OMRON R88M-1L, R88D-1SN User Manual
AC Servomotors/Servo Drives
1S-series with Built-in
EtherCAT® Communications
User’s Manual
R88M-1L/-1M (AC Servomotors)
R88D-1SN-ECT (AC Servo Drives)
I586-E1-12
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. 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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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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.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
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
Target velocity
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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Manual Configuration
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 or Position Control Unit (Model: CJ1W-NC8)
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 function stops the motor based on a signal from a safety controller.
This section provides the outline of the function 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.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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10
2
11
3
4
13
5
6
7
8
9
1
10
2
11
12
3
4
13
5A
6 I
7
8
9
A
I
Features and System
Configuration
Models and External
Dimensions
Operation
Specifications
Adjustment Functions
12
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
Sections in this Manual
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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CONTENTS
CONTENTS
Introduction ..............................................................................................................1
Manual Structure ......................................................................................................2
Manual Configuration ..............................................................................................4
Sections in this Manual ...........................................................................................5
Terms and Conditions Agreement ........................................................................16
Safety Precautions .................................................................................................18
Items to Check After Unpacking ...........................................................................29
Related Manuals .....................................................................................................40
Terminology ............................................................................................................43
Revision History .....................................................................................................45
Section 1 Features and System Configuration
1-1 Outline .................................................................................................................................. 1-2
1-1-1 Features of 1S-series Servo Drives.......................................................................................... 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 ............................................................................................................1-13
1-3-3 Servomotor Part Names .........................................................................................................1-16
1-3-4 Servomotor Functions.............................................................................................................1-18
1-3-5 Shield Clamp Part Names ......................................................................................................1-19
1-4 System Block Diagram...................................................................................................... 1-20
1-5 Applicable Standards........................................................................................................ 1-28
1-5-1 EU Directives ..........................................................................................................................1-28
1-5-2 UL and cUL Standards............................................................................................................1-29
1-5-3 Korean Radio Regulations (KC) .............................................................................................1-30
1-5-4 SEMI F47................................................................................................................................1-30
1-5-5 Australian EMC Labeling Requirements (RCM) .....................................................................1-31
1-5-6 EAC Requirements .................................................................................................................1-31
1-6 Unit Versions...................................................................................................................... 1-32
1-6-1 Confirmation Method ..............................................................................................................1-32
1-6-2 Unit Versions and Sysmac Studio Versions............................................................................1-32
1-7 Procedures to Start Operation ......................................................................................... 1-33
1-7-1 Overall Procedure...................................................................................................................1-33
1-7-2 Procedure Details ...................................................................................................................1-35
Section 2 Models and External Dimensions
2-1 Servo System Configuration .............................................................................................. 2-2
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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 Encoder Cable.......................................................................................................................... 2-6
2-2-4 Motor Power Cable without Brake Wire ................................................................................... 2-7
2-2-5 Motor Power Cable with Brake Wire ........................................................................................ 2-8
2-2-6 Decelerator............................................................................................................................... 2-9
2-3 Model Tables...................................................................................................................... 2-11
2-3-1 Servo Drive Model Table .........................................................................................................2-11
2-3-2 Servomotor Model Tables....................................................................................................... 2-12
2-3-3 Servo Drive and Servomotor Combination Tables.................................................................. 2-17
2-3-4 Decelerator Model Tables....................................................................................................... 2-19
2-3-5 Servomotor and Decelerator Combination Tables.................................................................. 2-23
2-3-6 Cable and Connector Model Tables ....................................................................................... 2-25
2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit
Model Tables .......................................................................................................................... 2-33
2-3-8 External Dynamic Brake Resistor Model Table ...................................................................... 2-34
2-3-9 Reactor Model Table............................................................................................................... 2-34
2-3-10 Noise Filter Model Table......................................................................................................... 2-35
2-4 External and Mounting Dimensions ................................................................................ 2-36
2-4-1 Servo Drive Dimensions......................................................................................................... 2-36
2-4-2 Servomotor Dimensions......................................................................................................... 2-43
2-4-3 Cable Outlet Direction ............................................................................................................ 2-99
2-4-4 Cable Wiring Dimension for a Case of Motor Installing........................................................ 2-100
2-4-5 Decelerator Dimensions....................................................................................................... 2-102
2-4-6 Dimensions of External Regeneration Resistors and External Regeneration
Resistance Units ...................................................................................................................2-119
2-4-7 Dimensions of External Dynamic Brake Resistors ............................................................... 2-120
2-4-8 Reactor Dimensions ............................................................................................................. 2-121
2-4-9 Noise Filter Dimensions ....................................................................................................... 2-130
Section 3 Specifications
3-1 Servo Drive Specifications ................................................................................................. 3-3
3-1-1 General Specifications ............................................................................................................. 3-3
3-1-2 Characteristics.......................................................................................................................... 3-5
3-1-3 EtherCAT Communications Specifications ............................................................................. 3-13
3-1-4 Main Circuit and Motor Connections ...................................................................................... 3-14
3-1-5 Control I/O Connector (CN1) Specifications........................................................................... 3-27
3-1-6 Control Input Circuits.............................................................................................................. 3-30
3-1-7 Control Input Details............................................................................................................... 3-30
3-1-8 Control Output Circuits........................................................................................................... 3-31
3-1-9 Control Output Details............................................................................................................ 3-32
3-1-10 Encoder Pulse Output Specifications ..................................................................................... 3-32
3-1-11 Safety I/O Specifications ........................................................................................................ 3-33
3-1-12 Brake Interlock Connector (CN12) Specifications .................................................................. 3-35
3-1-13 Encoder Connector (CN2) Specifications............................................................................... 3-35
3-1-14 EtherCAT Communications Connector (RJ45) Specifications................................................ 3-36
3-1-15 USB Connector (CN7) Specifications..................................................................................... 3-36
3-1-16 Power ON Sequence.............................................................................................................. 3-37
3-1-17 Overload Characteristics (Electronic Thermal Function) ........................................................ 3-38
3-2 Servomotor Specifications ............................................................................................... 3-43
3-2-1 General Specifications ........................................................................................................... 3-43
3-2-2 Encoder Specifications........................................................................................................... 3-44
3-2-3 Characteristics........................................................................................................................ 3-45
3-3 Decelerator Specifications ............................................................................................... 3-70
3-4 Cable and Connector Specifications ............................................................................... 3-77
3-4-1 Encoder Cable Specifications ................................................................................................ 3-77
3-4-2 Motor Power Cable Specifications ......................................................................................... 3-84
3-4-3 Combination of Power Cable and Extension Cable ..............................................................3-117
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CONTENTS
3-5 Specifications of External Regeneration Resistors and External Regeneration
3-6 External Dynamic Brake Resistor .................................................................................. 3-132
3-7 Reactor Specifications.................................................................................................... 3-133
3-8 Noise Filter Specifications.............................................................................................. 3-135
3-4-4 Resistance to Bending of Flexible Cable.............................................................................. 3-118
3-4-5 Connector Specifications ......................................................................................................3-120
3-4-6 EtherCAT Communications Cable Specifications .................................................................3-124
Resistance Units.............................................................................................................. 3-127
3-5-1 General Specifications..........................................................................................................3-127
3-5-2 Characteristics......................................................................................................................3-128
3-5-3 External Regeneration Resistance Unit Specifications......................................................... 3-130
3-6-1 General Specifications..........................................................................................................3-132
3-6-2 Characteristics......................................................................................................................3-132
3-7-1 General Specifications..........................................................................................................3-133
3-7-2 Characteristics......................................................................................................................3-133
3-7-3 Terminal Block Specifications ...............................................................................................3-134
3-8-1 General Specifications..........................................................................................................3-135
3-8-2 Characteristics......................................................................................................................3-136
3-8-3 Terminal Block Specifications ...............................................................................................3-137
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 ...........................................................................................4-7
4-1-3 Decelerator Installation Conditions ......................................................................................... 4-11
4-1-4 External Regeneration Resistor and External Regeneration Resistance Unit
Installation Conditions.............................................................................................................4-14
4-1-5 Footprint-type Noise Filter Installation Conditions ..................................................................4-15
4-1-6 External Dynamic Brake Resistor Installation Condition.........................................................4-16
4-2 Wiring ................................................................................................................................. 4-17
4-2-1 Peripheral Equipment Connection Examples .........................................................................4-18
4-2-2 Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp
to Servo Drive.........................................................................................................................4-34
4-2-3 Connector Attachment Procedure...........................................................................................4-40
4-2-4 Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40.................4-44
4-2-5 Terminal Block Wiring Procedure for Footprint-type Noise Filter ............................................4-46
4-3 Wiring Conforming to EMC Directives ............................................................................ 4-47
4-3-1 Peripheral Equipment Connection Examples .........................................................................4-48
4-3-2 Selecting Connection Component ..........................................................................................4-62
4-4 Regenerative Energy Absorption..................................................................................... 4-72
4-4-1 Calculating the Regenerative Energy .....................................................................................4-72
4-4-2 Servo Drive Regeneration Absorption Capacity .....................................................................4-75
4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device............... 4-76
4-4-4 Connecting an External Regeneration Resistor......................................................................4-77
4-5 Adjustment for Large Load Inertia................................................................................... 4-78
4-6 Machine Accuracy for Servomotor .................................................................................. 4-79
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
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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 Sync Manager PDO Mapping Assignment Settings ............................................................... 5-12
5-5 Service Data Objects (SDOs)............................................................................................ 5-13
5-6 Synchronization Mode and Communications Cycle ...................................................... 5-14
5-6-1 Distributed Clock (DC) Mode.................................................................................................. 5-14
5-6-2 Free-Run Mode ...................................................................................................................... 5-14
5-7 Emergency Messages ....................................................................................................... 5-15
5-8 Sysmac Device Features .................................................................................................. 5-16
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
CONTENTS
6-5 Cyclic Synchronous Torque Mode................................................................................... 6-14
6-6 Profile Position Mode........................................................................................................6-16
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
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CONTENTS
7-7 Electronic Gear Function.................................................................................................. 7-29
7-8 Torque Limit Switching ..................................................................................................... 7-31
7-9 Soft Start ............................................................................................................................ 7-33
7-10 Gain Switching Function .................................................................................................. 7-35
7-11 Touch Probe Function (Latch Function).......................................................................... 7-39
7-12 Encoder Dividing Pulse Output Function ....................................................................... 7-43
7-13 Dynamic Brake................................................................................................................... 7-46
7-6-1 Objects Requiring Settings .....................................................................................................7-22
7-6-2 Description of Operation.........................................................................................................7-24
7-6-3 Operation Timing ....................................................................................................................7-25
7-7-1 Objects Requiring Settings .....................................................................................................7-29
7-7-2 Operation Example .................................................................................................................7-30
7-8-1 Operating Conditions ..............................................................................................................7-31
7-8-2 Objects Requiring Settings .....................................................................................................7-31
7-8-3 Torque Limit Switching Method...............................................................................................7-32
7-9-1 Objects Requiring Settings .....................................................................................................7-33
7-9-2 Soft Start Acceleration/Deceleration Time..............................................................................7-33
7-9-3 Velocity Command First-order Lag Filter ................................................................................7-34
7-10-1 Objects Requiring Settings .....................................................................................................7-35
7-10-2 Mode Selection .......................................................................................................................7-37
7-10-3 Gain Switching in Position Control..........................................................................................7-38
7-11-1 Related Objects ......................................................................................................................7-39
7-11-2 Trigger Signal Settings............................................................................................................7-41
7-11-3 Operation Sequence...............................................................................................................7-42
7-12-1 Objects Requiring Settings .....................................................................................................7-44
7-12-2 Dividing Ratio..........................................................................................................................7-44
7-12-3 Output Reverse Selection.......................................................................................................7-45
7-12-4 Z-phase Output.......................................................................................................................7-45
7-13-1 Operating Conditions ..............................................................................................................7-46
7-13-2 Objects Requiring Settings .....................................................................................................7-46
7-13-3 Description of Operation .........................................................................................................7-47
Section 8 Safety Function
8-1 Safe Torque OFF Function.................................................................................................. 8-2
8-2 STO Function via Safety Input Signals.............................................................................. 8-4
8-2-1 I/O Signal Specifications...........................................................................................................8-4
8-2-2 Operation Example ...................................................................................................................8-6
8-2-3 Connection Example.................................................................................................................8-7
8-3 STO Function via EtherCAT Communications................................................................ 8-10
8-3-1 Connection and Setting ..........................................................................................................8-10
8-3-2 Operation Example .................................................................................................................8-12
8-3-3 Connection Example...............................................................................................................8-14
Section 9 Details on Servo Parameters
9-1 Object Description Format ................................................................................................. 9-4
9-2 Common Control Objects ................................................................................................... 9-6
9-2-1 3000 hex: Basic Functions........................................................................................................9-6
9-2-2 3001 hex: Machine .................................................................................................................9-12
9-2-3 3002 hex: Optimized Parameters ...........................................................................................9-13
9-2-4 3010 hex: Position Command.................................................................................................9-15
9-2-5 3011 hex: Position Command Filter ........................................................................................9-17
9-2-6 3012 hex: Damping Control....................................................................................................9-18
9-2-7 3013 hex: Damping Filter 1.....................................................................................................9-19
9-2-8 3014 hex: Damping Filter 2.....................................................................................................9-20
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CONTENTS
9-2-9 3020 hex: Velocity Command................................................................................................. 9-22
9-2-10 3021 hex: Velocity Command Filter........................................................................................9-23
9-2-11 3030 hex: Torque Command .................................................................................................. 9-24
9-2-12 3031 hex: Velocity Limit in Torque Control ............................................................................. 9-24
9-2-13 3040 hex: Profile Command................................................................................................... 9-25
9-2-14 3041 hex: Command Dividing Function ................................................................................. 9-26
9-3 Control Method Objects.................................................................................................... 9-28
9-3-1 3112 hex: ODF Velocity Feed-forward.................................................................................... 9-28
9-3-2 3113 hex: ODF Torque Feed-forward..................................................................................... 9-29
9-3-3 3120 hex: TDF Position Control ............................................................................................. 9-30
9-3-4 3121 hex: TDF Velocity Control.............................................................................................. 9-31
9-4 Control Loop Objects........................................................................................................ 9-33
9-4-1 3210 hex: Internal Position Command ................................................................................... 9-33
9-4-2 3211 hex: Position Detection .................................................................................................. 9-34
9-4-3 3212 hex: Gain Switching in Position Control ........................................................................ 9-34
9-4-4 3213 hex: 1st Position Control Gain.......................................................................................9-35
9-4-5 3214 hex: 2nd Position Control Gain...................................................................................... 9-36
9-4-6 3220 hex: Internal Velocity Command.................................................................................... 9-36
9-4-7 3221 hex: Velocity Detection.................................................................................................. 9-37
9-4-8 3222 hex: Gain Switching in Velocity Control......................................................................... 9-38
9-4-9 3223 hex: 1st Velocity Control Gain .......................................................................................9-38
9-4-10 3224 hex: 2nd Velocity Control Gain ......................................................................................9-39
9-4-11 3230 hex: Internal Torque Command ..................................................................................... 9-40
9-4-12 3231 hex: Torque Detection.................................................................................................... 9-40
9-4-13 3232 hex: Filter Switching in Torque Control.......................................................................... 9-40
3233
9-4-14
9-4-15 3234 hex: 2nd Torque Command Filter .................................................................................. 9-42
9-5 Torque Output Setting Objects ........................................................................................ 9-43
9-5-1 3310 hex: Torque Compensation............................................................................................ 9-43
9-5-2 3320 hex: Adaptive Notch Filter ............................................................................................. 9-45
9-5-3 3321 hex: 1st Notch Filter ...................................................................................................... 9-46
9-5-4 3322 hex: 2nd Notch Filter ..................................................................................................... 9-48
9-5-5 3323 hex: 3rd Notch Filter ...................................................................................................... 9-50
9-5-6 3324 hex: 4th Notch Filter ...................................................................................................... 9-52
9-5-7 3330 hex: Torque Limit ........................................................................................................... 9-54
9-6 Homing Objects ................................................................................................................. 9-56
9-7 Applied Function Objects ................................................................................................. 9-60
9-7-1 3B10 hex: Drive Prohibition.................................................................................................... 9-60
9-7-2 3B11 hex: Software Position Limit .......................................................................................... 9-61
9-7-3 3B20 hex: Stop Selection....................................................................................................... 9-63
9-7-4 3B21 hex: Deceleration Stop.................................................................................................. 9-67
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 Error- and Warning-related Objects................................................................................. 9-81
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 ...................................................................................... 9-85
9-8-4 4022 hex: Warning Output 2 Setting ...................................................................................... 9-86
9-8-5 4030 hex: Information Customization..................................................................................... 9-87
9-9 Monitoring-related Objects............................................................................................... 9-88
9-9-1 4110 hex: Monitor Data via PDO ............................................................................................9-88
9-9-2 4120 hex: EtherCAT Communications Error Count ................................................................ 9-89
hex: 1st Torque Command Filter ................................................................................... 9-41
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11
CONTENTS
9-10 Display-related Objects.....................................................................................................9-97
9-11 Power Device-related Objects .......................................................................................... 9-98
9-12 External Device-related Objects..................................................................................... 9-101
9-13 Encoder-related Objects ................................................................................................. 9-104
9-14 I/O-related Objects........................................................................................................... 9-107
9-15 General-purpose Input Setting Objects......................................................................... 9-116
9-16 General-purpose Output Setting Objects...................................................................... 9-123
9-9-3 4130 hex: Safety Status Monitor.............................................................................................9-89
9-9-4 4131 hex: Safety Command Monitor 1 ...................................................................................9-91
9-9-5 4132 hex: Safety Command Monitor 2 ...................................................................................9-92
9-9-6 4140 hex: Lifetime Information ...............................................................................................9-93
9-9-7 4150 hex: Overload ................................................................................................................9-95
9-11-1 4310 hex: Regeneration .........................................................................................................9-98
9-11-2 4320 hex: Main Circuit Power Supply.....................................................................................9-99
9-12-1 4410 hex: Motor Identity .......................................................................................................9-101
9-12-2 4412 hex: Motor Advanced Setting.......................................................................................9-102
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
9-15-1 Setting................................................................................................................................... 9-116
9-15-2 4630 hex: Positive Drive Prohibition Input............................................................................ 9-117
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 463C hex: Monitor Input 5 ....................................................................................................9-121
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
9-16-1 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 465D hex: Remote Output 2 .................................................................................................9-128
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
12
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
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
CONTENTS
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
Section 12 Troubleshooting
12-1 Actions for Problems ........................................................................................................12-2
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
13
CONTENTS
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 ..............................................................................12-38
12-5-3 Troubleshooting Using the Operation State..........................................................................12-42
Section 13 Maintenance and Inspection
13-1 Periodic Maintenance........................................................................................................ 13-2
13-2 Servo Drive Lifetime.......................................................................................................... 13-3
13-3 Servomotor Lifetime.......................................................................................................... 13-4
Appendices
A-1 CiA 402 Drive Profile ..........................................................................................................A-2
A-2 CoE Objects ......................................................................................................................A-12
A-3 Object List .........................................................................................................................A-68
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-2-1 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-20
A-2-6 Sync Manager Communication Objects .................................................................................A-35
A-2-7 Manufacturer Specific Objects................................................................................................A-38
A-2-8 Servo Drive Profile Object ......................................................................................................A-41
A-2-9 Safety Function Objects..........................................................................................................A-64
Index
14
A-4 Sysmac Error Status Codes ..........................................................................................A-100
A-4-1 Error List ...............................................................................................................................A-100
A-4-2 Error Descriptions.................................................................................................................A-112
A-5 Response Time in EtherCAT Process Data Communications....................................A-177
A-5-1 Input Response Time............................................................................................................A-177
A-5-2 Output Response Time.........................................................................................................A-177
A-6 Version Information........................................................................................................A-178
A-6-1 Relationship between Unit Versions and Sysmac Studio Versions ......................................A-178
A-6-2 Functions That Were Added or Changed for Each Unit Version...........................................A-180
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
15
Terms and Conditions Agreement
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.
16
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
17
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 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
18
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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
19
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
20
Do not damage, pull, or put excessive stress or heavy objects on the cables.
Doing so may cause electric shock, malfunction, or burning.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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 100-VAC or 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-1SN06F-ECT, R88D-1SN10F-ECT, R88D-1SN15F-ECT,
R88D-1SN20F-ECT, R88D-1SN30F-ECT, R88D-1SN55F-ECT,
R88D-1SN75F-ECT, R88D-1SN150F-ECT
15 minutes: R88D-1SN01L-ECT, R88D-1SN02L-ECT, R88D-1SN01H-ECT,
R88D-1SN02H-ECT, R88D-1SN04H-ECT
20 minutes: R88D-1SN04L-ECT, R88D-1SN08H-ECT, R88D-1SN10H-ECT,
R88D-1SN15H-ECT, R88D-1SN20H-ECT, R88D-1SN30H-ECT,
R88D-1SN55H-ECT, R88D-1SN75H-ECT, R88D-1SN150H-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 motor cable securely to the 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. Pay particular attention to the connector on the top part of
Servo Drive. 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 (normally close contact) of the control output function is output (open).
Not doing so may cause a fire.
Do not bundle the motor cables.
Not doing so may cause fire.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
21
Safety Precautions
WARNING
WARNING
Lock the power cable and extension cable connectors.
Not doing so may cause fire.
Operation Check
Use the Servomotor, Servo Drive and motor 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 sup-
plied. 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.
22
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 4-78.
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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Safety Precautions
Caution
Caution
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.
Use an appropriate External Dynamic Break Resistor.
Not doing so may cause fire, crash or equipment damage.
Use the extension cables in a specified combination.
Not doing so may cause fire, equipment damage.
Transporting and Unpacking
When transporting the Servo Drive, do not hold it by the cables, shield clamp, connectors 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
Wiring
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Be careful about sharp parts such as the corner of the equipment when handling the Servo
Drive and Servomotor.
Injury may result.
Wire the cables correctly and securely.
Damage to Servo Drive or fire may result.
23
Safety Precautions
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
• Do not move a power connector of a Servomotor with 4 kW or more over 5 times. Burning 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.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Precautions for Correct Use
General Precaution
• Take appropriate and sufficient countermeasures to provide shielding when installing systems in the
following locations. Not doing so may result in failure.
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
• When lifting the products at 20 kg or more during moving or installation, always have two people lift
the product.
a) When lifting a Servo Motor with the following the product model, always have two people lift the
product by grasping a metal part other than the shaft.
Do not grasp a plastic part. Injury or failure may result.
Relevant model: R88M-1M2K010T0-B, R88M-1M3K010T-, R88M-1M2K010C-B,
R88M-1M3K010C-, R88M-1M4K015T-, R88M-1M5K015T-, R88M-1M4K015C-,
R88M-1M5K515C-, R88M-1M7K515T-, R88M-1M7K515C-, R88M-1M11K015T-,
R88M-1M11K015C-, R88M-1M15K015T-, R88M-1M15K015C-
b) When lifting a Servo Drive with the following the product model, always have two people lift the
product by grasping a terminal block at the upper/bottom side of Servo Drive.
Do not grasp a plastic part and a connector. Injury or Failure may result.
Relevant model: R88D-1SN150H-ECT
c) When lifting a Servo Drive with the following the product model, always have two people lift the
product by holding grips at the upper/bottom side of a Servo Drives.
Do not grasp a plastic part and a connector. Injury or Failure may result.
Relevant model: R88D-1SN150F-ECT
Safety Precautions
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.
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, connectors and 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.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
25
Safety Precautions
• Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive.
Fire may result.
Wiring
• Wire the cables correctly and securely. Runaway motor, injury, or failure may result.
• Tighten the mounting screws, terminal block screws, cable screws and shield clamp screws for the
Servo Drive, Servomotor, and peripheral equipment 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.
• When constructing a system that includes safety functions, be sure you understand the relevant
safety standards and all related information in user documentation, and design the system to comply
with the standards. Injury or equipment damage 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.
• Wear the protective equipment when installing or removing the main circuit connector, main circuit
connector A, main circuit connector B, main circuit connector E, 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.
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.
• Ensure that the Servomotor has a sufficient rigidity. 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
• Before operating the Servo Drive in an actual environment, check if it operates correctly based on the
newly set parameters. Equipment damage may result.
• Do not adjust or set parameters to extreme values, because it will make the operation unstable. Injury
may result.
• Do not drive the Servomotor by the use of an external drive source. Fire may result.
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AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Safety Precautions
Usage
• Tighten the mounting screws, terminal block screws, cable screws and shield clamp screws for the
Servo Drive, Servomotor, and peripheral equipment to 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.
• Be sure to turn OFF the power supply when not using the Servo Drive for a prolonged period of time.
Not doing so may result in injury or malfunction.
• When constructing a system that includes safety functions, be sure you understand the relevant
safety standards and all related information in user documentation, and design the system to comply
with the standards. Injury or equipment damage may result.
• If the Servomotor is not controlled, it may not be possible to maintain the stop. To ensure safety,
install a stop device. Equipment damage or injury may result.
• Periodically run the Servomotor approximately one rotation when the oscillation operation continues
at a small angle of 45° or smaller. Servomotor failure may result.
• Immediately stop the operation and cut off the power supply when unusual smell, noise, smoking,
abnormal heat generation, or vibration occurs. Not doing so may result in Servo Drive or Servomotor
damage or burning.
• Fully check the shaft when you reset a brake interlock from PC tool.
Maintenance
• After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation,
before restarting operation. Equipment damage may result.
• Do not repair the Servo Drive by disassembling it. Electric shock or injury may result.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
27
Safety Precautions
Ether
CAT
RUN
FS
ERR
ERR
PWR
ECAT
IN
OUT
L/A
L/A
Location of warning
Dispose of in accordance with WEEE Directive
Location of Warning Display
The Servo Drive bears a warning label at the following location to provide handling warnings.
When you handle the Servo Drive, be sure to observe the instructions provided on this label.
Instructions on Warning Display
Note The above is an example of warning display.
Disposal
Comply with the local ordinance and regulations when disposing of the product.
28
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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