OMRON R88M, R88D User Manual

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

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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)

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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)

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