Omron R88M-1M10030S, R88D-1SN01L-ECT, NJ501-1500 Startup Manual
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
2
NOTE
All rights reserved. No part of t his pu blication may be reproduced, st or ed in a retrieval system,
or transmitted, in any form , or by any means, mechanical, photocopying, recording, or
otherwise, without the prior w r it t en per m ission of OMRON.
No patent liability is assume d w ith r es pect to the use of the informati on contained herein.
Moreover, because OMRON is constantly striving to improve its h igh-quality products, the
information contained in this manual is subject to change without notice. Every precaution ha s
been taken in the preparation of t his m anual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any l iab il ity assumed for damages resu lting
from the use of the information contained in this publication.
3
Introduction
The Servo System 1S-Series Startup Guide for Multi-axis Setup and Tuning (hereinafter, may
be referred to as "this Guide") desc ribes the procedures for installation and setup of 1S Servo
Drives, where an NJ/NX-series CPU Unit is use d in combination with1S-series AC
Servomotors/Servo Driv es and NX-series Safety Unit, by using the Sysmac Studio. A simple
installation model is used for the discussion. You can perform the proce dur es that are
presented in this Guide to quickly gai n a basic understanding of a 1S-series AC
Servomotors/Servo Driv es.
This Guide does not contain sa fety infor mation and o ther detai ls that ar e requ ired for actu al use .
Thoroughly read and unde rstand the manuals for all of the devices t hat are us ed in this G uide t o
ensure that the system is used s af ely. Review the entire contents of these materials, including
all safety precautions, pre cautions for safe use, and precautions for correct use.
Intended Audience
This Guide is intended for t he following personnel.
• Personnel in charge of introducing FA sys t ems
• Personnel in charge of des ign ing FA systems
The personnel must also have t he following knowledge.
• Knowledge of electrical sy st em s ( an el ec t r ic al engineer or the equivalent)
• Knowledge of NJ/NX-series CPU Units
• Knowledge of Servomotors/Drives
• Knowledge of operation proc edure of Sysmac Studio
Applicable Products
This Guide covers the follow 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 Guide are described below.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or m ake operation easier.
Precautions for Safe Use
Precautions on what to do and w hat not t o do t o ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and w hat not t o do t o ensure proper operation and
performance.
4
Terms and Conditions A gree ment
Warranties
(a) Exclusive Warranty. Omro n’s exclusive warranty is that t he Products will be free from
defects in materials and w ork m anship for a period of twelve months from the date of sale by
Omron (or such other period expressed in writi ng by Omron). Omron disclaims all other
warranties, express or implied.
(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR
IMPLIED, ABOUT NON-INFRINGEMENT, M ERCHANTAB ILITY OR FITNESS FOR A
PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE
HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY ME ET THE REQ UI R EME N TS
OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expen ses
based on infringement by t he Products or otherwise of any intellectual property right. (c) Buyer
Remedy.
Omron’s sole obligation h er eunder shall be, at Omron’s ele ct ion, to (i) replace (in the form
originally shipped with Buyer respons i bl e for labor charges for removal or replacement thereof)
the non-complying Product, ( ii) repair t he non-complying Product, or ( iii) repay or credit Buyer
an amount equal to the purchase price of the non-complying Pr oduct; provided that in no event
shall Omron be responsibl e for w ar r ant y, repair, indemnity or any other claims or expenses
regarding the Products unless O mron’s analysis confirms th at the Products were properly
handled, stored, installed and maintained and not subj ect to contamination, abuse, misuse or
inappropriate modificati on. Return of any Products by Buyer must be approved in writing by
Omron before shipment. O mron Companies shall not be liabl e for the suitability or unsuitabi lity
or the results from the use of Products in combination w it h any electrical or electronic
components, circuits, system assem blies or any other materials or substances or environ ments .
Any advice, recommendat ions 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 r epr esentative for published
information.
Limitation on Liability; Etc
OMRON COM PANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDE NTAL, OR
CONSEQUE NTIAL DAMAG ES, LOSS OF P ROFITS 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 liabilit y of Omron Companies exceed the i ndividual price of the
Product on which liability is assert ed.
Suitability of Use
Omron Companies shall not be r es ponsible for conformity with any standards, codes or
regulations which apply to the combination of the Product i n t he Buyer’s application or use of
the Product. At Buyer’s re quest, Omron will provide applicable third party certification
5
documents identifying ratings and limitations of use which apply to t he Product. This informat ion
by itself is not sufficient for a complete determination of the suitability of the Product in
combination with the end pr oduct , machine, system, or ot her appl ication or use. Buyer shall be
solely responsible for dete rm ini ng appropriateness of the part ic ular Product with respect to
Buyer’s application, product or system. Buyer shall ta ke application responsibility in all cases.
NEVER USE T HE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO L IFE
OR PROPERTY WIT HO UT E NSU RING TH AT T HE SYST EM AS A WHOLE H AS BE E N
DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE O VERALL
EQUIPMENT OR SY ST EM .
Programmable Products
Omron Companies shall not be r es ponsible for the user’s progra m m ing o f a programmable
Product, or any consequence thereof.
Performance Data
Data presented in Omron Co m pany websites, catalogs and other materials is provided as a
guide for the user in determ in ing suitability and does not constitute a warranty. I t may r epr esent
the result of Omron’s test conditions, and the user must c orr elate it to actual application
requirements. Actual per f or m ance is subject to the Omron’s Warranty and Limitations of
Liability
Change in Specification s
Product specifications an d accessories may be changed at any time based on improvement s
and other reasons. It is our 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 Prod uc t may be changed without any notice. When in doubt, special part
numbers may be assigned to fix or est ablish key specifications for your application. Please
consult with your Omron’s representative at any time t o confirm actual specification s of
purchased Product.
Errors and Omissions
Information presented by Omron Companies has be en checked and is believed to be accur at e;
however, no responsibility is assumed for clerical, typogra phical or proofreading errors or
omissions.
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Precautions
• When building a system, c heck the specifications for all devi ces and equipment that will mak e
up the system and make sure t hat the OMRON products are used well within their rated
specifications and performances. Safety measures, such as safety circuits, m ust be
implemented in order to m inim ize the risks in the event of a malfunction.
• Thoroughly read and under st and t he manuals for all devices and equipment that will make up
the system to ensure that the sy s t em is used safely. Review the entire contents of these
manuals, including all safe ty pr ecautions, prec aution s for safe use, and pr ecau tions for correc t
use.
• Confirm all regulations, standards, and restrictions that the system must adher e t o.
• Check the user program for pr oper execution before you use it for actual operation.
Trademarks
• Sysmac and SYSMAC are trademarks or register ed trademarks of OMRON Corporation in
Japan and other countries for O M RON factory automation product s.
• Windows is either registered trademarks or trademarks of M icrosoft Corporation in the USA
and other countries.
• EtherCAT
®
is registered tr ade mark and p at ented tec hno logy, licensed by Beckhof f Automation
GmbH, Germany.
• Microsoft product screen shot(s) reprinted with permission from Microsoft Cor por at ion.
• Other company names and pr oduct names in this Guide are the trademarks or registered
trademarks of their respective companies.
Software Licenses and Copyrights
The NJ-series CPU Units and Sys mac St udio incorporate certain third part y software. The
license and copyright information associated with this softw ar e i s available at
http://www.fa.omron.co.jp/nj_info_e/.
7
Related Manuals
The following manuals ar e related. Use these manuals for r ef er ence.
Manual name Cat. No. Model Application Description
Sysmac Studio Version 1
Operation Manual
W504 SYSMAC-SE2□□□ Learning about the operating
procedures and functions of
the Sysmac Studio.
Describes the operating procedures of
the Sysmac Studio.
Sysmac Studio Drive
Functions Operation
Manual
I589-E1 SYSMAC-SE2□□□ Learning about the operating
procedures and functions of
the Sysmac Studio for Drives
Describes the operating procedures of
the Sysmac Studio to setup Drives
NJ-series CPU Unit
Hardware User´s Manual
W500 NJ501-□□□□
NJ301-□□□□
Learning the basic
specifications of the
NJ-series CPU Units,
including introductory
information, designing,
installation, and
maintenance.
Mainly hardware information
is provided.
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).
NJ/NX-series CPU Unit
Software User’s Manual
W501 NJ501-□□□□
NJ301-□□□□
Learning how to program and
set up an NJ/NX-series CPU
Unit.
Mainly software information is
provided.
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).
NJ/NX-series CPU Unit
Motion Control User's
Manual
W507 NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning about motion
control settings and
programming concepts.
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).
NJ/NX-series Instructions
Reference Manual
W502 NJ501-□□□□
NJ301-□□□□
Learning detailed
specifications on the basic
instructions of an
NJ/NX-series CPU Unit.
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).
8
Manual name
Cat. No.
Model
Application
Description
NJ/NX-series Motion
Control Instructions
Reference Manual
W508 NJ501-□□□□
NJ301-□□□□
Learning about the
specifications of the motion
control instructions that are
provided by OMRON.
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).
NJ/NX-series
Troubleshooting Manual
W503 NJ501-□□□□
NJ301-□□□□
Learning about the errors
that may be detected in an
NJ/NX-series Controller.
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.
9
Revision History
A manu al 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
Cat. No.
I827-E1-01
Revision code
10
CONTENTS
Introduction ······························································································ 3
Intended Audience ..................................................................................................... 3
Applicable Products ................................................................................................... 3
Special Information .................................................................................................... 3
Terms 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 products ···························· 11
1.1. Outline ............................................................................................................. 11
1.2. Servo System constructed in this guide .......................................................... 12
2. Before You Begin ·············································································· 14
2.1. Installin g t he Sysmac Studio ........................................................................... 14
2.2. Assembl in g t he Hardware ............................................................................... 15
2.3. Wiring the Devices .......................................................................................... 16
3. Performing setup ·············································································· 20
3.1. Two axis servo system operation .................................................................... 20
3.2. System set up pr ocedures ............................................................................... 22
3.3. Creating project with Auto connection ............................................................ 22
3.4 Creating the EtherCAT Network Configuration ............................................... 24
3.5 Creating motion axes ...................................................................................... 26
3.6 Program making and tran sfer t o the CPU Unit ............................................... 32
3.7 Drives and motors param eters setup .............................................................. 34
3.8 Easy Tuning (Multiple Drives) ......................................................................... 38
ANNEX ··································································································· 44
A-1 Settings when control inp ut signals are not wired ............................................ 44
A-2 Program making with str uctured text ................................................................ 51
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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 Information
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)
12
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 Drives.
The following figure shows the system configuration and devices that are used in this Guide.
The system configuration is shown in the following figure.
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• Configuration devices
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
User’s Manual (Cat. No. W500)
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
Servo Drives User’s Man ua l (with
Built-
in EtherCAT
Communications) (Cat. No. I586)
AC Servo Motors R88M-1M10030S
Power cables R88A-CA1A003S
Encoder Cables R88A-CR1A003C
• Automation software
Product Number of license Model
Sysmac Studio Standard Edition
Version 1.18 or higher
None (DVD only) SYSMAC-SE200D
1 license SYSMAC-SE201L
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2. B efor e 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.
15
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.
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.
Precautions for Safe Use
Always turn OFF the power supply to the Controller and to the Servo Drives before you
attempt any of the following.
• Mounting or removing the CPU Unit and Other Units
• Assembling Racks
• Setting DIP switches or rotary sw it ches.
• Connecting cables or wiring the system
• Connecting or disconnecting the connec t or s
The Power Supply Unit continues to supply power to the Controller for up to several
seconds after the power supply is turned OFF. The PWR indicator remains lit as long as
power is supplied. Make sur e that the PWR indicator is not lit be fore you perform any of
the above operations.
16
2.3. Wiring the Devices
This section describes how to wire the hardware devices.
This section gives an ov er view of the w iring pr o cedu res. Refer t o th e manua ls for t he device s that are
used in the system for detailed wiring procedures and safet y 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 Information
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 Information
For further details about wiring method, please refer t o 1S-series AC Servomotors and Servo Drives
User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)
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