OMRON R88M-1L, R88M-1M Quick Start Guide

AC Servo System 1S-series

Startup Guide for Multi-axis Setup and Tuning

R88M-1L[]/-1M[] (AC Servomotors) R88D-1SN[]-ECT (AC Servo Drives) SYSMAC-SE20[][] (Automation Software)

I827-E1-01

NOTE

All rights reserved. No part of this publication may be reprodu c ed, st or ed in a retrieval system, or transmitted, in any for m , or by any means, mechanical, photocopying, recording, or otherwise, without the prio r w r it t en per m iss ion of OMRON. No patent liability is assume d with respect to the use of the information contained herein. Moreover, because OMRON is const antly striving to improve its h igh-quality products, the information contained in t his manual is subject to change without notice. Every precauti on has been taken in the preparation o f this manual. Nevertheless, O M RON assumes no responsibility for errors or omissions. Neither is any l iability assumed for damages r esulting from the use of the informat ion contained in this publication.

Introduction

The Servo System 1S-Series Star t up Guide for Multi-axis Setup and T un in g (hereinafter, may be referred to as "this Guide") describes the procedures for installation and setup of 1S Servo Drives, where an NJ/NX-series CPU Unit is used in combination with 1S-series AC Servomotors/Servo Drives and NX-series Safety Unit, by using the Sy smac Studio. A simple installation model is used for t he discussion. You can perform the procedur es that are presented in this Guide to quickly gain a basic understanding o f a 1S-series AC Servomotors/Servo Drives. This Guide does not contain sa fety infor mation and ot her detai ls that are requ ir ed for actu al us e. Thoroughly read and u nderstand t he manua ls for all of the device s that are u sed in th is Guide t o ensure that the system is used safely. Review the entire contents of these materials, inc lud ing all safety precautions, precautions for safe use, and pr ecautions for correct use.

Intended Audience

This Guide is intended for t he following personnel.

• Personnel in charge of introducing FA systems

• Personnel in charge of de signing FA systems

The personnel must also hav e t he following knowledge.

• Knowledge of electrical sy s t em s ( an el ectrical engineer or the equ iv alent )

• Knowledge of NJ/NX-series CP U Units

• Knowledge of Servomotors/Drives

• Knowledge of operation pr ocedure of Sysmac Studio

Applicable Products

This Guide covers the foll ow ing products.

• CPU Units of NJ/NX-series Machine Automation Controllers

• Automation Software Sy smac Studio

• 1S-series Servomotors/Servo Drives

Special Information

The icons that are used in this G uid e ar e described below.

Precautions for Safe Use

Precautions on what to do and w hat not to do to ensure safe usage o f the pr oduct.

Precautions for Correct Use

Precautions on what to do and w hat not to do to ensure proper operat i on and performance.

Additional Inf or mation

Additional information to read as required. This information is provid ed to increase understanding or m ake operation easier.

Terms and Conditions A gree ment

Warranties

(a) Exclusive Warranty . Omro n’s exclusive warranty is that t he Pr oducts will be free from defects in materials and w or km anship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron discla ims all other warranties, express or implied. (b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, M ERCHANTA BILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY ME ET T HE REQ UI R EME N TS OF THEIR INTENDED US E. Omron further disclaims a l l w ar r ant ies and responsibility of any t ype for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omr on’s election, to (i) replace ( in the form originally shipped with Buyer r es ponsi ble for labor charges for removal or r eplacement thereof) the non-complying Product , ( ii) repair t he non-complying Product, or ( iii) repay or credit Buyer an amount equal to the pur chase price of the non-complying Pr oduct; provided that in no event shall Omron be respons ibl e for w ar r ant y, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confir ms that the Products were properly handled, stored, installed and maintained and not subj ec t t o cont amination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in w r iting by Omron before shipment. O mron Companies shall not be liable for the suitability or unsuit abi lity or the results from the use of Products in combination w it h any electrical or electronic components, circuits, system asse mblies or any other materials or substances or environ ments . Any advice, recommend at ions or information given orally or in writing, are not to be construed as an amendment or addition to t he above warranty.

See http://www.omron.com/global/ information.

Limitation on Liability; Etc

OMRON COMPANIES SHA L L NOT BE LIABLE FOR SPECI AL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMA GES, 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 liabil ity of Omron Companies exceed t he i ndividual price of the Product on which liability is asserted.

Suitability of Use

Omron Companies shall n ot be r esponsible for conformity w it h any standards, codes or regulations which apply t o the combination of the Product in the Buyer’s application or us e of the Product. At Buyer’s request, Omron will provide applicable third party certif ication

or contact your Omro n r epr esentative for published

documents identifying rati ngs and limitations of use which apply t o the Product . This inform ation by itself is not sufficient for a complete determination of the suitability of the P r oduc t in combination with the end pr oduct , machine, system, or ot her appl ication or use. Buyer shall be solely responsible for dete r m ini ng appropriateness of the part ic ular Product with respect to Buyer’s application, pr oduct or system. Buyer shall ta ke application responsibility in all cases. NEVER USE THE PRODUCT F OR AN APPLICATION INVOLVING S ERIOUS RISK TO LIFE OR PROPERTY WIT HO U T ENSU RI NG TH A T THE SY ST EM AS A WHOLE H AS BE E N DESIGNED TO ADDRES S THE RISKS, A ND THAT THE O MRON PROD UCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SY ST E M.

Programmable Products

Omron Companies shall n ot be r esponsible for the user’s programming of a programmable Product, or any consequence thereof.

Performance Data

Data presented in Omron Company websites, catalogs and other materials is prov ided a s a guide for the user in deter m in ing suitability and does not constitute a warranty. It may represent the result of Omron’s test c onditions, and the user must cor r el at e it t o act ual application requirements. Actual performance is subject to the O mron’s Warranty and Limitatio ns of Liability

Change in Specificati on s

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is o ur practice to change par t 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, speci al p ar t numbers may be assigned to fix or establish key specificati ons f or your application. Please consult with your Omron’s representative at any time t o c onf irm 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 err or s or omissions.

Precautions

• When building a system, check the specifications for all devices and equipment that will make

up the system and make sur e t hat the OMRON products are used w el l w ithin their rated specifications and performances. Safety measures, such as safety circuits, must be implemented in order to m inim ize the risks in the event of a malfunction.

• Thoroughly read and understand the manuals for al l devices and equipment that w il l make up

the system to ensure that the system is used safely. Review the entire contents of these manuals, including all saf ety precautions, prec aution s for safe use, and precau tions for corr ect use.

• Confirm all regulations, standards, and restrictions that the system must ad here to.

• Check the user program f or pr oper execution before you use it for actual operation.

Trademarks

• Sysmac and SYSMAC are trademarks or reg ist er ed trademarks of OMRON Corporation in

Japan and other countries for O M RON factory automation product s.

• Windows is either registered trademarks or tradema rks o f M i c ros oft Corporation in the USA

and other countries.

• EtherCAT

GmbH, Germany.

• Microsoft product screen shot(s) reprinted with permission from Microsoft C orporation.

• Other company names and product names in this Guide are the trademarks or r egister ed

trademarks of their respe ctive companies.

Software Licenses and Copyrights

is registered tr ade mark and pat ented t echno logy, licensed by Beckhof f Automation

The NJ-series CPU Units and Sysmac Studio incorporate certain third party software. The license and copyright infor mation associated with this softw ar e is available at http://www.fa.omron.co.jp/nj_info_e/.

Related Manuals

The following manuals are related. Use these manuals for reference.

Manual name Cat. No. Model Application Description

Sysmac Studio Version 1 Operation Manual

Sysmac Studio Drive Functions Operation Manual NJ-series CPU Unit Hardware User´s Manual

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

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

NJ/NX-series Instructions Reference Manual

W504 SYSMAC-SE2□□□ Learning about the operating

procedures and functions of the Sysmac Studio.

I589-E1 SYSMAC-SE2□□□ Learning about the operating

procedures and functions of the Sysmac Studio for Drives

W500 NJ501-□□□□

NJ301-□□□□

W501 NJ501-□□□□

NJ301-□□□□

W507 NJ501-□□□□

NJ301-□□□□ NJ101-□□□□

W502 NJ501-□□□□

NJ301-□□□□

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

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

Learning about motion control settings and programming concepts.

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit.

Describes the operating procedures of the Sysmac Studio.

Describes the operating procedures of the Sysmac Studio to setup Drives

Provides an introduction to the entire NJ-series system along with the following information on the CPU Unit.

• Features and system configuration

• Overview

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the

NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

Provides the following information on a Controller built with an NJ/NX-series CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Language specifications and

programming based on IEC 61131-3

Use this manual together with the

NJ-series CPU Unit Hardware User's Manual (Cat. No. W500).

Describes the settings and operation of the CPU Unit and programming concepts for motion control. When programming, use this manual together with the NJ-series CPU Unit Hardware User's Manual (Cat . No . W500) and NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501). Describes the instructions in the instruction set (IEC 61131-3 specifications). When programming, use this manual together with the NJ-series CPU Unit Hardware User's Manual (Cat . No . W500) and NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

Manual name

Cat. No.

Model

Application

Description

NJ/NX-series Motion Control Instructions Reference Manual

NJ/NX-series Troubleshooting Manual

W508 NJ501-□□□□

NJ301-□□□□

W503 NJ501-□□□□

NJ301-□□□□

Learning about the specifications of the motion control instructions that are provided by OMRON.

Learning about the errors that may be detected in an NJ/NX-series Controller.

Describes the motion control instructions. When programming, use this manual together with the NJ-series CPU Unit Hardware User's Manual (Cat . No . W500), NJ/NX-series CPU Unit Software

User's Manual (Cat. No. W501), and NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507).

Describes concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors. Use this manual together with the

NJ-series CPU Unit Hardware User's Manual (Cat. No. W500) and NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

1S-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications User's Manual

I586

R88D-1S□-ECT R88M-1□

Learning detailed specifications of a 1S-series Servo Drive.

Describes how to install and wire the Servo Drive, set parameters needed to operate the Servo Drive, and remedies to be taken and inspection methods to be used in case that problems occur.

Revision History

Cat. No.

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Revision code Date Revised content

01 April 2017 Original production

I827-E1-01

Revision code

CONTENTS

Introduction ······························································································ 3

Intended Audience ..................................................................................................... 3

Applicable Products ................................................................................................... 3

Special Information .................................................................................................... 3

T erms and Conditions Agreement ······························································· 4 Precautions ······························································································ 6

Trademarks ................................................................................................................ 6

Software Licenses and Copyrights ............................................................................ 6

Related Manuals ······················································································· 7 Revision History ······················································································· 9

1. Servo system configuration and peripheral pro ducts ···························· 11

1.1. Outline ............................................................................................................. 11

1.2. Servo System constructed in this guide .......................................................... 12

2. Before You Begin ·············································································· 14

2.1. Installin g the Sysmac Studio ........................................................................... 14

2.2. Assembl ing the Hardware ............................................................................... 15

2.3. Wiring the Device s .......................................................................................... 16

3. Performing setup ·············································································· 20

3.1. Two axis servo system operation .................................................................... 20

3.2. System s et up pr ocedures ............................................................................... 22

3.3. Creating pr oject with Auto connection ............................................................ 22

3.4 Creating the EtherCAT Network Configurati on ............................................... 24

3.5 Creating motion axes ...................................................................................... 26

3.6 Program making and transfer to the CPU Unit ............................................... 32

3.7 Drives and motors para m et er s set up .............................................................. 34

3.8 Easy Tuning (Multiple Driv es) ......................................................................... 38

ANNEX ··································································································· 44

A-1 Settings when control input signals are not wired ............................................ 44

A-2 Program making with st r uct ur ed text ................................................................ 51

1. Servo system configuration and peripheral products

1.1. Outline

The 1S-series AC Servo Drives with Built-in EtherCAT communications support 100-Mbps EtherCAT . When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit, you can construct a high-speed and sophisticated positioning control system. Also, you need only one communications cable to connect the Servo Drive and the Controller. Therefore, you can realize a position control system easily with reduced wiring effort. With auto tuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines. For machine composed with multiple 1S-series AC Servo Drives, Sysmac Studio provides a set of functions to set-up and tune parameters with less effort.

Additional Inf or mation

For additional information about 1S servo drive, please refer to 1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

1.2. Servo System constructed in this guide

This 1S-series Startup Guide for multi-axis setup and tuning (hereafter referred to as “this Guide”) contains instructions to set-up and tune an X-Y stage system composed of two 1S-series AC Servo Driv es.

The following figure shows the system configuration and devices that are used in this Guide.

The system configuration is shown in the following figure.

in EtherCAT

Sysmac Studio Standard Edition

• Configuration device s

The models of the devices that are described in this Guide are given in the following table. When selecting devices for an actual application, refer to the device manuals. Device name Model Manual name NJ-series CPU Unit NJ501-1500 NJ-series CPU Unit Hardware NJ-series Power Supply Unit NJ-PA3001 EtherCAT communications cables XS5W-T421-CMD-K AC Servo Drives R88D-1SN01L-ECT 1S-series AC Servomotors and AC Servo Motors R88M-1M10030S Power cables R88A-CA1A003S Encoder Cables R88A-CR1A003C

User’s Manual (Cat. No. W500)

Servo Drives User’s Man ua l ( with BuiltCommunications) (Cat. No. I586)

• Automation software

Product Number of license Model

None (DVD only) SYSMAC-SE200D

Versi on 1.18 or higher

1 license SYSMAC-SE201L

2. Before You Begin

2.1. Installing the Sysmac Studio

The Sysmac Studio is the Support Software that you use for an NJ-series Controller. On it, you can set-up the Controller configurations, parameters, and programs, and you can debug and simulate operation. Install the Sysmac Studio on your computer. Refer to the NJ-series Startup Guide for CPU Units (Cat. No. W513) for the procedure to install the Sysmac Studio.

2.2. Assembling the Hardware

This section describes how to assemble the hardware used in the system. This section gives an overview of the assembly procedures. Refer to the manuals for the devices that are used in the system for detailed assembly procedures and safety precautions.

Mounting the Units

Connect the Power Supply Unit, CPU Unit, and End Cover.

Precautions for Safe Use

Always turn OFF the pow er s upply to the Controller and to the Servo Drives before you attempt any of the followin g.

• Mounting or removing the CPU Unit and Other Units

• Assembling Racks

• Setting DIP switches or rotar y switches.

• Connecting cables or wiring the system

• Connecting or disconnecting the connectors

The Power Supply Unit cont inues to supply power to the Controller for up to several seconds after the power s upply is turned OFF. The PWR indicator remains lit as long as power is supplied. Ma ke sur e t hat the PWR indicator is not lit before you perform any of the above operations.

After joining the connectors between the Units, use the sliders at the top and bottom of each Unit to lock the Units together. Lock the sliders firmly into place.

2.3. Wiring the Devices

This section describes how to wire the hardware devices. This section gives an ov er v iew of the w irin g pro ced ur es. Re fer to th e manua ls for the dev ices t hat are used in the system for detailed w iring procedures and safety precautions.

Wiring the Rack Power Supply Unit

Wire the Power Supply Unit to the power supply.

*The RUN output is ON when the CPU Unit is in RUN mode. It is OFF when the CPU Unit is in PROGRAM mode or when a major fault level Controller error occurs.

Additional Inf or mation

This Guide uses an NJ-PA3001 AC Power Supply Unit. An NJ-PD3001 DC Power Supply Unit can also be used.

Wiring the Servo Drive Power Supply

Wire the Servo Drives to the power supply as shown in the following figure.

Additional Inf or mation

For further details about wiring method, please r efer to 1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

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