................................................... 3-4

3-1-3 EtherCAT Communications Specifications ............................................................................... 3-8

3-1-4 Main Circuit and Motor Connections ........................................................................................ 3-9

3-1-5 Control I/O Connector (CN1) Specifications........................................................................... 3-14

3-1-6 Control Input Circuits.............................................................................................................. 3-16

3-1-7 Control Input Details............................................................................................................... 3-17

3-1-8 Control Output Circuits ........................................................................................................... 3-18

3-1-9 Control Output Details ............................................................................................................ 3-19

3-1-10 Encoder Pulse Output Specifications ..................................................................................... 3-19

3-1-11 Safety Signal Connector (CN14) Specifications..................................................................... 3-20

3-1-12 Safe Brake Control Connector (CN15) Specifications............................................................ 3-24

3-1-13 Brake Interlock Connector (CN12) Specifications .................................................................. 3-25

3-1-14 Encoder Connector (CN2) Specifications............................................................................... 3-26

3-1-15 EtherCAT Communications Connector (RJ45) Specifications................................................ 3-26

3-1-16 USB Connector (CN7) Specifications..................................................................................... 3-27

3-1-17 Power ON Sequence.............................................................................................................. 3-27

3-1-18 Overload Characteristics (Electronic Thermal Function) ........................................................ 3-28

3-2 Servomotor Specifications ............................................................................................... 3-31

3-2-1 General Specifications ........................................................................................................... 3-31

3-2-2 Encoder Specifications........................................................................................................... 3-32

3-2-3 Characteristics........................................................................................................................ 3-33

3-3 Decelerator Specifications ............................................................................................... 3-44

3-4 Cable and Connector Specifications ............................................................................... 3-47

3-4-1 Integrated Cable Specifications.............................................................................................. 3-47

3-4-2 Combination of Integrated Cable and Extension Cable ......................................................... 3-67

3-4-3 Resistance to Bending of Integrated Cable............................................................................ 3-68

3-4-4 EtherCAT Communications Cable Specifications................................................................... 3-69

3-5 Specifications of External Regeneration Resistors and

External Regeneration Resistance Units ........................................................................ 3-72

3-5-1 General Specifications ........................................................................................................... 3-72

3-5-2 Characteristics........................................................................................................................ 3-72

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

3-5-3 External Regeneration Resistance Unit Specifications...........................................................3-74

3-6 Reactor Specifications...................................................................................................... 3-75

3-6-1 General Specifications............................................................................................................ 3-75

3-6-2 Characteristics ........................................................................................................................ 3-75

3-6-3 Terminal Block Specifications ................................................................................................. 3-76

3-7 Noise Filter Specifications................................................................................................ 3-77

Section 4 Configuration and Wiring

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

4-1-1 Servo Drive Installation Conditions ........................................................................................... 4-2

4-1-2 Servomotor Installation Conditions ........................................................................................... 4-5

4-1-3 Decelerator Installation Conditions ........................................................................................... 4-9

4-1-4 External Regeneration Resistor and External Regeneration Resistance Unit Conditions ......4-13

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

4-2-1 Peripheral Equipment Connection Examples .........................................................................4-15

4-2-2 Procedure for Wiring Connector-type Terminal Blocks and for Mounting a Shield Clamp...... 4-25

4-2-3 Procedure for Attaching an Integrated Connector ..................................................................4-28

4-2-4 Procedure for Change of Cable Outlet Direction for Integrated Cable ................................... 4-30

4-3 Wiring Conforming to EMC Directives ............................................................................ 4-32

4-3-1 Peripheral Equipment Connection Examples .........................................................................4-33

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

4-4 Regenerative Energy Absorption..................................................................................... 4-44

4-4-1 Calculating the Regenerative Energy .....................................................................................4-44

4-4-2 Servo Drive Regeneration Absorption Capacity ..................................................................... 4-47

4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device............... 4-48

4-4-4 Connecting an External Regeneration Resistor......................................................................4-49

4-5 Adjustment for Large Load Inertia................................................................................... 4-50

4-6 Machine Accuracy for Servomotor .................................................................................. 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 ............................................. 5-5

5-3 EtherCAT State Machine ..................................................................................................... 5-6

5-4 Process Data Objects (PDOs) ............................................................................................ 5-7

5-4-1 PDO Mapping Settings ............................................................................................................. 5-7

5-4-2 Sync Manager PDO Assignment Settings ................................................................................ 5-8

5-4-3 Fixed PDO Mapping .................................................................................................................5-8

5-4-4 Variable PDO Mapping ........................................................................................................... 5-11

5-4-5 Safety PDO Mapping .............................................................................................................. 5-12

5-4-6 Sync Manager PDO Mapping Assignment Settings ...............................................................5-14

5-5 Service Data Objects (SDOs)............................................................................................ 5-15

5-6 Synchronization Mode and Communications Cycle ...................................................... 5-16

5-6-1 Distributed Clock (DC) Mode ..................................................................................................5-16

5-6-2 Free-Run Mode....................................................................................................................... 5-16

5-7 Emergency Messages ....................................................................................................... 5-17

5-8 Sysmac Device Features .................................................................................................. 5-18

5-9 Cable Redundancy Function ............................................................................................ 5-22

5-9-1 Objects Requiring Settings .....................................................................................................5-22

5-9-2 Description of Operation ......................................................................................................... 5-22

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

5-9-3 Procedure of Checking Operation .......................................................................................... 5-23

5-9-4 Slave Communications Statuses When Cable Redundancy Function Is Used...................... 5-25

5-9-5 Relation between the Network Configuration Information and the Actual Configuration........ 5-26

Section 6 Basic Control Functions

6-1 Outline of Control Functions.............................................................................................. 6-2

6-1-1 Basic Control and Control Methods..........................................................................................6-2

6-1-2 Control Method......................................................................................................................... 6-3

6-2 Control Blocks ..................................................................................................................... 6-5

6-2-1 Block Diagram for Position Control .......................................................................................... 6-5

6-2-2 Block Diagram for Velocity Control........................................................................................... 6-7

6-2-3 Block Diagram for Torque Control ............................................................................................ 6-9

6-3 Cyclic Synchronous Position Mode ................................................................................ 6-10

6-4 Cyclic Synchronous Velocity Mode................................................................................. 6-12

6-5 Cyclic Synchronous Torque Mode................................................................................... 6-14

6-6 Profile Position Mode........................................................................................................6-16

CONTENTS

6-7 Profile Velocity Mode ........................................................................................................6-21

6-8 Homing Mode..................................................................................................................... 6-24

6-9 Connecting with OMRON Controllers.............................................................................. 6-25

Section 7 Applied Functions

7-1 General-purpose Input Signals .......................................................................................... 7-3

7-1-1 Objects Requiring Settings....................................................................................................... 7-4

7-1-2 Default Setting.......................................................................................................................... 7-6

7-1-3 Function Input Details............................................................................................................... 7-7

7-2 General-purpose Output Signals ....................................................................................... 7-8

7-2-1 Objects Requiring Settings....................................................................................................... 7-8

7-2-2 Default Setting........................................................................................................................ 7-10

7-2-3 Function Output Details...........................................................................................................7-11

7-3 Drive Prohibition Functions ............................................................................................. 7-15

7-3-1 Objects Requiring Settings..................................................................................................... 7-15

7-3-2 Description of Operation......................................................................................................... 7-16

7-4 Software Position Limit Functions .................................................................................. 7-17

7-4-1 Operating Conditions.............................................................................................................. 7-17

7-4-2 Objects Requiring Settings..................................................................................................... 7-17

7-4-3 Description of Operation......................................................................................................... 7-18

7-5 Backlash Compensation................................................................................................... 7-20

7-5-1 Operating Conditions.............................................................................................................. 7-20

7-5-2 Objects Requiring Settings..................................................................................................... 7-20

7-5-3 Description of Operation......................................................................................................... 7-21

7-6 Brake Interlock................................................................................................................... 7-22

7-6-1 Objects Requiring Settings..................................................................................................... 7-22

7-6-2 Description of Operation......................................................................................................... 7-24

7-6-3 Operation Timing.................................................................................................................... 7-25

7-7 Electronic Gear Function.................................................................................................. 7-29

7-7-1 Objects Requiring Settings..................................................................................................... 7-29

7-7-2 Operation Example................................................................................................................. 7-29

7-8 Torque Limit Switching ..................................................................................................... 7-30

7-8-1 Operating Conditions.............................................................................................................. 7-30

7-8-2 Objects Requiring Settings..................................................................................................... 7-30

7-8-3 Torque Limit Switching Method ..............................................................................................7-31

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

7-9 Soft Start ............................................................................................................................ 7-32

7-10 Gain Switching Function .................................................................................................. 7-34

7-11 Touch Probe Function (Latch Function).......................................................................... 7-38

7-12 Encoder Dividing Pulse Output Function ....................................................................... 7-42

7-13 Dynamic Brake................................................................................................................... 7-45

7-14 Command Compensation Function for Communications Error ................................... 7-49

7-9-1 Objects Requiring Settings .....................................................................................................7-32

7-9-2 Soft Start Acceleration/Deceleration Time .............................................................................. 7-32

7-9-3 Velocity Command First-order Lag Filter ................................................................................ 7-33

7-10-1 Objects Requiring Settings ..................................................................................................... 7-34

7-10-2 Mode Selection .......................................................................................................................7-36

7-10-3 Gain Switching in Position Control..........................................................................................7-37

7-11-1 Related Objects ......................................................................................................................7-38

7-11-2 Trigger Signal Settings............................................................................................................7-40

7-11-3 Operation Sequence...............................................................................................................7-41

7-12-1 Objects Requiring Settings ..................................................................................................... 7-43

7-12-2 Dividing Ratio..........................................................................................................................7-43

7-12-3 Output Reverse Selection ....................................................................................................... 7-44

7-12-4 Z-phase Output ....................................................................................................................... 7-44

7-13-1 Operating Conditions .............................................................................................................. 7-45

7-13-2 Objects Requiring Settings ..................................................................................................... 7-45

7-13-3 Description of Operation ......................................................................................................... 7-46

7-14-1 Operating Conditions .............................................................................................................. 7-49

7-14-2 Operation Example ................................................................................................................. 7-49

Section 8 Safety Function

8-1 Outline of Safety Functions................................................................................................ 8-3

8-1-1 Description of Safety Functions ................................................................................................ 8-3

8-1-2 Configuration for Safety System ............................................................................................... 8-4

8-1-3 Network Connection and Settings ............................................................................................8-7

8-1-4 Operating Procedure for Safety Function ................................................................................. 8-8

8-1-5 Safety Reaction Time for Safety Distance .............................................................................. 8-11

8-1-6 Data Necessary for Designing Programs of Each Controller..................................................8-12

8-1-7 PFH.........................................................................................................................................8-15

8-1-8 Position/Velocity Data Monitored by Safety Functions ........................................................... 8-16

8-1-9 Precaution on Use .................................................................................................................. 8-19

8-1-10 Procedure for Reset of Safety Error .......................................................................................8-20

8-1-11 Safety Program.......................................................................................................................8-21

8-2 Safe Torque OFF (STO) Function ..................................................................................... 8-22

8-2-1 STO Function via Safety Input Signals ...................................................................................8-23

8-2-2 STO Function via EtherCAT Communications ........................................................................ 8-32

8-2-3 STO with SBC Functions via EtherCAT Communications ......................................................8-36

8-3 Safe Stop 1 (SS1) Function............................................................................................... 8-39

8-3-1 Objects Requiring Settings .....................................................................................................8-41

8-3-2 Operation Procedure ..............................................................................................................8-43

8-3-3 Operation Timing ....................................................................................................................8-44

8-3-4 Example of Safety Program.................................................................................................... 8-47

8-3-5 Concurrent Use of SS1 Function and SBC Function..............................................................8-48

8-4 Safe Stop 2 (SS2) Function............................................................................................... 8-54

8-4-1 Objects Requiring Settings .....................................................................................................8-55

8-4-2 Operation Procedure ..............................................................................................................8-57

8-4-3 Operation Timing ....................................................................................................................8-58

8-4-4 Example of Safety Program.................................................................................................... 8-61

8-5 Safe Operating Stop (SOS) Function............................................................................... 8-62

8-5-1 Objects Requiring Settings .....................................................................................................8-62

8-5-2 Operation Procedure ..............................................................................................................8-63

8-5-3 Operation Timing ....................................................................................................................8-64

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

8-5-4 Example of Safety Program ................................................................................................... 8-67

8-6 Safely-limited Speed (SLS) Function............................................................................... 8-68

8-6-1 Objects Requiring Settings..................................................................................................... 8-70

8-6-2 Operation Procedure .............................................................................................................. 8-72

8-6-3 Operation Timing.................................................................................................................... 8-73

8-6-4 Example of Safety Program .................................................................................................. 8-78

8-7 Safely-limited Position (SLP) Function ........................................................................... 8-79

8-7-1 Configuration Example for SLP System ................................................................................. 8-79

8-7-2 Objects Requiring Settings..................................................................................................... 8-81

8-7-3 Operation Procedure ............................................................................................................. 8-84

8-7-4 Operation Timing.................................................................................................................... 8-85

8-7-5 Example of Safety Program .................................................................................................. 8-88

8-7-6 Setting of Safety Origin Position............................................................................................. 8-89

8-8 Safe Direction (SDI) Function......................................................................................... 8-102

8-8-1 Objects Requiring Settings.................................................................................................. 8-102

8-8-2 Operation Procedure ........................................................................................................... 8-103

8-8-3 Operation Timing.................................................................................................................. 8-104

8-8-4 Example of Safety Program .................................................................................................8-110

8-9 Safe Brake Control (SBC) Function ............................................................................... 8-112

8-9-1 Configuration Method for SBC ..............................................................................................8-113

8-9-2 Objects Requiring Settings....................................................................................................8-115

8-9-3 Operation Procedure .............................................................................................................8-116

8-9-4 Connection Method ...............................................................................................................8-117

8-9-5 Connection Examples ...........................................................................................................8-119

8-9-6 Operation Timing.................................................................................................................. 8-120

8-9-7 SBC Power Monitor.............................................................................................................. 8-120

8-9-8 Safety Relay Stuck Error Detection...................................................................................... 8-122

8-10 Safety Position/Velocity Validation Monitoring Function ............................................ 8-124

8-10-1 Details about Validation Monitoring ...................................................................................... 8-124

8-10-2 Objects Requiring Settings................................................................................................... 8-125

8-10-3 Operation Procedure ............................................................................................................ 8-125

8-10-4 Operation Timing.................................................................................................................. 8-126

Section 9 Details on Servo Parameters

9-1 Object Description Format ................................................................................................. 9-5

9-2 Common Control Objects ................................................................................................... 9-7

9-2-1 3000 hex: Basic Functions ....................................................................................................... 9-7

9-2-2 3001 hex: Machine ................................................................................................................. 9-13

9-2-3 3002 hex: Optimized Parameters........................................................................................... 9-14

9-2-4 3010 hex: Position Command ................................................................................................ 9-16

9-2-5 3011 hex: Position Command Filter........................................................................................ 9-18

9-2-6 3012 hex: Damping Control.................................................................................................... 9-19

9-2-7 3013 hex: Damping Filter 1 .................................................................................................... 9-20

9-2-8 3014 hex: Damping Filter 2 .................................................................................................... 9-21

9-2-9 3020 hex: Velocity Command.................................................................................................9-23

9-2-10 3021 hex: Velocity Command Filter........................................................................................ 9-24

9-2-11 3030 hex: Torque Command ..................................................................................................9-25

9-2-12 3031 hex: Velocity Limit in Torque Control ............................................................................. 9-25

9-2-13 3040 hex: Profile Command ...................................................................................................

9-2-14 3041 hex: Command Dividing Function ................................................................................. 9-27

9-3 Control Method Objects.................................................................................................... 9-29

9-3-1 3112 hex: ODF Velocity Feed-forward.................................................................................... 9-29

9-3-2 3113 hex: ODF Torque Feed-forward ..................................................................................... 9-30

9-3-3 3120 hex: TDF Position Control .............................................................................................9-31

9-3-4 3121 hex: TDF Velocity Control.............................................................................................. 9-32

9-4 Control Loop Objects........................................................................................................ 9-34

9-4-1 3210 hex: Internal Position Command ................................................................................... 9-34

9-4-2 3211 hex: Position Detection.................................................................................................. 9-35

9-26

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

9-5 Torque Output Setting Objects ........................................................................................ 9-44

9-6 Homing Objects ................................................................................................................. 9-57

9-7 Applied Function Objects ................................................................................................. 9-61

9-8 Error- and Warning-related Objects................................................................................. 9-81

9-9 Monitoring-related Objects............................................................................................... 9-87

9-10 Display-related Objects.....................................................................................................9-98

9-11 Power Device-related Objects .......................................................................................... 9-99

9-12 External Device-related Objects..................................................................................... 9-102

9-13 Encoder-related Objects ................................................................................................. 9-104

9-4-3 3212 hex: Gain Switching in Position Control.........................................................................9-35

9-4-4 3213 hex: 1st Position Control Gain ....................................................................................... 9-36

9-4-5 3214 hex: 2nd Position Control Gain ...................................................................................... 9-37

9-4-6 3220 hex: Internal Velocity Command....................................................................................9-37

9-4-7 3221 hex: Velocity Detection .................................................................................................. 9-38

9-4-8 3222 hex: Gain Switching in Velocity Control .........................................................................9-39

9-4-9 3223 hex: 1st Velocity Control Gain........................................................................................9-39

9-4-10 3224 hex: 2nd Velocity Control Gain ......................................................................................9-40

9-4-11 3230 hex: Internal Torque Command......................................................................................9-41

9-4-12 3231 hex: Torque Detection.................................................................................................... 9-41

9-4-13 3232 hex: Filter Switching in Torque Control ..........................................................................9-41

9-4-14 3233 hex: 1st Torque Command Filter.................................................................................... 9-42

9-4-15 3234 hex: 2nd Torque Command Filter...................................................................................9-43

9-5-1 3310 hex: Torque Compensation............................................................................................9-44

9-5-2 3320 hex: Adaptive Notch Filter..............................................................................................9-46

9-5-3 3321 hex: 1st Notch Filter.......................................................................................................9-47

9-5-4 3322 hex: 2nd Notch Filter...................................................................................................... 9-49

9-5-5 3323 hex: 3rd Notch Filter ......................................................................................................9-51

9-5-6 3324 hex: 4th Notch Filter.......................................................................................................9-53

9-5-7 3330 hex: Torque Limit............................................................................................................9-55

9-7-1 3B10 hex: Drive Prohibition .................................................................................................... 9-61

9-7-2 3B11 hex: Software Position Limit ..........................................................................................9-62

9-7-3 3B20 hex: Stop Selection .......................................................................................................9-64

9-7-4 3B21 hex: Deceleration Stop ..................................................................................................9-66

9-7-5 3B30 hex: Touch Probe 1........................................................................................................9-67

9-7-6 3B31 hex: Touch Probe 2........................................................................................................9-70

9-7-7 3B40 hex: Zone Notification 1.................................................................................................9-71

9-7-8 3B41 hex: Zone Notification 2.................................................................................................9-72

9-7-9 3B50 hex: Position Detection Function ................................................................................... 9-73

9-7-10 3B51 hex: Positioning Completion Notification ....................................................................... 9-73

9-7-11 3B52 hex: Positioning Completion Notification 2 .................................................................... 9-74

9-7-12 3B60 hex: Speed Detection Function .....................................................................................9-75

9-7-13 3B70 hex: Vibration Detection ................................................................................................ 9-76

9-7-14 3B71 hex: Runaway Detection ...............................................................................................9-77

9-7-15 3B80 hex: Load Characteristic Estimation.............................................................................. 9-78

9-8-1 4000 hex: Error Full Code....................................................................................................... 9-81

9-8-2 4020 hex: Warning Customization.......................................................................................... 9-82

9-8-3 4021 hex: Warning Output 1 Setting....................................................................................... 9-84

9-8-4 4022 hex: Warning Output 2 Setting....................................................................................... 9-85

9-8-5 4030 hex: Information Customization ..................................................................................... 9-86

9-9-1 4110 hex: Monitor Data via PDO ............................................................................................ 9-87

9-9-2 4120 hex: EtherCAT Communications Error Count ................................................................9-88

9-9-3 4130 hex: Safety Status Monitor............................................................................................. 9-88

9-9-4 4131 hex: Safety Command Monitor 1 ................................................................................... 9-92

9-9-5 4132 hex: Safety Command Monitor 2 ................................................................................... 9-93

9-9-6 4140 hex: Lifetime Information ............................................................................................... 9-94

9-9-7 4150 hex: Overload ................................................................................................................9-96

9-11-1 4310 hex: Regeneration .........................................................................................................9-99

9-11-2 4320 hex: Main Circuit Power Supply...................................................................................9-100

9-14 I/O-related Objects........................................................................................................... 9-107

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

9-14-1 4600 hex: I/O Monitor........................................................................................................... 9-107

9-14-2 4601 hex: Function Input ...................................................................................................... 9-108

9-14-3 4602 hex: Function Output ....................................................................................................9-110

9-14-4 4604 hex: Control Input Change Count .................................................................................9-111

9-14-5 4605 hex: Control Output Change Count ..............................................................................9-112

9-14-6 4610 hex: Brake Interlock Output..........................................................................................9-113

9-14-7 4620 hex: Encoder Dividing Pulse Output.............................................................................9-114

9-15 General-purpose Input Setting Objects......................................................................... 9-116

9-15-1 Setting ...................................................................................................................................9-116

9-15-2 4630 hex: Positive Drive Prohibition Input.............................................................................9-11 7

9-15-3 4631 hex: Negative Drive Prohibition Input ...........................................................................9-117

9-15-4 4632 hex: External Latch Input 1...........................................................................................9-117

9-15-5 4633 hex: External Latch Input 2...........................................................................................9-118

9-15-6 4634 hex: Home Proximity Input ...........................................................................................9-118

9-15-7 4635 hex: Positive Torque Limit Input....................................................................................9-118

9-15-8 4636 hex: Negative Torque Limit Input ..................................................................................9-119

9-15-9 4637 hex: Error Stop Input ....................................................................................................9-119

9-15-10 4638 hex: Monitor Input 1......................................................................................................9-119

9-15-11 4639 hex: Monitor Input 2..................................................................................................... 9-120

9-15-12 463A hex: Monitor Input 3 .................................................................................................... 9-120

9-15-13 463B hex: Monitor Input 4 .................................................................................................... 9-120

9-15-14

9-15-15 463D hex: Monitor Input 6 .................................................................................................... 9-121

9-15-16 463E hex: Monitor Input 7 .................................................................................................... 9-121

9-15-17 463F hex: Monitor Input 8 .................................................................................................... 9-122

9-16 General-purpose Output Setting Objects...................................................................... 9-123

9-16-1 Setting .................................................................................................................................. 9-123

9-16-2 4650 hex: Error Output......................................................................................................... 9-124

9-16-3 4651 hex: Servo Ready Output ............................................................................................ 9-124

9-16-4 4652 hex: Positioning Completion Output 1 ......................................................................... 9-124

9-16-5 4653 hex: Positioning Completion Output 2 ......................................................................... 9-125

9-16-6 4654 hex: Velocity Attainment Detection Output .................................................................. 9-125

9-16-7 4655 hex: Torque Limit Output ............................................................................................. 9-125

9-16-8 4656 hex: Zero Speed Detection Output .............................................................................. 9-126

9-16-9 4657 hex: Velocity Conformity Output .................................................................................. 9-126

9-16-10 4658 hex: Warning Output 1................................................................................................. 9-126

9-16-11 4659 hex: Warning Output 2................................................................................................. 9-127

9-16-12 465A hex: Velocity Limiting Output....................................................................................... 9-127

9-16-13 465B hex: Error Clear Attribute Output................................................................................. 9-127

9-16-14 465C hex: Remote Output 1................................................................................................. 9-128

9-16-15

9-16-16 465E hex: Remote Output 3................................................................................................. 9-128

9-16-17 465F hex: Zone Notification Output 1................................................................................... 9-129

9-16-18 4660 hex: Zone Notification Output 2................................................................................... 9-129

9-16-19 4661 hex: Position Command Status Output ....................................................................... 9-129

9-16-20 4662 hex: Distribution Completed Output ............................................................................ 9-130

9-16-21 4663 hex: External Brake Interlock Output........................................................................... 9-130

9-17 Safety Related Object...................................................................................................... 9-132

9-17-1 4F00 hex: Safety Origin Position Setting.............................................................................. 9-132

9-17-2 4F01 hex: Safety Position/Velocity Validation Monitoring Function ...................................... 9-134

9-17-3 4F02 hex: Discrepancy Distance Measurement................................................................... 9-135

9-17-4 4F03 hex: Safety Motor Rotation Direction Selection........................................................... 9-136

9-17-5 4F08 hex: Safety Relay Activate .......................................................................................... 9-137

9-17-6 4F09 hex: Safety Relay OFF Delay Time 1 .......................................................................... 9-137

9-17-7 4F0A hex: Safety Relay OFF Delay Time 2.......................................................................... 9-137

9-17-8 4F16 hex: Error Detection Activate In SLS Deactivate......................................................... 9-138

9-17-9 4F18 hex: Safety Present Pulse Position ............................................................................. 9-138

9-17-10 4F19 hex: Safety Present Position ....................................................................................... 9-139

9-17-11 4F1A hex: Safety Present Motor Velocity ............................................................................. 9-139

9-17-12 4F20 hex: Safety Function Disable Setting .......................................................................... 9-140

463C hex: Monitor Input 5 .................................................................................................... 9-121

465D hex: Remote Output 2................................................................................................. 9-128

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

Section 10 Operation

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

10-2 Preparing for Operation .................................................................................................... 10-3

10-2-1 Items to Check Before Turning ON the Power Supply............................................................ 10-3

10-2-2 Turning ON the Power Supply ................................................................................................ 10-4

10-2-3 Checking the Displays ............................................................................................................ 10-5

10-2-4 Absolute Encoder Setup ......................................................................................................... 10-7

10-2-5 Setting Up an Absolute Encoder from the Sysmac Studio......................................................10-7

10-3 Test Run ............................................................................................................................. 10-8

10-3-1 Preparations for Test Run ....................................................................................................... 10-8

10-3-2 Test Run via USB Communications from the Sysmac Studio.................................................10-9

10-4 Confirmation of Safety Functions.................................................................................. 10-10

10-4-1 Preparation Before Confirmation of Safety Function ............................................................ 10-10

10-4-2 Confirmation of Safety Function ........................................................................................... 10-10

Section 11 Adjustment Functions

11-1 Outline of Adjustment Functions..................................................................................... 11-3

11-1-1 Adjustment Methods ............................................................................................................... 11-3

11-1-2 Adjustment Procedure ............................................................................................................ 11-4

11-2 Easy Tuning ....................................................................................................................... 11-6

11-2-1 Objects That Are Set............................................................................................................... 11-6

11-2-2 Executing Easy Tuning ........................................................................................................... 11-8

11-3 Advanced Tuning............................................................................................................... 11-9

11-3-1 Objects That Are Set............................................................................................................... 11-9

11-3-2 Executing Advanced Tuning ................................................................................................. 11-10

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

11-4-1 Objects That Are Set..............................................................................................................11-11

11-4-2 Executing Manual Tuning ......................................................................................................11-11

11-5 Data Trace ........................................................................................................................ 11-12

11-6 FFT .................................................................................................................................... 11-13

11-7 Damping Control ............................................................................................................. 11-14

11-7-1 Objects Requiring Settings ................................................................................................... 11-14

11-7-2 Operating Procedure ............................................................................................................ 11-16

11-7-3 Setting Frequency with Sysmac Studio ................................................................................ 11-17

11-8 Load Characteristic Estimation...................................................................................... 11-18

11-8-1 Objects Requiring Settings ................................................................................................... 11-19

11-8-2 Setting Load Characteristic Estimation Function .................................................................. 11-20

11-9 Adaptive Notch Filter ...................................................................................................... 11-21

11-9-1 Objects Requiring Settings ................................................................................................... 11-21

11-9-2 Operating Procedure ............................................................................................................ 11-22

11-10 Notch Filters..................................................................................................................... 11-23

11-10-1 Objects Requiring Settings ................................................................................................... 11-24

11-10-2 Notch Filter Width and Depth................................................................................................ 11-25

11-11 Friction Torque Compensation Function ...................................................................... 11-26

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

11-11-2 Objects Requiring Settings ................................................................................................... 11-26

11-11-3 Operation Example ............................................................................................................... 11-27

11-12 Feed-forward Function.................................................................................................... 11-29

11-12-1 Feed-forward Control in TDF Control.................................................................................... 11-29

11-12-2 Feed-forward Control in ODF Control................................................................................... 11-31

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Section 12 Troubleshooting

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 Servomotor or Servo Drive.............................................................................. 12-4

12-2 Warnings ............................................................................................................................ 12-6

12-2-1 Related Objects...................................................................................................................... 12-6

12-2-2 Warning List............................................................................................................................ 12-8

12-3 Errors................................................................................................................................ 12-10

12-3-1 Error List............................................................................................................................... 12-10

12-3-2 Deceleration Stop Operation at Errors ................................................................................. 12-13

12-4 Information....................................................................................................................... 12-14

12-4-1 Related Objects.................................................................................................................... 12-14

12-4-2 Information List..................................................................................................................... 12-14

12-5 Troubleshooting .............................................................................................................. 12-15

12-5-1 Troubleshooting Using Error Displays.................................................................................. 12-16

12-5-2 Troubleshooting Using AL Status Codes .............................................................................. 12-41

12-5-3 Troubleshooting Using the Operation State ......................................................................... 12-45

CONTENTS

Section 13 Maintenance and Inspection

13-1 Periodic Maintenance........................................................................................................13-2

13-2 Servo Drive Lifetime.......................................................................................................... 13-3

13-3 Servomotor Lifetime.......................................................................................................... 13-4

13-4 Method for Ring Disconnection Maintenance and Inspection ...................................... 13-5

Appendices

A-1 CiA 402 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 Modes of Operation and Applied/Adjustment Functions ..........................................................A-5

A-1-4 Changing the Mode of Operation .............................................................................................A-5

A-1-5 Homing Mode Specifications .................................................................................................... A-7

A-2 CoE Objects .......................................................................................................................A-12

A-2-1 Object Dictionary Area............................................................................................................A-12

A-2-2 Data Type...............................................................................................................................A-12

A-2-3 Object Description Format...................................................................................................... A-13

A-2-4 Communication Objects .........................................................................................................A-14

A-2-5 PDO Mapping Objects............................................................................................................ A-19

A-2-6 Sync Manager Communication Objects ................................................................................. A-34

A-2-7 Manufacturer Specific Objects ............................................................................................... A-38

A-2-8 Servo Drive Profile Object...................................................................................................... A-41

A-2-9 Safety Function Objects .........................................................................................................A-61

A-3 Object List ..........................................................................................................................A-77

A-4 Sysmac Error Status Codes ...........................................................................................A-116

A-4-1 Error List............................................................................................................................... A-116

A-4-2 Error Descriptions................................................................................................................. A-132

A-5 Use Case of Safety Function ..........................................................................................A-207

A-5-1 Function to Stop Servomotor................................................................................................ A-207

A-5-2 Monitoring Function..............................................................................................................A-218

A-5-3 Function block for 1S-series Servo Drives Advance Type.................................................... A-229

A-6 Response Time in EtherCAT Process Data Communications.....................................A-238

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

A-7 Version Information.........................................................................................................A-239

Index

A-6-1 Input Response Time............................................................................................................A-238

A-6-2 Output Response Time .........................................................................................................A-238

A-7-1 Relationship between Unit Versions and Sysmac Studio Versions ......................................A-239

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 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.

 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.

 Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

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

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

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 OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Terms and Conditions Agreement

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

Indicates an imminently hazardous situation which, if not avoided, is likely to result in serious injury or may result in death. Additionally there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, or may result in serious injury or death. Additionally there may be significant property damage.

DANGER

WARNING

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

Caution

Safety Precautions

• To ensure that the 1S-series Servomotor/Servo Drive Advance Type 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 User’s Manual also gets to the end user of this product.

• After reading this User’s Manual, keep it in a convenient place so that it can be referenced at any time.

Explanation of Displays

• The precautions indicated here provide important information for safety. Be sure to heed the information provided with the precautions.

• The following signal words are used to indicate and classify precautions in this User’s Manual.

Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation. Accordingly, be sure to observe all safety precautions.

Explanation of Symbols

This User’s Manual uses the following symbols.

The circle and slash symbol indicates operations that you must not do. The specific operation is shown in the circle and explained in text. This example indicates prohibiting disassembly.

The triangle symbol indicates precautions and warnings. The specific operation is shown in the triangle and explained in text. This example indicates a precaution for electric shock.

The triangle symbol indicates precautions and warnings. The specific operation is shown in the triangle and explained in text. This example indicates a general precaution.

The filled circle symbol indicates operations that you must do. The specific operation is shown in the circle and explained in text. This example indicates a requirement for the ground.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Precautionary Information

WARNING

• Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details. When you use 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.

Handling of Safety Products

If the functions of safety products cannot attain their full potential, it will result in minor or moderate injury, or may result in serious injury or death. When building the system, observe the following warnings and optimize safety product selection for your equipment and devices to ensure the integrity of the safety-related components.

Safety Precautions

 Setting Up a Risk Assessment System

The process of selecting these products should include the development and execution of a risk assessment system early in the design development stage to help identify potential dangers in your equipment and optimize safety product selection.

The following is an example of related international standards.

• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction

 Protective Measure

When developing a safety system for the equipment and devices that use safety products, make every effort to understand and conform to the entire series of international and industry standards available, such as the examples given below.

The following are examples of related international standards.

• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction

• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements

• ISO13849-1, -2 Safety-related Parts of Control Systems

• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection

• IEC/TS 62046 Application of Protective Equipment to Detect the Presence of Persons

 Role of Safety Products

Safety products incorporate standardized safety functions and mechanisms, but the benefits of these functions and mechanisms are designed to attain their full potential only within properly designed safety-related systems. Make sure you fully understand all functions and mechanisms, and use that understanding to develop systems that will ensure optimal usage.

The following are examples of related international standards.

• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection

• ISO13857 Safety Distances to Prevent Hazard Zones being Reached by Upper and Lower Limbs

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

WARNING

 Installing Safety Products

Qualified engineers must develop your safety-related system and install safety products in devices and equipment. Prior to machine commissioning, verify through testing that the safety products work as expected.

The following are examples of related international standards.

• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction

• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements

• ISO13849-1, -2 Safety-related Parts of Control Systems

• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection

 Observing Laws and Regulations

Safety products must conform to pertinent laws, regulations, and standards. Make sure that they are installed and used in accordance with the laws, regulations, and standards of the country where the devices and equipment incorporating these products are distributed.

 Observing Usage Precautions

Carefully read the specifications and precautions as well as all items in the Instruction Manual for your safety product to learn appropriate usage procedures. Any deviation from instructions will lead to unexpected device or equipment failure not anticipated by the safety-related system.

 Transferring Devices and Equipment

When you transfer devices and equipment, be sure to retain one copy of the Instruction Manual for safety devices and the User’s Manual, and supply another copy with the device or equipment so the person receiving it will have no problems with operation and maintenance.

The following are examples of related international standards.

• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction

• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements

• ISO13849-1, -2 Safety-related Parts of Control Systems

• IEC62061 Functional Safety of Safety-related Electrical, Electronic and Programmable Electronic Control Systems

• IEC61508 Functional Safety of Electrical/Electronic/Programmable Electronic Safety-related Systems

Transporting and Unpacking

Do not damage, pull, or put excessive stress or heavy objects on the cables.

Doing so may cause electric shock, malfunction, or burning.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

WARNING

Installation, Wiring and Maintenance

Install the Servo Drive, Servomotor, and peripheral equipment before wiring.

Not doing so may cause electric shock.

Be sure to ground the 200-VAC input model Servo Drive and Servomotor to 100 Ω or less, and the 400-VAC input model to 10 Ω or less.

Not doing so may cause electric shock.

Do not remove the front cover, terminal covers, cables, or peripheral equipment while the power is supplied.

Doing so may cause electric shock.

Before carrying out wiring or inspection, turn OFF the main circuit power and wait for at least the following specific time.

Not doing so may cause electric shock or burning.

10 minutes: R88D-1SAN10F-ECT, R88D-1SAN15F-ECT, R88D-1SAN20F-ECT,

R88D-1SAN30F-ECT

20 minutes: R88D-1SAN02H-ECT, R88D-1SAN04H-ECT, R88D-1SAN08H-ECT,

R88D-1SAN10H-ECT, R88D-1SAN15H-ECT, R88D-1SAN20H-ECT, R88D-1SAN30H-ECT

Do not damage, pull, or put excessive stress or heavy objects on the cables.

Doing so may cause electric shock, malfunction, or burning.

Use appropriate tools to wire terminals and connectors. Check that there is no short-circuit before use.

Not doing so may cause electric shock.

Connect the frame ground wire in the integrated cable securely to or FG of the Servo Drive.

Not doing so may cause electric shock. Provide safety measures, such as a fuse, to protect against short circuiting of external wir-

ing and failure of the Servo Drive.

Not doing so may cause a fire.

Install the Servomotor, Servo Drive, and peripheral equipment on non-flammable materials such as metals.

Not doing so may cause a fire.

Keep conductive or flammable foreign objects such as screws, metal pieces, and oil out of the Servo Drive and connectors. The connector is set on the top of the Servo Drive. Pay attention to mentioned earlier.

Not doing so may cause a fire or electric shock. Design the configuration to cut off the main circuit power supply when the ERR signal (nor-

mally close contact) of the control output function is output (open).

Not doing so may cause a fire.

Do not bundle the integrated cables.

Not doing so may cause fire.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

WARNING

Lock the integrated cable and extension cable connectors.

Not doing so may cause fire.

Operation Check

Use the Servomotor, Servo Drive and integrated cable in a specified combination.

Not doing so may cause fire or equipment damage.

Usage

Do not enter the operating area during operation.

Doing so may cause injury.

Do not touch the Servo Drive radiator, Regeneration Resistor, or Servomotor while the power is supplied or for a while after the power is turned OFF because they get hot.

Doing so may cause fire or a burn injury.

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.

Not doing so may cause failure.

When the power is restored after a momentary power interruption, the machine may restart suddenly. Do not come close to the machine when restoring power.

Implement measures to ensure safety of people nearby even when the machine is restarted.

Doing so may cause injury. Use appropriate tools to wire terminals and connectors. Check that there is no short-circuit

before use.

Not doing so may cause electric shock.

Be sure to observe the radiator plate installation conditions that are specified in the manual.

Not doing so may cause the Servo Drive or Servomotor to burn.

If the load that exceeds the allowable range is installed, it may cause the dynamic brake to be damaged. Be sure to use the appropriate load. For the selection of the appropriate load, refer to 4-5 Adjustment for Large Load Inertia on page 4-50.

Not doing so may cause the Servo Drive to be damaged.

The dynamic brake is intended for the stop at the time of an error and therefore it has a short-time rating.

If the dynamic brake is activated, provide an interval of 3 minutes or more before the next activation to prevent a circuit failure and burning of the Dynamic Brake Resistor.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

Caution

Make a design of equipment with consideration of a distance until a Servomotor stops while safety monitoring functions are used.

Not doing so may cause injury and equipment damage.

Do not place flammable materials near the Servomotor, Servo Drive, or peripheral equipment.

Not doing so may cause a fire.

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

Not doing so may cause a fire.

Use an appropriate External Regeneration Resistor. Install an external protective device such as temperature sensor to ensure safety when using the External Regeneration Resistor.

Not doing so run the risk of burnout. Before operating the Servo Drive in an actual environment, check if it operates correctly

based on the newly set parameters.

Not doing so may cause equipment damage. When constructing a system that includes safety functions, be sure you understand the rel-

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

Not doing so may cause injury or equipment damage.

Transporting and Unpacking

When transporting the Servo Drive, do not hold it by the cables, shield clamp, integrated connector or motor shaft.

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

Injury may result.

Do not overload the product. (Follow the instructions on the product label.)

Injury or failure may result.

Be sure to observe the specified amount when piling up products.

Injury or failure may result.

The allowable number of piled-up products Servo Drive, Servomotor, Reactor:

Follow the instructions on the individual package.

External Regeneration Resistor: 12

External Regeneration Resistance Unit: 4

Noise Filter: 15

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

Caution

Wiring

Be careful about sharp parts such as the corner of the equipment when handling the Servo Drive and Servomotor.

Injury may result.

Precautions for Safe Use

General Precaution

• Do not store or install the Servo Drive in the following locations. Doing so may result in electric shock, fire, equipment damage, or malfunction.

Locations subject to direct sunlight

Locations subject to temperatures outside the range specified in the specifications

Locations subject to humidity outside the range specified in the specifications

Locations subject to condensation as the result of severe changes in temperature

Locations subject to corrosive or flammable gases

Locations subject to dust (especially iron dust) or salts

Locations subject to exposure to water, oil, or chemicals

Locations subject to shock or vibration

• Medical electronics such as cardiac pacemakers may malfunction or injury may result.

• If an error occurs, remove the cause of the error and ensure safety, and then perform the error reset and restart the operation. Injury, equipment damage, or burning may result.

Mounting

• A Regeneration Resistor or a Regeneration Unit gets hot while the power is supplied or for a while after the power is turned OFF. In order to ensure safety, install an external protection such as a guard so as not to touch them easily.

A burn injury may result.

Wiring

• Use a robot cable for the wiring to separately install the Servo Drive and Servomotor to moving and fixed parts of the equipment. Equipment damage may result.

• Connect the Servo Drive to the Servomotor without a contactor, etc. Malfunction or equipment damage may result.

• Wire the cables correctly and securely. Runaway motor, Unintentional behavior of the brake, injury, or failure may result.

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

Locations subject to static electricity or other forms of noise

Locations subject to strong electromagnetic fields

Locations subject to possible exposure to radioactivity

Locations close to power lines

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

• Do not move a integrated connector of a Servomotor over 5 times. Electric shock, equipment damage, or burning may result.

• Pay attention carefully to fingers where the levers of connectors are locked. Pinched fingers may result.

Precautions for Correct Use

General Precaution

• When lifting a 20-kg or more Servo Drive during moving or installation, always have two people lift the product by grasping a metal part other than the shaft or the integrated connector. Do not grasp a plastic part. Injury or failure may result. Relevant model: R88M-1AM2K715T-B, R88M-1AM3K015C-B

Transporting and Unpacking

• Check that the eye bolts are not loose after replacing them. If they are loose, the screws can come off and the Servomotor may fall during the transportation by the use of eye bolts. Do not put the human body under the Servomotor during the transportation.

Safety Precautions

Installation

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

• Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment. Fire or failure may result.

• Do not apply strong impact on the motor shaft, integrated connector or Servo Drive. Failure may result.

• Do not touch the key grooves with bare hands if the Servomotor with shaft-end key grooves is used. Injury may result.

• Use non-magnetic mounting screws. Note also that the depth of any mounted screw does not reach the effective thread length. Equipment damage may result.

• Be sure to observe the allowable axial load for the Servomotor. Equipment damage may result.

• Install equipment to prevent crash and reduce shock. Do not run the Servomotor outside the operable range by the use of the drive prohibition function such as overtravel. Crash against the stroke edge may occur depending on stopping distance and equipment damage may result.

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

Wiring

• Tighten the mounting screws, terminal block screws, and shield clamp screws for the Servo Drive and Servomotor to the specified torque. 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.

• Always use the power supply voltage specified in this document. Burning may result.

• Do not apply a commercial power supply directly to the Servomotor. Fire or failure may result.

• Disconnect all connections to the Servo Drive and Servomotor before attempting a megger test (insulation resistance measurement) on the Servo Drive or Servomotor. Not doing so may result in Servo Drive or Servomotor failure. Do not perform a dielectric strength test on the Servo Drive or Servomotor. Doing so may result in damage of the internal elements.

• Carefully perform the wiring and assembling. Injury may result.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

• Wear the protective equipment when installing or removing the main circuit connector, main circuit connector A, main circuit connector B, control power supply connector, or motor connector. Do not apply a force after the protrusion of the connector opener reaches the bottom dead center. (As a guide, do not apply a force of 100 N or more.)

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

• Be sure to install surge suppressors when you connect a load with an induction coil such as a relay to the control output terminal. Malfunction or equipment damage may result.

• Do not give impact on connectors such as tapping by hammer. Damage may result.

• Be sure to install a shield clamp in accordance with a specified procedure. Electric shock may result.

Adjustment

• 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.

• Do not adjust or set parameters to extreme values, because it will make the operation unstable. Injury may result.

• Secure a sufficient rigidity when you install a servo motor into equipment. Equipment damage or malfunction may result.

• If a problem occurs in serial communications or the computer during a test operation, you have no means to stop the Servomotor. Connect an externally installed emergency stop switch, etc. to the Error Stop Input of the general-purpose input so that the Servomotor can be stopped without fail.

• When using the Servomotor with key, run the Servomotor in a state in which the key cannot jump out of the shaft. Not doing so may result in hurting people around the equipment due to the jumping key.

Operation Check

• Fully check the shaft when you reset a brake interlock from PC tool.

• Do not drive the Servomotor by the use of an external drive source. Fire may result.

• Check the newly set parameters for proper execution before actually using them.

Usage

• Tighten the mounting screws, terminal block screws, and setting screws of a bracket of a shield clamp for the Servo Drive, Servomotor, and peripheral equipment at the specified torque. Failure 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.

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

• Do not use the built-in brake of the Servomotor for normal braking operation. Failure may result.

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

• Connect an emergency stop (immediate stop) relay in series with the brake interlock output. Injury or failure may result.

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

• Install safety devices to prevent idling or locking of the electromagnetic brake or the gear head, or leakage of grease from the gear head. Injury, damage, or taint damage result.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

Location of warning

• Be sure to turn OFF the power supply when not using the Servo Drive for a prolonged period of time. Not doing so may result in injury or malfunction.

• If the Servomotor is not controlled, it may not be possible to maintain the stop. To ensure safety, install a stop device. Equipment damage or injury may result.

• Periodically run the Servomotor approximately one rotation when the oscillation operation continues at a small angle of 45° or smaller. Servomotor failure may result.

• When a difference between a position indicated by the Servo Drive before the power supply OFF and a position after the power supply ON is one rotation or more, check that devices are placed in appropriate areas.

• Immediately stop the operation and cut off the power supply when unusual smell, noise, smoking, abnormal heat generation, or vibration occurs. Not doing so may result in Servo Drive or Servomotor damage or burning.

Maintenance

• Cut off the power supply of equipment during maintenance. Not doing so may cause electric shock.

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

• Do not repair the Servo Drive by disassembling it. Electric shock or injury may result.

Location of Warning Display

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

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

Instructions on Warning Display

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Note The above is an example of warning display.

Safety Precautions

Dispose of in accordance with WEEE Directive

Disposal

Comply with the local ordinance and regulations when disposing of the product.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Items to Check After Unpacking

Name plate example: 200 VAC 1 kW Servo Drive

Servo Drive model

Servo Drive rating

Lot number and serial number

Nameplate display location

Items to Check After Unpacking

After you unpack the product, check the following items.

• Is this the model you ordered?

• Was there any damage sustained during shipment?

Servo Drive

Nameplate of Servo Drive

The model, rating and lot number of the 1S-series Servo Drive are given on the product nameplate.

*1. The notifications and their meanings are explained below.

Notation: Lot No. DDMYY xxxx DDMYY: Lot number, : For use by OMRON, xxxx: Serial number “M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)

Accessories of Servo Drive

This product comes with the following accessories.

• INSTRUCTION MANUAL × 1 copy

• Warning label × 1 sheet

• General Compliance Information and instructions for EU × 1 copy

• Attached connectors (Depends on the model. Refer to the following table.)

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

When UL/CSA certification is required, attach the warning label to a place around the Servo Drive.

Items to Check After Unpacking

Connectors, mounting screws, mounting brackets, and other accessories other than those in the table below are not supplied. They must be prepared by the customer.

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

Specifications

Single-

phase/3-ph

ase 200

VAC

200 W 400 W 750 W

1.5 kW

1 kW

3-phase

200 VAC

2 kW 3 kW 1 kW

3-phase

400 VAC

1.5 kW 2 kW 3 kW

*1. The connector with 11 terminals is included. Two short-circuit wires are connected.

*2. The connector with 6 terminals is included. One short-circuit wire is connected.

*3. One opener is included.

Specifications

Single-

200 W

phase/3-ph

ase 200

VAC

750 W

1.5 kW

1 kW

3-phase

200 VAC

2 kW 3 kW 1 kW

3-phase

400 VAC

1.5 kW 2 kW 3 kW

*1. One short-circuit wire is connected to the connector.

*2. The connector with 3 terminals is included.

*3. The connector with 4 terminals is included.

*4. One opener is included.

Control I/O connector

Included

Main circuit connector B

--- Included

Included

---

Included

(CNB)

(CN1)

Brake interlock connector

(CN12)

Included

Motor connector

(CNC)

Included

Main circuit connector

and main circuit

connector A

(CNA)

Included

*1 *3

*2 *3

*1 *3

*2 *3

Control power supply

connector (CND)

---400 W

Included

---

Included

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Items to Check After Unpacking

Specifications

Safety signal

connector (CN14)

200 W

Single-pha

se/3-phase

200 VAC

400 W 750 W

1.5 kW 1 kW

3-phase

200 VAC

2 kW

Included

Included 3 kW 1 kW

3-phase

400 VAC

1.5 kW 2 kW 3 kW

*1. Four short-circuit wires are connected to the connector. A pin to prevent

improper wiring are included.

Safe brake

control connector

(CN15)

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Items to Check After Unpacking

R88M-1AM3K015C-BOS2

10150700003

400 VAC 8.5 A

100 Hz

22 kg

3.0 kW

1500

Nameplate display location

From the left, Rated rotation speed (Example: 1,500 r/min) Rated frequency (Example: 100 Hz) Motor weight (Example: 22 kg)

*1. The weight is not given for the Servomotor with a flange size of

80 x 80 or less.

From the left, Number of phases (Example: 3) Rated voltage (Example: 400 VAC) Rated current (Example: 8.5 A) Rated output (Example: 3.0 kW)

From the left, Insulation class (Example: F) Totally enclosed protection type motor (Example: TE) Operating ambient temperature (Example: 40°C) Protective structure (Example: IP67)

Motor model

Serial number

Servomotor

Nameplate of Servomotor

The model, rating and serial number of the 1S-series Servomotor are given on the product nameplate.

Accessories of Servomotor

This product comes with an instruction manual.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Decelerator (Backlash: 3 Arcminutes Max.)

HPG-14A-05-J2AXT

ΧΧ-ΧΧΧΧΧΧΧ-ΧΧΧ

Upper row: Model on nameplate Lower row: Serial No. (the OMRON logo at the end)

The model on nameplate HPG-14A-05-J2AXT corresponds to the decelerator model HPG14A05200B.

For Decelerators (backlash: 3 arcminutes max.), the model number given on the nameplate does not match the model number of the Decelerator. Therefore, refer to the following table for correspondence between the model numbers on nameplates and Decelerators.

Example of nameplate: 200-W Decelerator (backlash: 3 arcminutes max., reduction ratio: 1/5) for 3,000-r/min Servomotors

Items to Check After Unpacking

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Items to Check After Unpacking

 Decelerator (backlash: 3 arcminutes max.) for 3,000-r/min Servomotors

Specifications Without key With key and tap

Servo-

motor

rated

output

200 W

400 W

750 W (200 V)

750 W (400 V)

1 kW

1.5 kW

Reduc-

tion

ratio

1/5

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/5

1/11

1/21

1/5

1/11

1/21

Decelerator model Model on nameplate Decelerator model Model on nameplate

R88GHPG14A05200B

R88GHPG14A11200B R88GHPG20A21200B

R88GHPG20A33200B

R88GHPG20A45200B

R88GHPG14A05400B R88GHPG20A11400B

R88GHPG20A21400B

R88GHPG32A33400B R88GHPG32A45400B

R88GHPG20A05750B

R88GHPG20A11750B R88GHPG32A21750B

R88GHPG32A33750B

R88GHPG32A45750B R88GHPG32A052K0B

R88GHPG32A112K0B

R88GHPG32A211K5B R88GHPG32A33600SB

R88GHPG32A052K0B

R88GHPG32A112K0B R88GHPG32A211K5B

R88GHPG32A052K0B

R88GHPG32A112K0B R88GHPG32A211K5B

HPG-14A-05-J2AXT R88G-

HPG14A05200BJ

HPG-14A-11-J2AXU R88G-

HPG14A11200BJ

HPG-20A-21-J2GDH R88G-

HPG20A21200BJ

HPG-20A-33-J2GDI R88G-

HPG20A33200BJ

HPG-20A-45-J2GDI R88G-

HPG20A45200BJ

HPG-14A-05-J2AXW R88G-

HPG14A05400BJ

HPG-20A-11-J2GDK R88G-

HPG20A11400BJ

HPG-20A-21-J2GDK R88G-

HPG20A21400BJ

HPG-32A-33-J2NELA R88G-

HPG32A33400BJ

HPG-32A-45-J2NELA R88G-

HPG32A45400BJ

HPG-20A-05-J2FFO R88G-

HPG20A05750BJ

HPG-20A-11-J2FFP R88G-

HPG20A11750BJ

HPG-32A-21-J2NAI R88G-

HPG32A21750BJ

HPG-32A-33-J2NAJ R88G-

HPG32A33750BJ

HPG-32A-45-J2NAJ R88G-

HPG32A45750BJ

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-32A-33-J2NFJ R88G-

HPG32A33600SBJ

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-21-J2NFI R88G-

HPG32A211K5BJ

HPG-14A-05-J6AXT

HPG-14A-11-J6AXU

HPG-20A-21-J6GDH

HPG-20A-33-J6GDI

HPG-20A-45-J6GDI

HPG-14A-05-J6AXW

HPG-20A-11-J6GDK

HPG-20A-21-J6GDK

HPG-32A-33-J6NELA

HPG-32A-45-J6NELA

HPG-20A-05-J6FFO

HPG-20A-11-J6FFP

HPG-32A-21-J6NAI

HPG-32A-33-J6NAJ

HPG-32A-45-J6NAJ

PG-32A-05-J6NFG

HPG-32A-11-J6NFH

HPG-32A-21-J6NFI

HPG-32A-33-J6NFJ

HPG-32A-05-J6NFG

HPG-32A-11-J6NFH

HPG-32A-21-J6NFI

HPG-32A-05-J6NFG

HPG-32A-11-J6NFH

HPG-32A-21-J6NFI

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Items to Check After Unpacking

Specifications Without key With key and tap

Servo-

motor

rated

output

2 kW

2.6 kW (200 V)

3 kW

Reduc-

tion

ratio

1/5

1/11

1/5

Decelerator model Model on nameplate Decelerator model Model on nameplate

R88GHPG32A052K0B R88GHPG32A112K0B

R88GHPG32A053K0B

HPG-32A-05-J2NFG R88G-

HPG32A052K0BJ

HPG-32A-11-J2NFH R88G-

HPG32A112K0BJ

HPG-32A-05-J2MCK R88G-

HPG32A053K0BJ

HPG-32A-05-J6NFG

HPG-32A-11-J6NFH

HPG-32A-05-J6MCK

(400 V)

 Decelerator (backlash: 3 arcminutes max.) for 1,500-r/min Servomotors

Specifications Without key With key and tap

Servo-

motor

rated

output

1.5 kW

2.7 kW (200 V)

3 kW (400 V)

Reduc-

tion

ratio

1/5

1/11

1/21

1/33

1/5

1/11

1/20

1/25

Decelerator model Model on nameplate Decelerator model Model on nameplate

R88GHPG32A053K0B

R88GHPG32A112K0SB

R88GHPG50A21900TB R88GHPG50A33900TB

R88GHPG50A055K0SB

R88GHPG50A115K0SB R88GHPG65A205K0SB

R88GHPG65A255K0SB

HPG32A-05-J2MCK

HPG32A-11-J2MCL

HPG50A-21-J2BADB HPG50A-33-J2BADB

HPG50A-05-J2EBCH

HPG50A-11-J2EBDH HPG65A-20-J2EBCH

HPG65A-25-J2EBCH

R88GHPG32A053K0BJ

R88GHPG32A112K0SBJ

R88GHPG50A21900TBJ R88GHPG50A33900TBJ

R88GHPG50A055K0SBJ

R88GHPG50A115K0SBJ R88GHPG65A205K0SBJ

R88GHPG65A255K0SBJ

HPG32A-05-J6MCK

HPG32A-11-J6MCL

HPG50A-21-J6BADB HPG50A-33-J6BADB

HPG50A-05-J6EBCH

HPG50A-11-J6EBDH HPG65A-20-J6EBCH

HPG65A-25-J6EBCH

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Items to Check After Unpacking

Decelerator (Backlash: 15 Arcminutes Max.)

For Decelerators (backlash: 15 arcminutes max.), the product nameplate indicates the model number, rated output, reduction ratio, serial number, and date of manufacture.

Decelerator model number

R88G-

Rated output

(Example: 200 W)

GEAR

POWER

LOT NO.

DATE

VRXF05B200CJ

200

XXXXXXXXX

XXXX.XX

RATIO

1:5

Reduction ratio (Example: 1/5)

Serial number

Date of manufacture

(Rubber cap)

Nameplate display location

(Rubber cap side)

OMRON Corporation

MADE IN CHINA

Integrated Cable

The following product models come with a shield clamp. The shield clamp is used for mounting to a

Servo Drive. Keep it until the use.

As for a shield clamp, refer to Shield Clamp Bracket on page 2-18.

Shield Clamp

This product comes with two screws (M4×12) for mounting.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Related Manuals

The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit Hardware User’s Manual

NJ-series CPU Unit Hardware User’s Manual

W535 NX701- Learning the basic speci-

fications of the NX-series CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

W500 NJ501-

NJ301-

NJ101-

Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

An introduction to the entire NX-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Related Manuals

Manual name Cat. No. Model numbers Application Description

NY-series IPC Machine Controller Industrial Box PC Hardware User’s Manual

NY-series IPC Machine Controller Industrial Panel PC Hardware User’s Manual

NJ/NX-series CPU Unit Software User’s Manual

W556 NY512- Learning the basic

information about IPC Machine Controller Industrial Box PCs. The basic information related to installation, usage procedures, and maintenance is included. Mainly hardware information is provided.

W557 NY532- Learning the basic

information about IPC Machine Controller Industrial Panel PCs. The basic information related to installation, usage procedures, and maintenance is included. Mainly hardware information is provided.

W501 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

Learning how to program and set up an NJ/NX-series CPU Unit. Mainly software information is provided.

An introduction to the entire IPC Machine Controller system is provided along with the following information.

• Introduction

• System configuration

• Specifications

• Installation

• Usage procedures

• Maintenance

Use this manual together with the NY-series IPC

Machine Controller Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558).

An introduction to the entire IPC Machine Controller system is provided along with the following information.

• Introduction

• System configuration

• Specifications

• Installation

• Usage procedures

• Maintenance

Use this manual together with the NY-series IPC

Machine Controller Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558).

The following information is provided on a Controller built with an NJ/NX-series CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3 language specifications

Use this manual together with the NX-series CPU Unit Hardware User’s Manual (Cat. No. W535) or NJ-series

CPU Unit Hardware User’s Manual (Cat. No. W500).

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ/NX-series CPU Unit

Built-in EtherCAT® Port

User’s Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Software User’s Manual

NX-series NX102 CPU Unit Hardware User’s Manual

W505 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W558 NY532-

NY512-

W593 NX102- Learning the basic

Learning how to configure the EtherCAT communications system.

Learning how to program IPC Machine Controller functions and set up a system in the NY-series Machine Controller.

specifications of the NX102 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.

Describes setup procedures for building the EtherCAT communications system.

The following information is provided on a Machine Controller.

• Controller operation

• Controller features

• Controller settings

• Programming based on

IEC 61131-3 language specifications

Use this manual together with the NY-series IPC

Machine Controller Industrial Panel PC Hardware User’s Manual (Cat. No. W557) or NY-series IPC Machine Controller Industrial Box PC Hardware User’s Manual (Cat. No.

W556). An introduction to the entire NX102 system is provided along with the following information on the CPU Unit.

• Features and system

configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and

inspection

Use this manual together with the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Related Manuals

Manual name Cat. No. Model numbers Application Description

NX-series NX1P2 CPU Unit Hardware User's Manual

NJ/NX-series CPU Unit Motion Control User’s Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Motion Control User’s Manual

NX-series Safety Control Units

User's Manual

NX-series Safety Control Unit Instructions Reference Manual Sysmac Studio Version 1 Operation Manual

Sysmac Studio Drive Functions Operation Manual

SYSMAC CJ-series Position Control Unit Operation Manual

W578 NX1P2- Learning the basic speci-

fications of the NX-series NX1P2 CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

W507 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W559 NY532-

NY512-

Z930 NX-SL

NX-SI

NX-SO

Z931 NX-SL Learning the command

W504 SYSMAC-SE2



I589 SYSMAC-SE2



W487 CJ1W-NC281

CJ1W-NC481

CJ1W-NC881

CJ1W-NCF81

CJ1W-NC482

CJ1W-NC882

CJ1W-NCF82

Learning about motion control settings and programming concepts.

Learning about motion control settings and programming concepts related to the NY-series IPC Machine Controller.

Learning how to use the NX-series Safety Control Units.

specifications of the safety CPU Units.

Learning about the operating procedures and functions of the Sysmac Studio.

Learning how to set up and adjust the Servo Drives.

Learning about the NC Units (CJ1W-NC281/ 481/ 881/ F81/ 482/ 882/ F82).

An introduction to the entire NX1P2 CPU Unit system is provided along with the following information on the NX1P2 CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).

The settings and operation of the CPU Unit and programming concepts for motion control are described.

The settings and operation of the Controller and programming concepts for motion control are described.

Describes the hardware, setup methods and functions of the NX-series Safety Control Units.

Information about commands for safety CPU unit is provided.

Describes the operating procedures of the Sysmac Studio.

Describes the setup methods and operating procedures of the NC Units.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Related Manuals

Manual name Cat. No. Model numbers Application Description

G9SP-series Safety Controller

Operation Manual

Z922 G9SP-N10S

G9SP-N10D

G9SP-N20S

Learning how to use the G9SP-series safety Controllers.

Describes the hardware, setup methods and functions of the G9SP-series safety Controllers.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Terminology

Ter m

Cable Redundancy Function --- A function to continue communications with Ether-

CAN application protocol over EtherCAT CoE A CAN application protocol service implemented on

CAN in Automation CiA CiA is the international users’ and manufacturers’

Device Profile --- Collection of device dependent information and func-

Distributed Clocks DC Method to synchronize slaves and maintain a global

EtherCAT Slave Controller ESC A controller for EtherCAT slave communication. EtherCAT Slave Information ESI An XML file that contains setting information for an

EtherCAT State Machine ESM An EtherCAT communication state machine. EtherCAT Technology Group ETG The ETG is a global organization in which OEM, End

Fieldbus Memory Management Unit FMMU Single element of the fieldbus memory management

Index --- Address of an object within an application process. Instance --- When there are the several same functions inde-

Object --- Abstract representation of a particular component

Object Dictionary OD Data structure addressed by Index and Subindex

Physical Device Internal Interface PDI A series of elements to access data link services

Power Drive System PDS A power drive system consisting of a Servo Drive, an

Process Data --- Collection of application objects designated to be

Process Data Object PDO Structure described by mapping parameters that

Receive PDO RxPDO A process data object received by an EtherCAT

Abbrevi-

ation

Description

CAT slaves even if a communications cable is broken in the EtherCAT communications path.

EtherCAT.

group that develops and supports higher-layer protocols.

tionality providing consistency between similar devices of the same device type.

time base.

EtherCAT slave.

Users and Technology Providers join forces to support and promote the further technology development.

unit: one correspondence between a coherent logical address space and a coherent physical memory location.

pendently in objects, each object is called as an instance.

For example, there are eight instances SS1 command 1 to SS1 command 8 in SS1 command.

within a device, which consists of data, parameters, and methods.

that contains description of data type objects, communication objects and application objects.

from the application layer.

inverter, and other components.

transferred cyclically or acyclically for the purpose of measurement and control.

contain one or several process data entities.

slave.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Terminology

Ter m

Ring Disconnection Status --- A status in which communications continue even if

safe state --- The status of a device or piece of equipment when

safety control --- A type of control that uses devices, functions, and

Safety Controller --- Generic terms of a controller to perform safety con-

Safety Current Position --- It is a position data that are assured in functional

Safety Current Pulse Position --- It is a position data that are assured in functional

Safety over EtherCAT FSoE A system to communicate for the functional safety

safety process data communications --- A type of I/O data communications that is used for

safety reaction time --- The time required for the system to enter a safe state

Safety Related Application Parameter SRA

Service Data Object SDO CoE asynchronous mailbox communications where

Slave Information Interface SII Slave information stored in the nonvolatile memory

standard control --- A type of control that use devices, functions, and

Standard Controller --- Generic terms of a controller to perform standard

Abbrevi-

ation

Parame-

ter

Description

an EtherCAT physical layer link is disconnected in a ring topology on the EtherCAT system.

the risk of danger to humans has been reduced to an acceptable level.

data that are designed with special safety measures.

trol

safety.

The position data of 32 bit is set as Safety Original Position “Zero”. The position data of single rotation can be read at 20 bit. While the upper 13 bit can be used, the lower 7 bit cannot be assured.

safety.

The position data of 32 bit is set as a base position that is obtained from encoder. The position data of single rotation can be read at 20 bit. While the upper 13 bit can be used, the lower 7 bit cannot be assured. The data is read inside a Servo Drive while a safety origin position is fixed or SOS function is monitoring a position.

over EtherCAT.

safety control purposes.

in a worst-case scenario after the occurrence of a safety-related input (press of an emergency stop pushbutton switch, interruption of a light curtain, opening of a safety door, etc.) or device failure.

The reaction time of the system includes the reaction times of sensors and actuators, just like the reaction time for a Controller or network. Indicates objects related to the safety functions.

Set the parameter by the setting tool of the safety controller. The parameter is retained by the safety controller. The data attribute of objects is [S].

For more information, refer to 9-1 Object Description Format on page 9-5.

all objects in the object dictionary can be read and written.

of each slave.

data that are designed for general control purposes.

This term is used to differentiate from a safety control.

control

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Terminology

Ter m

Abbrevi-

ation

Description

Subindex --- Sub-address of an object within the object dictionary. Sync Manager SM Collection of control elements to coordinate access

to concurrently used objects.

Transmit PDO TxPDO A process data object sent from an EtherCAT slave.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Revision History

Cat. No.

I621-E1-03

Revision code

The manual revision code is a number appended to the end of the catalog number found in the front and back cover.

Example

Revision History

Revision

code

01 June 2020 Original production 02 November 2020 • Made changes accompanying the support of cable redundancy

03 March 2021 Corrected mistakes.

Date Revised content

function.

• Corrected mistakes.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Revision History

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

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 1S-series Servo Drive Advance Type . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2 EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-1-3 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3 Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

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

1-3-2 Servo Drive Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1-3-3 Servomotor Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1-3-4 Servomotor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1-3-5 Shield Clamp Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

1-4 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

1-5 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

1-5-1 EU Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

1-5-2 UL and cUL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22

1-5-3 Korean Radio Regulations (KC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

1-5-4 SEMI F47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

1-5-5 Australian EMC Labeling Requirements (RCM) . . . . . . . . . . . . . . . . . . . . . . 1-23

1-5-6 EAC Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

1-6 Unit Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24

1-6-1 Confirmation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24

1-6-2 Unit Versions and Sysmac Studio Versions . . . . . . . . . . . . . . . . . . . . . . . . . 1-24

1-7 Procedures to Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25

1-7-1 Overall Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25

1-7-2 Procedure Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 1

1 Features and System Configuration

1-1 Outline

The 1S-series Servo Drives Advance Type with Built-in EtherCAT Communications are provided with 8 safety functions and support 100-Mbps EtherCAT.

When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit, NY-series IPC Machine Controller, or Position Control Unit with EtherCAT (Model: CJ1W-NC8), you can construct a high-speed and sophisticated positioning control system.

You need only one communications cable to connect the Servo Drive and the Controller, and also only one cable to connect the Servo Drive and the Servomotor.

With adjustment functions, adaptive notch filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.

Moreover, with the two-degree-of-freedom (TDF) control structure, you can easily adjust high-precision positioning.

1-1-1 Features of 1S-series Servo Drive Advance Type

The 1S-series Servo Drives Advance Type have the following features.

Realization of Safer Equipment and More Efficient Production

The following eight safety functions that comply with the SIL3/PLe functional safety levels are provided: STO, SS1, SS2, SOS, SLS, SLP, SDI, and SBC. This product can improve not only equipment safety but also production efficiency by shortening production facility downtime. By using it with other OMRON safety products, a device can be designed more easily.

Use of only One Cable for the Motor, Encoder, and Brake

One Cable Technology is adopted for the cable connecting the Servo Drive and the Servomotor, unifying the three cables for supply of power to the motor, the encoder, and the brake into one cable. This economization of wiring and space can downsize a device and reduce design and maintenance work.

Optimal Functionality and Operability by Standardizing Specifications

As a Sysmac Device, the 1S-series Servo Drive Advance Type with built-in EtherCAT communications is designed to achieve optimum functionality and ease of operation when it is used together with the NJ/NX-series Machine Automation Controller, NY-series IPC Machine Controller, and the Sysmac Studio Automation Software.

Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with unified communications specifications and user interface specifications.

1 - 2

Data Transmission Using EtherCAT Communications

Combining the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit, NY-series IPC Machine Controller, or Position Control Unit with EtherCAT (Model: CJ1W-NC8) enables you to exchange all position information with the controller in high-speed data communications.

Since the various control commands are transmitted via data communications, Servomotor’s operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

You can use the Servo Drive’s various control parameters and monitor data on a host controller, and unify the system data for management.

EtherCAT Communications Cycle of 125 µs

Combination with an NX7 Machine Automation Controller enables high-speed and high-precision motion control at the communications cycle of 125 µs.

1-1 Outline

High Equipment Utilization Efficiency with 400-V Models

The 400-V models are provided for use with large equipment, at overseas facilities and in wide-ranging applications and environment. Since the utilization ratio of facility equipment also increases, the TCO (Total Cost of Ownership) will come down.

Achievement of Safety on EtherCAT Network

You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion control system.

The 1S-series Servo Drives Advance Type support the FSoE (Safety over EtherCAT) protocol as the safety communications. You can build the safety system that uses the safety functions from the safety controller on the EtherCAT network.

Suppressing Vibration of Low-rigidity Machines During Acceleration/Deceleration

The damping control function suppresses vibration of low-rigidity machines or devices whose tips tend to vibrate. The function can also be used for damping control for larger constructions as it supports vibration ranging from 0.5 to 300 Hz. You can maximize the performance of the Servomotor by adjusting the trade-off between the damping time and the amount of peak control.

Easy Adjustment with TDF Control Structure

1-1-2 EtherCAT

The TDF control structure allows you to separately adjust the amount of overshooting and the resistance against disturbance. With this feature, you can easily achieve high-precision positioning, which is difficult to achieve with the one-degree-of-freedom (ODF) control.

1-1-2 EtherCAT

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

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 3

1 Features and System Configuration

1-1-3 Object Dictionary

1S-series Servo Drives Advance Type with Built-in EtherCAT Communications use the object dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.

An object is an abstract representation of a particular component within a device, which consists of data, parameters, and methods.

An object dictionary is a data structure that contains description of data type objects, communication objects and application objects.

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

Index (hex) Area Description

0000 to 0FFF Data Type Area Definitions of data types. 1000 to 1FFF CoE Communications Area Definitions of objects that can be used by all serv-

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

3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S-series

6000 to DFFF Device Profile Area Variables defined in the Servo Drive’s CiA402 drive

E000 to EFFF Device Profile Area 2 Objects defined in the Servo Drive’s FSoE CiA402

F000 to FFFF Device Area Objects defined in a device.

*1. For details on servo parameters, refer to Section 9 Details on Servo Parameters.

ers for designated communications.

products.

Servo Drives (servo parameters).

profile.

slave connection.

1 - 4

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

ID211

0 1

DC24V 7

COM

C H

AD042

RUN E

R C

ERH

B 1 A

0 12345

1 0

1 1

1 21

1 4

1 5

EtherCAT

Position Control Unit CJ1W-NC8

Programmable Controller CJ-series

Machine Automation Controller NJ/NX-series

1S-series

Servo Drive

Advance Type

R88D-1SAN-ECT

1S-series

Servomotor

Advance Type

R88M-1AL/-1AM

Controller (EtherCAT type)

IPC Machine Controller NY-series

1-2 System Configuration

The system configuration for a 1S-series Servo Drive Advance Type with Built-in EtherCAT Communications is shown below.

1-2 System Configuration

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 5

1 Features and System Configuration

Main circuit

connector

(CNA)

Safety signal

connector

(CN14)

Control I/O connector (CN1)

Status

indicators

7-segment

LED display

ID switches

terminal

Charge lamp

Status indicators

EtherCAT communications connector (ECAT IN CN10)

EtherCAT communications connector (ECAT OUT CN11)

USB connector (CN7)

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.

R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT

1 - 6

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safe brake control

connector (CN15)

Motor connector (CNC)

terminal

Encoder connector (CN2)

Brake interlock connector (CN12)

terminal

Top view

1 Features and System Configuration

1-3 Names and Functions

1-3-1 Servo Drive Part Names

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 7

1 Features and System Configuration

Main circuit connector B (CNB)

Main circuit

connector A

(CNA)

Safety signal

connector

(CN14)

Control power

supply connector

(CND)

Control I/O connector (CN1)

Status

indicators

7-segment

LED display

ID switches

terminal

Top view

Charge lamp

Status indicators

EtherCAT communications connector (ECAT IN CN10)

EtherCAT communications connector (ECAT OUT CN11)

USB connector (CN7)

R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/

-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT

1 - 8

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

Safe brake control

connector (CN15)

terminal

Encoder connector (CN2)

Brake interlock connector (CN12)

Motor connector (CNC)

1-3 Names and Functions

1-3-1 Servo Drive Part Names

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 9

1 Features and System Configuration

1-3-2 Servo Drive Functions

The functions of each part of the Servo Drive are described below.

Status Indicators

The following seven indicators are mounted.

Name Color Description

PWR Green Displays the status of control power supply. ERR Red Gives the Servo Drive error status. ECAT-RUN Green Displays the EtherCAT communications status. ECAT-ERR Red ECAT-L/A IN,

ECAT-L/A OUT FS Red/green Displays the safety communications status.

For details on display, refer to 5-1-2 Status Indicators on page 5-3.

Green Lights or flashes according to the status of a link in the EtherCAT physical

layer.

7-segment LED Display

A 2-digit 7-segment LED display shows error numbers, the Servo Drive status, and other information.

Refer to 10-2-3 Checking the Displays on page 10-5 for details.

ID Switches

Two rotary switches (0 to F hex) are used to set the EtherCAT node address.

1 - 10

Charge Lamp

Lights when the main circuit power supply carries electric charge.

Control I/O Connector (CN1)

Used for connecting command input signals and I/O signals to an external device.

Encoder Connector (CN2)

Connector for the encoder installed in the Servomotor.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

EtherCAT Communications Connectors (ECAT IN CN10, ECAT OUT CN11)

These connectors are for EtherCAT communications.

USB Connector (CN7)

1-3 Names and Functions

USB-Micro B Communications connector for the computer. This connector enables USB 2.0 Full Speed (12 Mbps) communications.

Brake Interlock Connector (CN12)

Used for brake interlock signals.

Main Circuit Connector (CNA)

Connector for the main circuit power supply input, control power supply input, external regeneration resistor, and DC reactor.

Applicable models: R88D-1SAN02H-ECT/-1SAN04H-ECT/-1SAN08H-ECT/-1SAN10H-ECT

Main Circuit Connector A (CNA)

Connector for the main circuit power supply input and external regeneration resistor.

Applicable models: R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/

-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT

Main Circuit Connector B (CNB)

1-3-2 Servo Drive Functions

Connector for a DC reactor.

Applicable models: R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/

-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT

Control Power Supply Connector (CND)

Connector for control power supply input.

Applicable models: R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT/-1SAN10F-ECT/

-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT

Motor Connector (CNC)

Connector for the power line to the phase U, V, and W of the Servomotor.

The connector differs depending on the model.

Safety Signal Connector (CN14)

Used for connecting a safety device. The short-circuit wire is installed on the safety signals before shipment.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 11

1 Features and System Configuration

Safe Brake Control Connector (CN15)

Used for connecting to the brake to be controlled by safe brake control.

Termin al

The number of terminals of the Servo Drives and their connection targets are as follows.

Servo Drive model

R88D-1SAN02H-ECT/

-1SAN04H-ECT/-1SAN08H-ECT/

-1SAN10H-ECT

R88D-1SAN15H-ECT/

-1SAN20H-ECT/-1SAN30H-ECT/

-1SAN10F-ECT/-1SAN15F-ECT/

-1SAN20F-ECT/-1SAN30F-ECT

Number of

terminals

1 on top PE wire of the main circuit power supply cable. 2 on front 1 on bottom

FG wire inside the control panel, and FG wire for the Integrated Cable and Shield Clamp.

FG wire inside the control panel and the Shield Clamp.

Connection to

1 - 12

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1-3-3 Servomotor Part Names

Flange

Mating part

200 VAC 200 W Servomotors (without Brake)

Shaft

Integrated connector

(Type M17)

Flange

Mating part

200 VAC 200 W Servomotors (with Brake)

Shaft

Integrated connector (Type M17)

The Servomotor part names are given below.

Flange Size of 60×60, 80×80

1 Features and System Configuration

1-3 Names and Functions

1-3-3 Servomotor Part Names

*1. For servomotors without Brake, brake wire signals are not used (terminal open).

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 13

1 Features and System Configuration

Flange

Shaft

Mating part

Integrated connector *1 (Type M23)

400 VAC 3 kW Servomotors (without Brake)

Shaft

Eye-bolt

Flange

Mating part

400 VAC 3 kW Servomotors (with Brake)

Integrated connector (Type M23)

Flange Size of 100×100, 130×130, 180×180

*1. For servomotors without Brake, brake wire signals are not used (terminal open).

*1. In some cases, eye bolts are not equipped, depending on the Servomotor's mass.

1 - 14

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1-3-4 Servomotor Functions

The functions of each part of the Servomotor are described below.

Shaft

The load is mounted on this shaft.

The direction which is in parallel with the shaft is called the thrust direction, and the direction which is perpendicular to the shaft is called the radial direction.

Flange

Used for mounting the Servomotor on the equipment.

Fit the mating part into the equipment and use the mounting holes to screw the Servomotor.

1 Features and System Configuration

1-3 Names and Functions

1-3-4 Servomotor Functions

Integrated Connector

This is an integrated connector that can connect each cable for power, encoder and brake all at once.

The power cable supplies power to the phases U, V, and W of the Servomotor.

The encoder cable supplies power to the encoder of the Servomotor and communicates with the Servo Drive.

The brake cable supplies power to the brake coil.

Eye-bolt

Used for lifting and moving the motor by putting a wire rope, for example, through the shaft.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 15

1 Features and System Configuration

1-3-5 Shield Clamp Part Names

The shield clamp part names are given below.

*1. It comes with a cable.

*2. Do not cut the cable tie.

*3. It is equipped with a cable.

Shield Clamp Bracket

Cable Tie

Shield Clamp Plate

Cable Tie

1 - 16

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

P/B1

B2 B3

U V

ECAT IN

CN10

CN1 CN14CN2 CN12 CN7

24V

DC/DC

CNA

FUSE

CNA

CNC

USB

ECAT OUT

CN11

CN15

Power supply

Brake

interlock

SafetyEncoder

Control

interface

EtherCAT

communications

connector

EtherCAT

communications

connector

MPU, FPGA

Control circuit

Display area rotary switch

Input voltage monitoring

Relay

drive

Voltage

detection

Regeneration

control

error detection

Overcurrent

detection

(IPM error)

temperature

monitoring

Gate drive

Current detection

Safe brake

control

1-4 System Block Diagram

The block diagram of a 1S-series Servo Drive Advance Type with Built-in EtherCAT Communications is shown below.

1-4 System Block Diagram

R88D-1SAN02H-ECT/-1SAN04H-ECT

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 17

1 Features and System Configuration

FUSE

P/B1

B2 B3

U V

FAN

CN1 CN14CN2 CN12 CN7

24V

DC/DC

CNA

CNC

ECAT IN

CN10

ECAT OUT

CN11

CN15

Power supply

Display area rotary switch

USB

Brake

interlock

SafetyEncoderControl

interface

Gate drive

Input voltage monitoring

Voltage

detection

Relay

drive

Overcurrent

detection

(IPM error)

Current detection

temperature

monitoring

MPU, FPGA

Control circuit

EtherCAT

communications

connector

EtherCAT

communications

connector

Safe brake

control

Regeneration

control

error detection

R88D-1SAN08H-ECT/-1SAN10H-ECT

1 - 18

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

B1 B2 B3

FAN

CN1 CN14CN2 CN12 CN7

+24V

DC/DC

CND

CNA

CNB

FUSE

CNA

CNC

USB

ECAT IN

CN10

ECAT OUT

CN11

CN15

Power supply

Control

interface

Display area rotary switch

Input voltage monitoring

Relay

drive

Voltage

detection

MPU, FPGA

Control circuit

Gate drive

Current detection

temperature

monitoring

Overcurrent

detection

(IPM error)

Regeneration

control

error detection

EtherCAT

communications

connector

EtherCAT

communications

connector

Encoder Brake

interlock

Safe brake

control

Safety

R88D-1SAN15H-ECT/-1SAN20H-ECT/-1SAN30H-ECT

1-4 System Block Diagram

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 19

1 Features and System Configuration

R88D-1SAN10F-ECT/-1SAN15F-ECT/-1SAN20F-ECT/-1SAN30F-ECT

CND

CNA

CNB

+24V

P N3 N2 N1

FUSE

Input voltage monitoring

DC/DC

Power supply

Relay

drive

Regeneration

error detection

Voltage

detection

control

FAN

Overcurrent

detection

(IPM error)

Gate drive

CNA

B1 B2 B3

CNC

U V

Current detection

HS temperature

monitoring

Display area rotary switch

ECAT IN

CN10

EtherCAT

communications

connector

ECAT OUT

CN11

EtherCAT

communications

connector

MPU, FPGA

Control circuit

CN1 CN14CN2 CN12 CN7

Control

interface

Encoder Brake

CN15

Safe brake

control

interlock

USB

Safety

1 - 20

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

1-5 Applicable Standards

This section describes applicable standards.

1-5-1 EU Directives

The 1S-series Servo Drives/Servomotors Advance Type comply with the following EU directives.

EU Directives Product Applicable standards

EMC Directive Servo Drives EN61800-3 second environment,

C3 Category

Low Voltage Directive Servo Drives EN61800-5-1

Servomotors EN 60034-1/-5

Machinery Directive Servo Drives EN ISO 13849-1 PLe/Cat.3

EN 61508 SIL3

EN 62061 SIL CL3

EN 61800-5-2 SIL3 (STO/SS1/SS2/SOS/SLS/SLP/SDI/SBC)

1-5 Applicable Standards

1-5-1 EU Directives

Note To conform to EMC Directives, install the Servo Drive and Servomotor under the conditions described in 4-3

Wiring Conforming to EMC Directives on page 4-32.

The Servo Drives and Servomotors comply with EN 61800-5-1 as long as the following installation conditions (a) and (b) are met.

(a) Use the Servo Drive in pollution degree 2 or 1 environment as specified in IEC 60664-1.

Example: Installation inside an IP54 control panel.

(b) Be sure to connect a fuse or an equivalent that the fusing time is shorter, which complies with IEC

60269-1 CLASS gG, between the power supply and noise filter. Select a fuse that satisfies the maximum current rating of the following table.

Servo Drive model

R88D-1SAN02H-ECT 16A R88D-1SAN04H-ECT 16A R88D-1SAN08H-ECT 16A R88D-1SAN10H-ECT 16A R88D-1SAN15H-ECT 40A R88D-1SAN20H-ECT 40A R88D-1SAN30H-ECT 40A R88D-1SAN10F-ECT 20A R88D-1SAN15F-ECT 20A R88D-1SAN20F-ECT 20A R88D-1SAN30F-ECT 20A

Maximum current

rating

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 21

1 Features and System Configuration

1-5-2 UL and cUL Standards

Standard Product Applicable standards File number

UL standards Servo Drives UL 61800-5-1 E179149

Servomotors UL 1004-1, UL 1004-6 E331224

CSA standards

*1. IN CANADA, TRANSIENT SURGE SUPPRESSION SHALL BE INSTALLED ON THE LINE SIDE OF THIS

EQUIPMENT AND SHALL BE RATED 277 V (PHASE TO GROUND), SUITABLE FOR OVERVOLTAGE CATEGORY III, AND SHALL PROVIDE PROTECTION FOR A RATED IMPULSE WITHSTAND VOLTAGE PEAK OF 6 KV

Servo Drives CSA C22.2 No. 274 E179149 Servomotors CSA C22.2 No. 100 E331224

The Servo Drives and Servomotors comply with UL 61800-5-1 as long as the following installation conditions (a) and (b) are met.

(a) Use the Servo Drive in pollution degree 2 or 1 environment as specified in IEC 60664-1.

Example: Installation inside a control panel.

(b) Be sure to connect a fuse, which is a UL-listed product with LISTED, between the power supply and

noise filter. Select the fuse from the following table as well as an equivalent, or the fuse that belongs to the following class: CC, CF, GF, G, J, R or T. Use copper wiring with a temperature rating of 75°C or higher.

The 1S-series Servo Drives/Servomotors Advance Type conform to the following standards.

Servo Drive model CLASS

R88D-1SAN02H-ECT RK5 240 V 15 A R88D-1SAN04H-ECT RK5 240 V 15 A R88D-1SAN08H-ECT RK5 240 V 15 A R88D-1SAN10H-ECT RK5 240 V 15 A R88D-1SAN15H-ECT RK5 240 V 40 A R88D-1SAN20H-ECT RK5 240 V 40 A R88D-1SAN30H-ECT RK5 240 V 40 A R88D-1SAN10F-ECT RK5 240 V 20 A R88D-1SAN15F-ECT RK5 240 V 20 A R88D-1SAN20F-ECT RK5 240 V 20 A R88D-1SAN30F-ECT RK5 240 V 20 A

Vol tage

(Minimum)

Ampere

1 - 22

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Precautions for Correct Use

1-5-3 Korean Radio Regulations (KC)

• Observe the following precaution if you use this product in Korea.

1 Features and System Configuration

1-5 Applicable Standards

Guide for Users

This equipment has been evaluated for conformity in a commercial environment.

When used in a residential environment, it may cause radio interference.

• The 1S-series Servo Drives Advance Type comply with the Korean Radio Regulations (KC).

• The 1S-series Servomotors Advance Type are exempt from the Korean Radio Regulations (KC).

1-5-4 SEMI F47

• The main power supply inputs can conform to the SEMI F47 standard for momentary power interruptions (voltage sag immunity) for no-load operation.

• This standard applies to semiconductor manufacturing equipment.

• This standard does not apply to the 24-VDC control power input. Use the power supply.

• Be sure to perform evaluation tests for SEMI F47 compliance in the entire machine and system.

1-5-5 Australian EMC Labeling Requirements (RCM)

• The 1S-series Servo Drives Advance Type comply with the Australian EMC Labeling Requirements (RCM).

• The 1S-series Servomotors Advance Type comply with the Australian EMC Labeling Requirements (RCM).

1-5-3 Korean Radio Regulations (KC)

1-5-6 EAC Requirements

• The 1S-series Servo Drives Advance Type comply with the EAC requirements.

• The 1S-series Servomotors Advance Type comply with the EAC requirements.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 23

1 Features and System Configuration

1-6 Unit Versions

The 1S-series Servo Drive Advance Type uses unit versions.

Unit versions are used to manage differences in supported functions due to product upgrades, etc.

1-6-1 Confirmation Method

The unit version of 1S-series Servo Drive Advance Type is displayed at the location shown below.

Display location

Display on the product

Unit version

1-6-2 Unit Versions and Sysmac Studio Versions

Refer to A-7 Version Information on page A-239 for details on the relationship between the 1S-series Servo Drive Advance Type and Sysmac Studio versions.

1 - 24

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

STEP 1 System Design

STEP 1-1 Determining safety measures based on risk assessment

STEP 1-2 Selecting standard devices, Servo Drive, Servomotor, and safety devices

STEP 1-3 Designing interface between standard control and safety control

STEP 2 Software and hardware design for standard control

STEP 2-1 Designing I/O and processing

STEP 2-2 Designing tasks

STEP 2-3 Designing user programs

STEP 4 Calculation and verification of safety control responsivity

STEP 4-1 Calculating safety reaction time and safety distance

STEP 3 Software and hardware design for safety control

STEP 3-1 Determining wiring for communications, power supply, and connection with external I/O devices

STEP 3-2 Designing I/O and processing

STEP 3-3 Designing safety programs

STEP 4-2 Verifying specification requirement satisfaction

STEP 5 Software setting and programming for standard control

STEP 5-1 Creating project

STEP 5-2 Creating slave and unit configuration

STEP 6 Software setting and programming for safety control

STEP 5-3 Controller settings

STEP 5-4 Programming STEP 5-5 Offline debugging

STEP 6-1 Creating safety control system configuration

STEP 6-4 Assigning device variables to I/O ports STEP 6-5 Programming

STEP 6-6 Offline debugging

STEP 6-2 Checking/setting safety process data communications

STEP 6-3 Assigning devices to safety I/O terminal

STEP 7 Servo Drive setting, adjustment, and operation check

STEP 7-1 Installation and mounting

STEP 7-2 Wiring and connections STEP 7-3 Device setting

STEP 7-4 Test run STEP 7-5 Adjustment

1-7 Procedures to Start Operation

1-7 Procedures to Start Opera-

This section explains the procedures to operate a system that incorporates Servo Drives.

1-7-1 Overall Procedure

Use the following procedures to build a system that incorporates Servo Drives.

To use the Servo Drive safety function, you must build the standard control and safety control together.

tion

1-7-1 Overall Procedure

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 25

1 Features and System Configuration

STEP 8 Mounting and wiring

STEP 8-1 Mounting

STEP 8-2 Wiring

STEP 9 Standard control operation check

STEP 9-1 Placing Sysmac Studio online and downloading project

STEP 9-2 Online Debugging

STEP 10 Safety control operation check

STEP 10-1 Transferring configuration information

STEP 10-2 Checking operation with actual machine STEP 10-3 Conducting safety validation test

STEP 10-4 Setting security of unit

STEP 10-5 Executing safety validation from Sysmac Studio

STEP 11 Operation and maintenance

STEP 11-1 Operation

STEP 11-2 Troubleshooting

STEP 11-3 Inspection and replacement

1 - 26

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1-7-2 Procedure Details

As described previously, the procedures for the standard control and safety control are performed in parallel.

This section explains the procedure details for using the Servo Drive safety function.

If you use an NJ/NX-series CPU Unit to perform the standard control, refer to NJ/NX-series CPU Unit

Software User's Manual (Cat. No. W501) together with this manual.

If you use an NX-series Safety Control Unit to perform the safety control, refer to NX-series Safety Con-

trol Unit User’s Manual (Cat. No. Z930) together with this manual.

STEP 1 System Design

Procedure Description Reference

STEP 1-1 Determining safety measures based on risk assessment

1 Features and System Configuration

1-7 Procedures to Start Opera-

tion

1-7-2 Procedure Details

• Identify the source of danger and perform the risk assessment (estimation and evaluation).

• Consider and determine the measures for risk minimization.

STEP 1-2 Selecting standard device, Servo Drive, Servomotor, and safety device

STEP 1-3 Designing interface between standard control and safety control

STEP 2 Software and Hardware Design for Standard Control

Procedure Description Reference

STEP 2-1 Designing I/O and processing

STEP 2-2 Designing tasks

• Select the device that configures inputs, logics, and outputs for standard control.

• Select the Servo Drive and Servomotor.

• Select the safety device used to configure inputs, logics, and outputs for safety control.

Design the interface between the standard control and safety control.

Design I/O and processing.

• External I/O devices and unit configuration

• Refresh periods for external devices

• Program contents

Design the tasks.

• Task configuration

• Relationship between tasks and programs

• Task periods

• Slave and Unit refresh times

• Exclusive control methods for variables between tasks

Manuals for each unit

• Safety Control Unit User's Manual

• Section 8, 8-1-2

NJ/NX-series CPU Unit User’s Manuals

STEP 2-3 Designing user programs

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

• Design POUs (Program Organization Unit).

• Design variables.

NJ/NX-series CPU Unit User’s Manuals

1 - 27

1 Features and System Configuration

STEP 3 Software and Hardware Design for Safety Control

Procedure Description Reference STEP 3-1 Determining wiring for communications, power supply, and connection with external I/O devices

Determine wiring used for the communication network, power supply, and safety I/O devices.

Safety Control Unit User's Manual

STEP 3-2 Designing I/O and processing

Design the configuration of the safety I/O devices and Safety I/O Unit.

• Safety I/O devices

• Safety Control Unit User's Manual

• Section 8

• Program contents

STEP 3-3 Designing safety programs

Design POUs (Program Organization Unit).

• Programs

• Function blocks

• Safety Control Unit User's Manual

• Section 8

STEP 4 Calculation and Verification of Safety Control Responsivity

Procedure Description Reference STEP 4-1 Calculating safety reaction time and safety dis-

Calculate the safety reaction time and then determine the safety distance.

• Safety Control Unit User's Manual

• Section 8

tance

STEP 4-2 Verifying specification

Verify whether the specification requirements are satisfied. If not, reconsider the system design.

Safety Control Unit User's Manual

requirement satisfaction

STEP 5 Software Design and Programming for Standard Control

Procedure Description Reference

STEP 5-1 Creating project

STEP 5-2 Creating slave and unit configuration

• Create a new project in the Sysmac Studio.

• Insert a Controller.

• Create the slave configuration and Unit configuration either offline or online.

• Include the safety PDOs (1610 hex and 1A10 hex) in PDO mapping for the Servo Drive.

• Register the device variables in the variable table.

NJ/NX-series CPU Unit User’s Manuals

• NJ/NX-series CPU Unit User’s Manuals

• Section 8, 8-1

• Create the axes and set them as real axes or virtual axes. Create axes groups to perform interpolated axes control.

STEP 5-3 Controller settings

Set PLC Function Modules, Motion Control Function Modules, etc. in the Sysmac Studio.

NJ/NX-series CPU Unit User’s Manuals

1 - 28

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 Features and System Configuration

STEP 5 Software Design and Programming for Standard Control

Procedure Description Reference

• Register variables in the Sysmac Studio.

STEP 5-4 Programming

• Write the algorithms for the POUs (programs, func-

tion blocks, and functions) in the required languages.

• Make task settings.

1-7 Procedures to Start Opera-

NJ/NX-series CPU Unit User’s Manuals

tion

STEP 5-5 Offline Debugging

Check the algorithms and task execution times on the Simulator (virtual controller).

NJ/NX-series CPU Unit User’s Manuals

1-7-2 Procedure Details

STEP 6 Software Design and Programming for Safety Control

Procedure Description Reference

STEP 6-1 Creating safety control

Arrange the Communications Coupler Unit, Safety CPU Unit, and Safety I/O Unit in the Sysmac Studio.

Safety Control Unit User's Manual

system configuration

• Safety Control Unit User's Manual

• Section 8

STEP 6-2 Checking/setting Safety Process Data Communications

• Select Safety Controller from the Controller Selection Box in the Sysmac Studio.

• Check or change the settings of Safety Process Data Communications.

• Make sure that the Servo Drive is displayed, and then select the Active check box.

• Select safety functions for use of the assigned safety PDOs (1610 hex and 1A10 hex).

• Set parameters of each safety function for use.

STEP 6-3 Assigning devices to safety I/O terminal

In the parameter setting view for the Safety I/O Unit, select the safety I/O devices connected to the safety I/O terminal.

Safety Control Unit User's Manual

STEP 6-4 Assigning device variables to I/O ports

STEP 6-5 Programming

STEP 6-6 Offline Debugging

Safety Control Unit User's Manual

ated.)

• Register the variables used by more than one POU in the global variable table with the Sysmac Studio.

• Register the variables in the local variable table for

• Safety Control Unit User's Manual

• Section 8

each program.

• Register the variables in the local variable table for each function block.

• Write the algorithms for the POUs (programs and function blocks) in FBD language.

Execute program debugging with the Simulator. Safety Control Unit User's

Manual

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

1 - 29

1 Features and System Configuration

STEP 7 Servo Drive Setting, Adjustment, and Operation Check

Procedure Description Reference

STEP 7-1 Installation and mounting

STEP 7-2 Wiring and connections

Install the Servomotor and Servo Drive according to the installation conditions. Do not connect the Servomotor to mechanical systems before checking the operation without any load.

Connect the Servomotor and Servo Drive to the power supply and peripheral equipment.

Satisfy specified installation and wiring conditions, particularly for models that conforms to the EU Directives.

Section 4, 4-1

Section 4, 4-2

STEP 7-3 Device setting

Set the objects related to the functions required for application conditions.

Section 9

• First, check motor operation without any load. Then turn the power supply OFF and connect the Servo-

STEP 7-4 Test run

motor to mechanical systems.

• Use the STO function via safety input signals if you

Section 10, 10-3

need the STO function while you perform the test run or adjustment using the Servo Drive with no load.

STEP 7-5 Adjustment

Manually adjust the gain if necessary.

Section 11

STEP 8 Mounting and Wiring

Procedure Description Reference

STEP 8-1

Install each unit according to the installation conditions. Manuals for each unit

Mounting

STEP 8-2

Connect the network cables and wire the I/O. Manuals for each unit

Wiring

1 - 30

STEP 9 Standard Control Operation Check

Procedure Description Reference STEP 9-1 Placing Sysmac Studio online and downloading

• Turn ON the power supply to the Controller and place the Sysmac Studio online.

• Download the project.

project

• Check the wiring by using forced refreshing of real I/O from the I/O Map or Watch Tab Page.

• For motion control, use the MC Test Run operations

STEP 9-2 Online Debugging

in PROGRAM mode to check the wiring. Then check the motor rotation directions for jogging, travel distances for relative positioning (e.g., for electronic gear settings), and homing operation.

• Change the Controller to RUN mode and check the operation of the user program.

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

NJ/NX-series CPU Unit User’s Manuals

1 Features and System Configuration

1-7 Procedures to Start Opera-

STEP 10 Safety Control Operation Check

Procedure Description Reference

• NJ/NX-series CPU Unit User’s Manuals

• Safety Control Unit User's Manual

tion

1-7-2 Procedure Details

STEP 10-1 Transferring configuration information

• Connect the computer (Sysmac Studio) to the NJ/NX-series CPU Unit.

• Download the project data to the CPU Unit.

• In the Safety CPU Unit Setup and Programming View, change the mode of the Safety CPU Unit to DEBUG mode. By doing this, the safety application data is transferred to the Safety CPU Unit and the test run for debugging is enabled.

STEP 10-2 Checking operation with actual machine

STEP 10-3 Conducting safety vali-

Perform the wiring check and program operation check to confirm that the Safety Control Unit operates as intended.

Conduct the test to check whether all safety functions operate as designed.

Safety Control Unit User's Manual

dation test

STEP 10-4 Setting security of unit

STEP 10-5 Executing safety validation from Sysmac Studio

Set the safety password. Safety Control Unit User's

Manual

If the safety validation test is completed successfully, then execute the safety validation command from Sys-

Safety Control Unit User's Manual

mac Studio.

By doing this, the safety application data is transferred to the non-volatile memory in the Safety CPU Unit, and the operation-ready status is established.

STEP 11 Operation and Maintenance

Procedure Description Reference

Start actual operation.

STEP 11-1 Operation

Start actual operation after checking the present device position and the position displayed on the Servo Drives

---

are appropriate.

STEP 11-2 Troubleshooting

STEP11-3 Inspection and replacement

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

In case of an error, use the troubleshooting function of the Sysmac Studio to check the error and identify its cause, and then remove the cause of the error.

Perform periodic maintenance.

If any defect is found during inspection, replace the device.

• Section 9

• Manuals for each unit

• Section 10

• Manuals for each unit

1 - 31

1 Features and System Configuration

1 - 32

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Models and External Dimensions

This section explains the models of Servo Drives, Servomotors, Decelerators, 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 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-2-3 Integrated Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-2-4 Decelerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-3 Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3-1 Servo Drive Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3-2 Servomotor Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-3-3 Servo Drive and Servomotor Combination Tables . . . . . . . . . . . . . . . . . . . . 2-12

2-3-4 Decelerator Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2-3-5 Servomotor and Decelerator Combination Tables . . . . . . . . . . . . . . . . . . . . 2-15

2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps . . . . . . . . . . . . 2-16

2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit

Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2-3-8 Reactor Model Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20

2-4 External and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

2-4-1 Servo Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

2-4-2 Servomotor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23

2-4-3 Cable Outlet Direction of Integrated Connector . . . . . . . . . . . . . . . . . . . . . . 2-43

2-4-4 Cable Wiring Dimension for a Case of Servomotor Installing . . . . . . . . . . . . 2-44

2-4-5 Decelerator Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-46

2-4-6 Dimensions of External Regeneration Resistors and External Regeneration

Resistance Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-55

2-4-7 Reactor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-56

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 1

2 Models and External Dimensions

ID211

DC24V 7mA

COM

MACH

AD042

RUN ER

ERH

B1A1

x10

0 1 2 3 4 567

1011 12 1314 15

NJ/NX-series CPU Unit (with EtherCAT port)

Controller

Machine Automation Controller NJ/NX-series

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

Programmable Controller CJ-CPU

Position Control Unit (NC) CJ1W-NC8

Support Software

● Automation Software Sysmac Studio

Support Software

● FA Integrated Tool Package CX-One

(CX-Programmer included)

NY-series CPU Unit (with EtherCAT port)

IPC Machine Controller NY-series

2-1 Servo System Configuration

This section shows the Servo system configuration that consists of Controllers, Servo Drives, Servomotors, Decelerators, and other devices.

*1. You cannot use the CX-One to make the settings of 1S-series Servo Drives Advance Type. Obtain the Sysmac Studio.

2 - 2

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 Models and External Dimensions

2-1 Servo System Configuration

USB communications

EtherCAT communications

Servo Drive

Power signal

Integrated cable

· Without brake wire R88A-CX1SF

· With brake wire R88A-CX1BF

· Extension cable R88A-CX1EBF

Servomotor

● 1S-series Servo Drive Advance Type

R88D-1SAN-ECT

200 VAC 400 VAC

Feedback signal

● 1S-series Servomotor Advance Type

R88M-1AL/1AM

3,000 r/min 1,500 r/min

Decelerator

●

Backlash: 3 Arcminutes max. R88G-HPG

●

Backlash: 15 Arcminutes max. R88G-VRXF

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 3

2 Models and External Dimensions

Communications type

Applicable Servomotor rated output

Power supply voltage

1S-series Servo Drive

ECT: EtherCAT communications type

AN: Advance/Communications type

Servo Drive Type

R88D-1SAN02H-ECT

02: 200 W 04: 400 W 08: 750 W 10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW

H: 200 VAC F: 400 VAC

2-2 How to Read Model Numbers

This section describes how to read and understand the model numbers of Servo Drives, Servomotors, Integrated Cables, and Decelerators.

2-2-1 Servo Drive

The Servo Drive model number shows the Servo Drive type, applicable Servomotor, power supply voltage, etc.

2 - 4

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2-2-2 Servomotor

R88M-1AM20030T-BOS2

200: 200 W 400: 400 W 750: 750 W 1K0: 1 kW 1K5: 1.5 kW 2K0: 2 kW 2K6: 2.6 kW 2K7: 2.7 kW 3K0: 3 kW

15: 1,500 r/min 30: 3,000 r/min

AL: Advance/Low-inertia type AM: Advance/Middle-inertia type

T: 200 VAC absolute encoder C: 400 VAC absolute encoder

Brake

None: Without brake B: With 24-VDC brake

Oil seal

None: Without oil seal O: With oil seal

Key and tap

None: Straight shaft S2: With key and tap

Options

Servo Drive main power supply voltage and encoder type

Rated output

Rated rotation speed

Servomotor type

1S-series Servomotor

The Servomotor model number tells the Servomotor type, rated output, rated rotation speed, voltage, etc.

2 Models and External Dimensions

2-2 How to Read Model Numbers

2-2-2 Servomotor

Combinations of Options

Straight shaft With key and tap Straight shaft With key and tap

Without brake

With brake -B -BS2 -BO -BOS2

None -S2 -O -OS2

Without oil seal With oil seal

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 5

2 Models and External Dimensions

R88A-CX1A003BF

A: 200 VAC 3,000-r/min Servomotor 200 W, 400 W, 750 W B: 200 VAC 3,000-r/min Servomotor 1 kW C: 200 VAC 3,000-r/min Servomotor 1.5 kW 1,500-r/min Servomotor 1.5 kW 400 VAC 3,000-r/min Servomotor 750 kW, 1 kW, 1.5 kW, 2 kW, 3 kW 1,500-r/min Servomotor 1.5 kW, 3 kW D: 200 VAC 3,000-r/min Servomotor 2 kW, 2.6 kW 1,500-r/min Servomotor 2.7 kW

003: 3 m 005: 5 m 010: 10 m 015: 15 m 020: 20 m E10: 10 m (Extension cable) E20: 20 m (Extension cable)

CX1: Integrated Cable

Peripheral for the 1S-series

Cable length

Applicable Servomotor type

Peripheral type

Connector type

Application

S: Without brake wire B: With brake wire

F: Flexible cable

2-2-3 Integrated Cable

The cable model number tells the cable type, cable length, connector type, etc.

2 - 6

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2-2-4 Decelerator

R88G-HPG32A112K0SBJ

05: 1/5 11: 1 /11 20: 1/20 21: 1/21 25: 1/25 33: 1/33 45: 1/45

200: 200 W 400: 400 W 600: 600 W 750: 750 W 900: 900 W

1K5: 1.5 kW 2K0: 2 kW 3K0: 3 kW 5K0: 5 kW

14A: 60×60 20A: 90×90 32A: 120×120 50A: 170×170 65A: 230×230

Decelerator for Servomotor

Applicable Servomotor rated output

Backlash: 3 Arcminutes max.

Reduction ratio

Flange size number

Servomotor type

*1. This is a standard model number of servo motor; this model number structure can be applied to other motors. Confirm decelerator and servomotor combination table when you select a Servomotor.

Backlash

Options

None: 3,000-r/min Servomotors S: 2,000-r/min Servomotors T: 1,000-r/min Servomotors

B: Backlash: 3 Arcminutes max.

None: Straight shaft J: With key and tap

The Decelerator model number tells the Decelerator series, flange size number, reduction ratio, backlash, etc.

Backlash: 3 Arcminutes Max.

2 Models and External Dimensions

2-2 How to Read Model Numbers

2-2-4 Decelerator

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 7

2 Models and External Dimensions

200: 200 W 400: 400 W 750: 750 W

05: 1/5 09: 1/9 15: 1/15 25: 1/25

B: 52×52 C: 78×78 D: 98×98

R88G-VRXF05B200CJ

Options

Decelerator for Servomotor

Applicable Servomotor rated output

Backlash: 15 Arcminutes Max.

Reduction ratio

Flange size number

Backlash

C: Backlash: 15 Arcminutes max.

J: With key and tap

Backlash: 15 Arcminutes Max.

2 - 8

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2-3 Model Tables

2 Models and External Dimensions

This section lists the models of Servo Drives, Servomotors, Decelerators, cables, connectors, peripheral devices, etc. in the tables.

2-3-1 Servo Drive Model Table

The following table lists the Servo Drive models.

Specifications Model Reference

Single-phase/3-phase 200 VAC

3-phase 200 VAC 1 kW R88D-1SAN10H-ECT P. 2-21

3-phase 400 VAC 1 kW R88D-1SAN10F-ECT

200 W R88D-1SAN02H-ECT P. 2-21 400 W R88D-1SAN04H-ECT 750 W R88D-1SAN08H-ECT

1.5 kW R88D-1SAN15H-ECT P. 2-22

2 kW R88D-1SAN20H-ECT P. 2-22 3 kW R88D-1SAN30H-ECT

1.5 kW R88D-1SAN15F-ECT 2 kW R88D-1SAN20F-ECT 3 kW R88D-1SAN30F-ECT

2-3 Model Tables

2-3-1 Servo Drive Model Table

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 9

2 Models and External Dimensions

2-3-2 Servomotor Model Tables

3,000-r/min Servomotors

Specifications

Without brake

200 VAC 200 W R88M-

400 W R88M-

750 W R88M-

1 kW R88M-

1.5 kW R88M-

2 kW R88M-

2.6 kW R88M-

400 VAC 750 W R88M-

1 kW R88M-

1.5 kW R88M-

2 kW R88M-

3 kW R88M-

The following tables list the Servomotor models by the rated motor speed.

Model

Without oil seal With oil seal

Straight shaft With key and tap Straight shaft With key and tap

1AM20030T

1AM40030T

1AM75030T

1AL1K030T

1AL1K530T

1AL2K030T

1AL2K630T

1AL75030C

1AL1K030C

1AL1K530C

1AL2K030C

1AL3K030C

R88M1AM20030T-S2 R88M1AM40030T-S2 R88M1AM75030T-S2 R88M1AL1K030T-S2 R88M1AL1K530T-S2 R88M1AL2K030T-S2 R88M1AL2K630T-S2 R88M1AL75030C-S2 R88M1AL1K030C-S2 R88M1AL1K530C-S2 R88M1AL2K030C-S2 R88M-

3K030C-S2

1AL

R88M1AM20030T-O R88M1AM40030T-O R88M1AM75030T-O R88M1AL1K030T-O R88M1AL1K530T-O R88M1AL2K030T-O R88M1AL2K630T-O R88M1AL75030C-O R88M1AL1K030C-O R88M1AL1K530C-O R88M1AL2K030C-O R88M1AL3K030C-O

R88M1AM20030T-OS2 R88M1AM40030T-OS2 R88M1AM75030T-OS2 R88M1AL1K030T-OS2 R88M1AL1K530T-OS2 R88M1AL2K030T-OS2 R88M1AL2K630T-OS2 R88M1AL75030C-OS2 R88M1AL1K030C-OS2 R88M1AL1K530C-OS2 R88M1AL2K030C-OS2 R88M1AL3K030C-OS2

Refer-

ence

P. 2 -2 3

P. 2 -2 7

P. 2 -2 9

P. 2 -3 1

P. 2 -3 3

P. 2 -3 7

2 - 10

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 Models and External Dimensions

Specifications

With brake

200 VAC 200 W R88M-

400 W R88M-

750 W R88M-

1 kW R88M-

1.5 kW R88M-

2 kW R88M-

2.6 kW R88M-

400 VAC 750 W R88M-

1 kW R88M-

1.5 kW R88M-

2 kW R88M-

3 kW R88M-

Model

Without oil seal With oil seal

Straight shaft With key and tap Straight shaft With key and tap

1AM20030T-B

1AM40030T-B

1AM75030T-B

1AL1K030T-B

1AL1K530T-B

1AL2K030T-B

1AL2K630T-B

1AL75030C-B

1AL1K030C-B

1AL1K530C-B

1AL2K030C-B

1AL3K030C-B

R88M1AM20030T-BS2 R88M1AM40030T-BS2 R88M1AM75030T-BS2 R88M1AL1K030T-BS2 R88M1AL1K530T-BS2 R88M1AL2K030T-BS2 R88M1AL2K630T-BS2 R88M1AL75030C-BS2 R88M1AL1K030C-BS2 R88M1AL1K530C-BS2 R88M1AL2K030C-BS2 R88M-

K030C-BS2

1AL3

R88M1AM20030T-BO R88M1AM40030T-BO R88M1AM75030T-BO R88M1AL1K030T-BO R88M1AL1K530T-BO R88M1AL2K030T-BO R88M1AL2K630T-BO R88M1AL75030C-BO R88M1AL1K030C-BO R88M1AL1K530C-BO R88M1AL2K030C-BO R88M1AL3K030C-BO

R88M1AM20030T-BOS2 R88M1AM40030T-BOS2 R88M1AM75030T-BOS2 R88M1AL1K030T-BOS2 R88M1AL1K530T-BOS2 R88M1AL2K030T-BOS2 R88M1AL2K630T-BOS2 R88M1AL75030C-BOS2 R88M1AL1K030C-BOS2 R88M1AL1K530C-BOS2 R88M1AL2K030C-BOS2 R88M1AL3K030C-BOS2

Refer-

ence

P. 2 - 25

2-3 Model Tables

P. 2 - 25

P. 2 - 28

P. 2 - 30

2-3-2 Servomotor Model Tables

P. 2 - 32

P. 2 - 35

P. 2 - 38

1,500-r/min Servomotors

Specifications

Without brake

200 VAC 1.5 kW R88M-

2.7 kW R88M-

400 VAC 1.5 kW R88M-

3 kW R88M-

With brake

200 VAC 1.5 kW R88M-

2.7 kW R88M-

400 VAC 1.5 kW R88M-

3 kW R88M-

Model

Without oil seal With oil seal

Straight shaft With key and tap Straight shaft With key and tap

1AM1K515T

1AM2K715T

1AM1K515C

1AM3K015C

1AM1K515T-B

1AM2K715T-B

1AM1K515C-B

1AM3K015C-B

R88M1AM1K515T-S2 R88M1AM2K715T-S2

R88M1AM1K515C-S2

R88M1AM3K015C-S2 R88M1AM1K515T-BS2

R88M1AM2K715T-BS2

R88M1AM1K515C-BS2 R88M1AM3K015C-BS2

R88M1AM1K515T-O R88M1AM2K715T-O

R88M1AM1K515C-O

R88M1AM3K015C-O R88M1AM1K515T-BO

R88M1AM2K715T-BO

R88M1AM1K515C-BO R88M1AM3K015C-BO

R88M1AM1K515T-OS2 R88M1AM2K715T-OS2

R88M1AM1K515C-OS2

R88M1AM3K015C-OS2 R88M1AM1K515T-BOS2

R88M1AM2K715T-BOS2

R88M1AM1K515C-BOS2 R88M1AM3K015C-BOS2

Refer-

ence

P. 2-39

P. 2-41

P. 2-39

P. 2-41

P. 2-40

P. 2-42

P. 2-40

P. 2-42

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 11

2 Models and External Dimensions

2-3-3 Servo Drive and Servomotor Combination Tables

The following tables show the possible combinations of 1S-series Servo Drives Advance Type and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. “” at the end of the motor model number is for options, such as the shaft type and brake.

3,000-r/min Servomotors and Servo Drives

Main circuit power

supply voltage

Single-phase/3-phase 200 VAC

3-phase 200 VAC 1 kW R88M-1AL1K030T- R88D-1SAN10H-ECT

3-phase 400 VAC 750 W R88M-1AL75030C- R88D-1SAN10F-ECT

Servomotor

rated output

200 W R88M-1AM20030T- R88D-1SAN02H-ECT

400 W R88M-1AM40030T- R88D-1SAN04H-ECT

750 W R88M-1AM75030T- R88D-1SAN08H-ECT

1.5 kW R88M-1AL1K530T- R88D-1SAN15H-ECT

2 kW R88M-1AL2K030T- R88D-1SAN20H-ECT

2.6 kW R88M-1AL2K630T- R88D-1SAN30H-ECT

1 kW R88M-1AL1K030C- R88D-1SAN10F-ECT

1.5 kW R88M-1AL1K530C- R88D-1SAN15F-ECT

2 kW R88M-1AL2K030C- R88D-1SAN20F-ECT

3 kW R88M-1AL3K030C- R88D-1SAN30F-ECT

Servomotor Servo Drive

1,500-r/min Servomotors and Servo Drives

Main circuit power

supply voltage

Single-phase/3-phase 200 VAC

3-phase 200 VAC 2.7 kW R88M-1AM2K715T- R88D-1SAN30H-ECT

3-phase 400 VAC 1.5 kW R88M-1AM1K515C- R88D-1SAN15F-ECT

Servomotor

rated output

1.5 kW R88M-1AM1K515T- R88D-1SAN15H-ECT

3 kW R88M-1AM3K015C- R88D-1SAN30F-ECT

Servomotor Servo Drive

2 - 12

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2-3-4 Decelerator Model Tables

The following tables list the Decelerator models for 1S-series Servomotors Advance Type.

The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at  of the Decelerator model number in the following table. Select an appropriate model based on the Servomotor rated output.

Backlash: 3 Arcminutes Max.

2 Models and External Dimensions

2-3 Model Tables

 For 3,000-r/min Servomotors

Specifications

Servomotor

rated output

200 W 1/5 R88G-HPG14A05200B P. 2 - 46

400 W 1/5 R88G-HPG14A05400B P. 2 - 49

750 W (200 V) 1/5 R88G-HPG20A05750B

750 W (400 V) 1/5 R88G-HPG32A052K0B

1 kW 1/5 R88G-HPG32A052K0B P. 2- 4 9

1.5 kW 1/5 R88G-HPG32A052K0B

2 kW 1/5 R88G-HPG32A052K0B

2.6 kW (200 V)

3 kW (400 V)

Reduction

ratio

1/11 R88G-HPG14A11200B

1/21 R88G-HPG20A21200B

1/33 R88G-HPG20A33200B

1/45 R88G-HPG20A45200B

1/11 R88G-HPG20A11400B

1/21 R88G-HPG20A21400B

1/33 R88G-HPG32A33400B

1/45 R88G-HPG32A45400B

1/11 R88G-HPG20A11750B

1/21 R88G-HPG32A21750B

1/33 R88G-HPG32A33750B

1/45 R88G-HPG32A45750B

1/11 R88G-HPG32A112K0B

1/21 R88G-HPG32A211K5B

1/33 R88G-HPG32A33600SB

1/11 R88G-HPG32A112K0B

1/21 R88G-HPG32A211K5B

1/11 R88G-HPG32A112K0B

1/21 R88G-HPG32A211K5B

1/11 R88G-HPG32A112K0B

1/5 R88G-HPG32A053K0B

Model Reference

2-3-4 Decelerator Model Tables

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 13

2 Models and External Dimensions

 For 1,500-r/min Servomotors

Specifications

Servomotor

rated output

Reduction

ratio

1.5 kW 1/5 R88G-HPG32A053K0B P. 2-51

1/11 R88G-HPG32A112K0SB

1/21 R88G-HPG50A21900TB

1/33 R88G-HPG50A33900TB

2.7 kW (200 V)

3 kW (400 V)

1/5 R88G-HPG50A055K0SB

1/11 R88G-HPG50A115K0SB

1/20 R88G-HPG65A205K0SB

1/25 R88G-HPG65A255K0SB

Backlash: 15 Arcminutes Max.

 For 3,000-r/min Servomotors

Specifications

Servomotor

rated output

200 W 1/5 R88G-VRXF05B200CJ P. 2-53

400 W 1/5 R88G-VRXF05C400CJ

750 W (200 V) 1/5 R88G-VRXF05C750CJ

Reduction

ratio

1/9 R88G-VRXF09C200CJ 1/15 R88G-VRXF15C200CJ 1/25 R88G-VRXF25C200CJ

1/9 R88G-VRXF09C400CJ 1/15 R88G-VRXF15C400CJ 1/25 R88G-VRXF25C400CJ

1/9 R88G-VRXF09D750CJ 1/15 R88G-VRXF15D750CJ 1/25 R88G-VRXF25D750CJ

Model Reference

2 - 14

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 Models and External Dimensions

2-3-5 Servomotor and Decelerator Combination Tables

The following tables show the possible combinations of 1S-series Servomotors Advance Type and Decelerators. You cannot use a Servomotor with a key and tap (model numbers with -S2 at the end) in combination with a Decelerator.

Backlash: 3 Arcminutes Max.

 Servomotor 3,000 r/min and Decelerator Combination Table

Servomotor

models

R88M1AM20030

R88M1AM40030

R88M1AM75030 (200 VAC)

R88M1AL75030 (400 VAC)

R88M1AL1K030

R88M1AL1K530

R88M1AL2K030

R88M1AL2K630

R88M1AL3K030

1/5 1/11 1/21 1/33 1/45

R88G-HPG 14A05200B

R88G-HPG 14A05400B

R88G-HPG 20A05750B

R88G-HPG 32A052K0B

R88G-HPG 32A053K0B

R88G-HPG 14A11200B

R88G-HPG 20A11400B

R88G-HPG 20A11750B

R88G-HPG 32A112K0B

---

Reduction ratio

R88G-HPG 20A21200B

R88G-HPG 20A21400B

R88G-HPG 32A21750B

R88G-HPG 32A211K5B

---

R88G-HPG 20A33200B

R88G-HPG 32A33400B

R88G-HPG 32A33750B

R88G-HPG 32A33600SB

2-3 Model Tables

R88G-HPG 20A45200B

R88G-HPG 32A45400B

R88G-HPG 32A45750B

---

2-3-5 Servomotor and Decelerator Combination Tables

 Servomotor 1,500 r/min and Decelerator Combination Table

Servomotor

models

R88M1AM1K515

R88M1AM2K715

R88M1AM3K015

1/5 1/11 1/20 1/21 1/25 1/33

R88G-HPG 32A053K0B

R88G-HPG 50A055K0SB

R88G-HPG 32A112K0SB

R88G-HPG 50A115K0SB

R88G-HPG 65A205K0SB

Reduction ratio

---

R88G-HPG 50A21900TB

---

R88G-HPG 65A255K0SB

R88G-HPG 50A33900TB

---

Backlash: 15 Arcminutes Max.

 Servomotor 3,000 r/min and Decelerator Combination Table

Servomotor

models

R88M-1AM20030 R88G-VRXF05B200CJ R88G-VRXF09C200CJ R88G-VRXF15C200CJ R88G-VRXF25C200CJ

R88M-1AM40030 R88G-VRXF05C400CJ R88G-VRXF09C400CJ R88G-VRXF15C400CJ R88G-VRXF25C400CJ

R88M-1AM75030 (AC200V)

R88G-VRXF05C750CJ R88G-VRXF09D750CJ R88G-VRXF15D750CJ R88G-VRXF25D750CJ

1/5 1/9 1/15 1/25

Reduction ratio

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 15

2 Models and External Dimensions

2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps

Types of integrated cables, connectors, and shield clamps are listed below.

Integrated Cable

Applicable Servomotors

200 V 3,000-r/min Servomotors of

200 W, 400 W, 750 W

200 V 3,000-r/min Servomotors of

1 kW

200 V 400 V

200 V 3,000-r/min Servomotors of

1.5 kW 1,500-r/min Servomotors of

1.5 kW 400 V 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, 2 kW, 3 kW 1,500-r/min Servomotors of

1.5 kW, 3kW

2 kW, 2.6 kW 1,500-r/min Servomotors of

2.7 kW

Model

Without brake wire With brake wire

3 m R88A-CX1A003SF R88A-CX1A003BF

5 m R88A-CX1A005SF R88A-CX1A005BF 10 m R88A-CX1A010SF R88A-CX1A010BF 15 m R88A-CX1A015SF R88A-CX1A015BF 20 m R88A-CX1A020SF R88A-CX1A020BF

3 m R88A-CX1B003SF R88A-CX1B003BF

5 m R88A-CX1B005SF R88A-CX1B005BF 10 m R88A-CX1B010SF R88A-CX1B010BF 15 m R88A-CX1B015SF R88A-CX1B015BF 20 m R88A-CX1B020SF R88A-CX1B020BF

3 m R88A-CX1C003SF R88A-CX1C003BF

5 m R88A-CX1C005SF R88A-CX1C005BF 10 m R88A-CX1C010SF R88A-CX1C010BF 15 m R88A-CX1C015SF R88A-CX1C015BF 20 m R88A-CX1C020SF R88A-CX1C020BF

3 m R88A-CX1D003SF R88A-CX1D003BF

5 m R88A-CX1D005SF R88A-CX1D005BF 10 m R88A-CX1D010SF R88A-CX1D010BF 15 m R88A-CX1D015SF R88A-CX1D015BF 20 m R88A-CX1D020SF R88A-CX1D020BF

2 - 16

Extension Cable

Use the following extension cables regardless of whether or not a cable has a brake. Use R88A-CX1BEBF when you use an extension cable for R88A-CX1C.

Applicable Servomotors Model

200 V 3,000-r/min Servomotors of

200 W, 400 W, 750 W

200 V 400 V

200 V 3,000-r/min Servomotors of 1 kW, 1.5 kW 1,500-r/min Servomotors of

1.5 kW 400 V 3,000-r/min Servomotors of 750 W, 1 kW, 1.5 kW, 2 kW, 3 kW 1,500-r/min Servomotors of

1.5 kW, 3 kW

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

10 m R88A-CX1AE10BF 20 m R88A-CX1AE20BF 10 m R88A-CX1BE10BF 20 m R88A-CX1BE20BF

2 Models and External Dimensions

Applicable Servomotors Model

200 V 3,000-r/min Servomotors of

2 kW, 2.6 kW

10 m R88A-CX1DE10BF 20 m R88A-CX1DE20BF

1,500-r/min Servomotors of

2.7 kW

2-3 Model Tables

Peripheral Connector

 Servo Drive Side Connector

Name and application Model

Main circuit connector (CNA)

R88A-CN102P

For R88D-1SAN02H-ECT/ -1SAN04H-ECT/ -1SAN08H-ECT/ -1SAN10H-ECT

Main circuit connector A (CNA)

R88A-CN103P

For R88D-1SAN15H-ECT/ -1SAN20H-ECT/ -1SAN30H-ECT/ -1SAN10F-ECT/

-1SAN15F-ECT/ -1SAN20F-ECT/ -1SAN30F-ECT

Main circuit connector B (CNB)

R88A-CN104P

For R88D-1SAN15H-ECT/ -1SAN20H-ECT/ -1SAN30H-ECT/ -1SAN10F-ECT/

-1SAN15F-ECT/ -1SAN20F-ECT/ -1SAN30F-ECT Motor connector (CNC)

R88A-CN101A

For R88D-1SAN02H-ECT/ -1SAN04H-ECT/ -1SAN08H-ECT/ -1SAN10H-ECT Motor connector (CNC)

R88A-CN102A

For R88D-1SAN15H-ECT/ -1SAN20H-ECT/ -1SAN30H-ECT/ -1SAN10F-ECT/

-1SAN15F-ECT/ -1SAN20F-ECT/ -1SAN30F-ECT Control power supply connector (CND)

R88A-CN101P

For R88D-1SAN15H-ECT/ -1SAN20H-ECT/ -1SAN30H-ECT/ -1SAN10F-ECT/

-1SAN15F-ECT/ -1SAN20F-ECT/ -1SAN30F-ECT

Control I/O connector (CN1)

R88A-CN102C

Encoder connector (CN2) R88A-CN101R Brake interlock connector (CN12) R88A-CN101B

Safety signal connector (CN14)

R88A-CN101S

Safe brake control connector (CN15) R88A-CN102S

*1. Two short-circuit wires are connected to the connector.

*2. One short-circuit wire is connected to the connector.

*3. Four short-circuit wires are connected to the connector. A pin to prevent improper wiring are included.

*4. One opener is included.

2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2 - 17

2 Models and External Dimensions

Precautions for Correct Use

Shield Clamp Bracket

A shield clamp is used to fix the integrated cable and to connect the shield of the integrated cable to FG of the Servo Drive. A shield clamp consists of a shield clamp bracket and a shield clamp plate. For the each parts name, refer to 1-3-5 Shield Clamp Part Names on page 1-16.

Name Servo Drive model Integrated cable model Shield clamp bracket model

Shield Clamp Bracket S

Note A shield clamp bracket comes with an integrated cable.

An extension cable does not come with a shield clamp bracket.

R88D-1SAN02H-ECT

R88D-1SAN04H-ECT

R88D-1SAN08H-ECT R88D-1SAN10H-ECT R88A-CX1BF

R88D-1SAN15H-ECT

R88D-1SAN10F-ECT

R88D-1SAN15F-ECT

R88D-1SAN20F-ECT

R88D-1SAN30F-ECT R88D-1SAN20H-ECT

R88D-1SAN30H-ECT

R88A-CX1AF R88A-SC10CX

R88A-CX1CF

R88A-CX1DF

For methods for mounting a shield clamp to a Servo Drive and for wiring power cables, refer to 4-2-2 Procedure for Wiring Connector-type Terminal Blocks and for Mounting a Shield Clamp on page 4-25. Use the shield clamp as described in this manual. Malfunction of ambient equipment may result due to deterioration of noise immunity and radiated noise.

The shield clamp is included in the integrated cables as follows.

2 - 18

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

OMRON R88M, R88D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Intended Audience

Notice

Manual Structure

Page Structure

Special information

Manual Configuration

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Explanation of Displays

Explanation of Symbols

Precautionary Information

Precautions for Safe Use

Precautions for Correct Use

Items to Check After Unpacking

Related Manuals

Terminology

Revision History

1-1 Outline

1-1-1 Features of 1S-series Servo Drive Advance Type

1-1-2 EtherCAT

1-1-3 Object Dictionary

1-2 System Configuration

1-3 Names and Functions

1-3-1 Servo Drive Part Names

1-3-2 Servo Drive Functions

1-3-3 Servomotor Part Names

1-3-4 Servomotor Functions

1-3-5 Shield Clamp Part Names

1-4 System Block Diagram

1-5 Applicable Standards

1-5-1 EU Directives

1-5-2 UL and cUL Standards

1-5-4 SEMI F47

1-5-5 Australian EMC Labeling Requirements (RCM)

1-5-3 Korean Radio Regulations (KC)

1-5-6 EAC Requirements

1-6 Unit Versions

1-6-1 Confirmation Method

1-6-2 Unit Versions and Sysmac Studio Versions

1-7 Procedures to Start Operation

1-7-1 Overall Procedure

1-7-2 Procedure Details

2-1 Servo System Configuration

2-2 How to Read Model Numbers

2-2-1 Servo Drive

2-2-2 Servomotor

2-2-3 Integrated Cable

2-2-4 Decelerator

2-3 Model Tables

2-3-1 Servo Drive Model Table

2-3-2 Servomotor Model Tables

2-3-3 Servo Drive and Servomotor Combination Tables

2-3-4 Decelerator Model Tables

2-3-5 Servomotor and Decelerator Combination Tables

2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps