OMRON OMNUC G5 R88D-KN@-ECT-R Servo Drive, OMNUC G5 R88M-K@ Servomotor User’s Manual
OMNUC G5 R88D-KN@-ECT-R Servo Drive and OMNUC G5 R88M-K@ Servomotor are designed for use in a variety of industrial applications, providing precise control and high performance. These devices are ideal for applications requiring fast and reliable motion control, such as machine tools, packaging machines, and robotics. The built-in EtherCAT communications capabilities allow for easy integration with other automation components, and the servo drive's advanced features such as electronic gearing and gain switching provide flexibility in system design.
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Cat. No. I573-E1-02
USER’S MANUAL
OMNUC G5
SERIES
R88M-K
@
(AC Servomotors)
R88D-KN
@
-ECT-R
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN EtherCAT COMMUNICATIONS
Trademarks and Copyrights
•
•
EtherCAT is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT technology is protected by patents.
Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies.
OMRON, 2010
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.
Introduction
Introduction
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent knowledge) and also being qualified for one of the following:
• Introducing FA equipment
• Designing FA systems
• Managing FA sites
Notice
Thank you for purchasing an OMNUC G5-series Servo Drive. This manual explains 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 should problems occur.
This manual contains information you need to know to correctly use the Servo Drive and peripheral equipment. Before using the Servo Drive, read this manual and gain a full understanding of the information provided herein.
After you finished reading this manual, keep it in a convenient place so that it can be referenced at any time.
Make sure this manual is delivered to the end user.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1
Read and Understand this Manual
Read and Understand this Manual
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.
ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL
OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF
PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM
IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS 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 OR REPAIR.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Read and Understand this Manual
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property. Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY
WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND
THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN
THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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Read and Understand this Manual
Disclaimers
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 model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice.
When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual 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 users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Precautions
Safety Precautions
To ensure that the OMNUC G5-series Servomotor and 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 in order to learn items you should know regarding the equipment as well as required safety information and precautions.
Make an arrangement so that this manual also gets to the end user of this product.
After reading this manual, keep it in a convenient place so that it can be referenced at any time.
Definition of Precautionary Information
The precautions explained in this section describe important information regarding safety and must be followed without fail.
The display of precautions in this manual and their meanings are explained below.
DANGER
Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.
Additionally, there may be severe property damage.
Caution
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.
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.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure proper operation and performance.
Reference
Indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
Example of symbols
This symbol indicates danger and caution.
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “beware of electric shock.”
This symbol indicates a prohibited item (an item you must not do).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “disassembly prohibited,”
This symbol indicates a compulsory item (an item that must be done).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “grounding required,”
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5
Safety Precautions
6
Precautions for Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details. When using 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.
DANGER
Be sure to ground the frame ground terminals of the Servo Drive and Servomotor to 100 Ω or less.
Electric shock may result.
Never touch the parts inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables, and options.
Electric shock may result.
Installation, operation, and maintenance or inspection by unauthorized personnel is prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15 minutes.
Electric shock may result.
Do not damage, pull, stress strongly, or pinch the cables or place heavy articles on them.
Electric shock, stopping of Servo Drive operation, or burn damage may result.
Never touch the rotating part of the Servomotor during operation.
Injury may result.
Never modify the Servo Drive.
Injury or equipment damage 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 cut off immediately.
Injury may result.
When the power is restored after a momentary power interruption, the machine may restart suddenly. Never come close to the machine when restoring power.
* Implement measures to ensure safety of people nearby even when the machine is restarted.
Injury may result.
After an earthquake, be sure to conduct safety checks.
Electric shock, injury, or fire may result.
Never drive the Servomotor using an external drive source.
Fire may result.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Precautions
DANGER
Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Fire may result.
Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals.
Fire may result.
When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the information in the operation manual, and apply them to the system design.
Injury or damage may result.
Do not use the cable when it is laying in oil or water.
Electric shock, injury, or fire may result.
Never connect a commercial power supply directly to the Servomotor.
Fire or failure may result.
Do not perform wiring or any operation with wet hands.
Electric shock, injury, or fire may result.
Do not touch the key grooves with bare hands if a Servomotor with shaft-end key grooves is being used.
Injury may result.
Caution
Use the Servomotor and Servo Drive in a specified combination.
Fire or equipment damage may result.
Do not store or install the Servo Drive in the following locations:
• Location subject to direct sunlight
• Location where the ambient temperature exceeds the specified level
• Location where the relative humidity exceeds the specified level
• Location subject to condensation due to rapid temperature changes
• Location subject to corrosive or flammable gases
• Location subject to high levels of dust, salt content, or iron dust
• Location subject to splashes of water, oil, chemicals, etc.
• Location where the Servo Drive may receive vibration or impact directly
Installing or storing the Servo Drive in any of these locations may result in fire, electric shock, or equipment damage.
The Servo Drive radiator, Regeneration Resistor, Servomotor, etc., may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components.
A burn injury may result.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7
Safety Precautions
Storage and Transportation
Caution
When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft.
Injury or failure may result.
Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product label.)
Injury or failure may result.
Use the Servomotor eye-bolts only when transporting the Servomotor.
Do not use them to transport the machine.
Injury or failure may result.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Precautions
Installation and Wiring
Caution
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo
Drive.
Fire may result.
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 Servomotor shaft or Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway Servomotor, injury, or failure may result.
Securely tighten the mounting screws, terminal block screws, and cable screws.
Failure may result.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire may result.
Only use the power supply voltage specified in this manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied.
Equipment damage may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external wiring.
Fire may result.
If the Servo Drive is used in the following locations, provide sufficient shielding measures.
• Location subject to noise e.g., due to static electricity
• Location subject to a strong electric or magnetic field
• Location where exposure to radioactivity may occur
• Location near power supply lines
Using the Servo Drive in any of these locations may result in equipment damage.
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the polarity is correct.
Battery damage or explosion may result.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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Safety Precautions
10
Operation and Adjustment
Caution
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the Servo Drive in an actual environment, check if it operates correctly based on the parameters you have set.
Equipment damage may result.
Never adjust or set parameters to extreme values, because it will make the operation unstable.
Injury may result.
Separate the Servomotor from the mechanical system and check its operation before installing the Servomotor to the machine.
Injury may result.
If an error occurs, remove the cause of the error and ensure safety, and then reset the alarm and restart the operation.
Injury may result.
Do not use the built-in brake of the Servomotor for normal braking operation.
Failure may result.
Do not operate the Servomotor connected to an excessive load inertia.
Failure 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.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
Maintenance and Inspection
Caution
After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting operation.
Equipment damage may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time.
Injury may result.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Precautions
Location of Warning Label
The Servo Drive bears a warning label at the following location to provide handling warnings.
When handling the Servo Drive, be sure to observe the instructions provided on this label.
Warning label display location
VO
LTAG
F L C
E
E
POW
ER
SERI
AL No.
INPUT
100~120V
1Ø
2.6A
50/6 z
OMRO
A090
8000
N C orp oratio n
4
OUTPUT
3Ø
1.7A
0~500.0Hz
100W
MADE IN J
APAN
Instructions on Warning Label
(R88D-KN02H-ECT-R)
Disposal
• When disposing of the battery, insulate it using tape, and dispose of it by following the applicable ordinances of your local government.
• Dispose of the Servo Drive as industrial waste.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Items to Check after Unpacking
Items to Check after Unpacking
After unpacking, check the following items.
• Is this the model you ordered?
• Was there any damage sustained during shipment?
Accessories
Safety Precautions document x 1 copy
• Connectors, mounting screws, mounting brackets, and other accessories other than those in the table below are not supplied. They must be prepared by the customer.
• If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or sales office where you purchased your product.
Specifications
Connector for main circuit power supply terminals and control circuit power supply terminals
Connector for External
Regeneration Resistor connection terminals and
Motor connection terminals
Safety bypass connector
Singlephase
100 VAC
Singlephase/3phase
200 VAC
3-phase
200 VAC
3-phase
400 VAC
750 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
600 W
1 kW
50 W
100 W
200 W
400 W
100 W
200 W
400 W
1.5 kW
2 kW
3 kW
5 kW
−
−
Included
Included
Included
Included
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Revision History
Revision History
The manual revision code is a number appended to the end of the catalog number found in the bottom left-hand corner of the front or back cover.
Example
Cat. No.
I573-E1-02
Revision code
Revision code
01
02
Revision Date Revised content
March 2010 Original production
October 2010 Added models and made corrections.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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Structure of This Document
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring the following table.
Outline
Chapter 1 Features and
System
Configuration
Chapter 2 Standard Models and External
Dimensions
This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards.
Chapter 3 Specifications This chapter 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.
Chapter 4 System Design This chapter explains the installation conditions for the Servo Drive,
Servomotor, and Decelerator, wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods as well as the performance of External Regeneration
Resistors.
Chapter 5 EtherCAT
Communications
This chapter explains the models of Servo Drives, Servomotors, and peripheral equipment, and provides the external dimensions and mounting dimensions.
This chapter describes EtherCAT communications under the assumption that the Servo Drive is connected to a CJ1W-NC281/
NC481/NC881/NCF81/NC482/NC882 Position Control Unit.
Chapter 6 CiA 402 Drive
Profile
Chapter 7 Applied
Functions
This chapter describes the profile that is used to control the Servo
Drive.
This chapter outlines the applied functions such as the electronic gear, gain switching and soft start, and explains the settings.
Chapter 8 Safety Function This chapter gives an outline of application functions, such as electronic gears, gain switching, and soft start, and explains the settings.
Chapter 9 Details on Servo
Parameters and
Objects
Chapter 10 Operation
This chapter explains the set values and contents of each object.
Chapter 11 Adjustment
Functions
Chapter 12 Troubleshooting and Maintenance
This chapter gives the operating procedures and explains how to operate in each mode.
This chapter explains the functions, setting methods, and items to note regarding various gain adjustments.
This chapter explains the items to check when problems occur, error diagnosis using the error display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.
Appendix The appendix provides a list of objects and EtherCAT terminology.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
Read and Understand this Manual ........................................................2
Safety Precautions.................................................................................5
Items to Check after Unpacking...........................................................12
Structure of This Document .................................................................14
Chapter 1 Features and System Configuration
Chapter 2 Models and External Dimensions
2-2 How to Read Model Numbers................................................................ 2-3
2-4 External and Mounting Dimensions ..................................................... 2-21
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
EtherCAT Communications Connector Specifications (RJ45) .................................. 3-12
Control Output Circuits .............................................................................................. 3-19
External Encoder Connector Specifications (CN4).................................................... 3-23
3-2 Overload Characteristics (Electronic Thermal Function) ......................3-31
3-4 Cable and Connector Specifications ....................................................3-57
Encoder Cable Specifications.................................................................................... 3-57
Connector Specifications........................................................................................... 3-67
Analog Monitor Cable Specifications......................................................................... 3-73
3-5 External Regeneration Resistor Specifications ....................................3-80
External Regeneration Resistor Specifications ......................................................... 3-80
Servo Drive Installation Conditions.............................................................................. 4-1
Decelerator Installation Conditions.............................................................................. 4-5
Main Circuit and Motor Connections ......................................................................... 4-12
4-3 Wiring Conforming to EMC Directives ..................................................4-21
4-4 Regenerative Energy Absorption..........................................................4-40
Calculating the Regenerative Energy........................................................................ 4-40
Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-43
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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Table Of Contents
Chapter 5 EtherCAT Communications
Status Indicators..........................................................................................................5-2
5-2 Structure of the CAN Application Protocol over EtherCAT .................... 5-3
5-3 EtherCAT State Machine ....................................................................... 5-4
5-4 Process Data Objects (PDOs) ............................................................... 5-5
PDO Mapping Settings ................................................................................................5-5
5-5 Service Data Objects (SDOs) ................................................................ 5-7
Abort Codes.................................................................................................................5-7
5-6 Synchronization with Distributed Clocks................................................ 5-8
5-7 Emergency Messages ........................................................................... 5-9
Chapter 6 Drive Profile
6-1 Controlling the State Machine of the Servo Drive.................................. 6-1
6-3 Cyclic Synchronous Position Mode ....................................................... 6-5
Related Objects ...........................................................................................................6-8
6-5 Touch Probe Function (Latch Function) ................................................ 6-9
Operation Sequences................................................................................................6-10
Parameter Block Diagram for Fully-closed Control Mode .........................................6-18
Communication Objects ............................................................................................6-21
Manufacturer Specific Objects...................................................................................6-33
Reserved Objects ......................................................................................................6-52
6-8 Connecting with OMRON Controllers .................................................. 6-53
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
7-1 Sequence I/O Signals.............................................................................7-1
7-2 Forward and Reverse Drive Prohibition Functions .................................7-6
Objects Requiring Settings.......................................................................................... 7-6
Operating Conditions................................................................................................... 7-9
7-4 Backlash Compensation.......................................................................7-11
Objects Requiring Settings........................................................................................ 7-13
Objects Requiring Settings........................................................................................ 7-18
Objects Requiring Settings........................................................................................ 7-21
Diagrams of Gain Switching Setting.......................................................................... 7-27
Operation Example.................................................................................................... 7-31
Chapter 8 Safety Function
8-1 Safe Torque OFF Function.....................................................................8-1
Chapter 9 Details on Servo Parameter Objects
9-1 Basic Settings.........................................................................................9-1
9-2 Gain Settings..........................................................................................9-6
9-3 Vibration Suppression Settings ............................................................9-15
9-4 Analog Control Objects.........................................................................9-21
9-5 Interface Monitor Settings.....................................................................9-24
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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Table Of Contents
Items to Check Before Turning ON the Power Supply ..............................................10-2
Absolute Encoder Setup............................................................................................10-6
Test Operation via USB Communications from the CX-Drive ...................................10-8
Chapter 11Adjustment Functions
Objects Requiring Settings ........................................................................................11-1
Gain Adjustment Procedure ......................................................................................11-5
Objects Requiring Settings ........................................................................................11-7
11-4 Manual Tuning ................................................................................... 11-13
Outline of Operation ................................................................................................11-15
11-6 Adaptive Filter.................................................................................... 11-18
Objects Requiring Settings ......................................................................................11-22
11-8 Disturbance Observer Function ......................................................... 11-24
Operating Procedure ...............................................................................................11-25
11-9 Friction Torque Compensation Function............................................ 11-26
Operation Example..................................................................................................11-27
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Table Of Contents
11-10 Hybrid Vibration Suppression Function .............................................11-28
Objects Requiring Settings...................................................................................... 11-29
11-12 Instantaneous Speed Observer Function..........................................11-32
Objects Requiring Settings...................................................................................... 11-32
Chapter 12Troubleshooting and Maintenance
Precautions When a Problem Occurs ....................................................................... 12-2
Related Objects......................................................................................................... 12-4
Troubleshooting with Error Displays........................................................................ 12-13
Servomotor Life Expectancy.................................................................................... 12-31
Replacing the Absolute Encoder Battery ................................................................ 12-33
Appendices
A-1 Object List.............................................................................................. A-1
A-2 EtherCAT Terminology........................................................................ A-19
Index
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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Features and System Configuration
1
This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards.
1-1 Outline ...........................................................................1-1
1-2 System Configuration ..................................................1-3
1-3 Names and Functions ..................................................1-4
1-4 System Block Diagram.................................................1-6
1-5 Applicable Standards ...................................................1-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-1 Outline
1-1 Outline
1
Outline of the OMNUC G5 Series
The OMNUC G5-series Servo Drives with Built-in EtherCAT Communications support 100-
Mbps EtherCAT.
When you use the Servo Drive with a Position Control Unit with EtherCAT interface (CJ1W-
NC@8@), you can create a 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 real time autotuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.
Features of OMNUC G5-series Servo Drives
OMNUC G5-series Servo Drives have the following features.
Data Transmission Using EtherCAT Communications
When you use it with a Position Control Unit with EtherCAT interface (CJ1W-NC@8@), you can exchange all control data between the Servo Drive and the Controller through high-speed data communications.
Since the various control commands are transmitted via data communications, Servomotor's operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses.
You can use the Servo Drive's various control parameters and monitor data on a host controller, and unify the system data for management.
Achievement of Accurate Positioning by Fully-closed Control
Feedback from the external encoder connected to the motor is used to accurately control positioning. Position control is not affected by deviations caused by ball screws or temperature changes.
Wide Range of Power Supplies to Meet Any Need
The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at overseas facilities and in wide-ranging applications and environment. Since the utilization ratio of facility equipment also increases, the TCO (total cost of ownership) will come down.
Safe Torque OFF (STO) Function to Ensure Safety
You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment. This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor. Even during the torque
OFF status, the present position of the motor is monitored by the control circuits to eliminate the need to perform an origin search when restarting.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-1 Outline
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/
Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal. In addition, the settings can be made easily by setting the damping frequency and filter values. You are assured of stable operation even if the set values are inappropriate.
1
What Is EtherCAT?
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE
802.3). Each node achieves a short cycle time by transmitting Ethernet frames at high speed.
A mechanism that allows sharing clock information enables high-precision synchronization control with low communications jitter.
EtherCAT is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT technology is protected by patents.
Object Dictionary
OMNUC G5-series Servo Drives with Built-in EtherCAT Communications use the object dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications.
An object is a special data structure inside a device that consists of data, parameters, and methods.
An object dictionary is a data structure that describes the data type objects, communications objects, and application objects.
All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.
Indexes Area Contents
0000 to 0FFF hex
1000 to 1FFF hex
Data Type Area
CoE Communications Area
Definitions of data types.
Definitions of variables that can be used by all servers for designated communications.
2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all
OMRON products.
3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all
OMNUC G5-series Servo Drives (servo parameters).
6000 to 9FFF hex Device Profile Area
A000 to FFFF hex Reserved Area
Variables defined in the Servo Drive's CiA402 drive profile.
Area reserved for future use.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-2
1
1-2 System Configuration
1-2 System Configuration
The system configuration for a OMNUC G5-Series AC Servo Drive with Built-in EtherCAT
Communications is shown below.
Controller
(EtherCAT
Programmable Controller
SYSMAC CJ2
Position Control Unit
CJ1W-NC @8@
EtherCAT
OMNUC G5 Series
AC Servo Drive
R88D-KN @-ECT-R
INC BS
OMNUC G5 Series
AC Servomotor
R88M-K @
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-3 Names and Functions
1-3 Names and Functions
This section describes the names and functions of Servo Drive parts.
Servo Drive Part Names
The Servo Drive part names are given below.
Seven-segment display
Analog monitor connector (CN5)
ADR
EtherCAT status indicators
Rotary switches for node address setting
USB connector (CN7)
EtherCAT communications connector: ECAT IN
EtherCAT communications connector: ECAT OUT
Main circuit power supply terminals
(L1, L2, and L3)
Control circuit power supply terminals
(L1C and L2C)
Charge lamp
External Regeneration
Resistor connection terminals (B1, B2, and B3)
Motor connection terminals (U, V, and W)
Safety connector (CN8)
Control I/O connector (CN1)
Protective ground terminals
External encoder connector (CN4)
Encoder connector (CN2)
1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-4
1-3 Names and Functions
1
Servo Drive Functions
The functions of each part are described below.
Display
A 2-digit 7-segment display shows the node address, error codes, and other Servo Drive status.
Charge Lamp
Lights when the main circuit power supply is turned ON.
EtherCAT Status Indicators
These indicators show the status of EtherCAT communications.
For details, refer to Status Indicators on page 5-2.
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
External Encoder Connector (CN4)
Connector for an encoder signal used during fully-closed control.
EtherCAT Communications Connectors (ECAT IN and ECAT OUT)
These connectors are for EtherCAT communications.
Analog Monitor Connector (CN5)
You can use a special cable to monitor values, such as the motor rotation speed, torque command value, etc.
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector installed.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-4 System Block Diagram
1-4 System Block Diagram
This is the block diagram of the OMNUC G5-series AC Servo Drive with Built-in EtherCAT
Communications.
L1
CN A
FUSE
L2
FUSE
L3
+
−
CN B
B1
B2
B3
Internal Regeneration
Resistor
*1
U
V
W
1
L1C
L2C
FUSE
Voltage detection
+
−
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
GR
Cooling fan
*1
CN1
Control interface
CN2
Encoder
CN4
External encoder
*1 For 200-VAC models of 1 kW or higher, or 400-VAC models only.
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-6
1-5 Applicable Standards
1-5 Applicable Standards
This section describes applicable EMC Directives.
1
EC Directives
EC
Directive
Low
Voltage
Directive
EMC
Directive
Machinery
Directive
Product
AC Servo Drives
AC Servomotors
AC Servo Drives
AC Servomotors
AC Servo Drives
Applicable standards
EN 61800-5-1
EN 60034-1/-5
EN 55011 class A group 1
IEC 61800-3
EN 61000-6-2
EN 954-1 (Category 3)
EN ISO 13849-1: 2008 (PLc, d)
ISO 13849-1: 2006 (PLc, d)
EN 61508 (SIL 2)
EN 62061 (SIL 2)
EN 61800-5-2 (STO)
IEC 61326-3-1 (SIL 2)
Note: To conform to EMC Directives, the Servomotor and Servo Drive must be installed under the conditions described
in 4-3 Wiring Conforming to EMC Directives on page 4-21.
UL and cUL Standards
Standard
UL standards
CSA standards
Product
AC Servo Drives
AC Servomotors
AC Servo Drives
AC Servomotors
Applicable standards
UL 508C
UL 1004-1
CSA 22.2 No. 14
CSA 22.2 No. 100
File number
E179149
E331224
E179149
E331224
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Models and External
Dimensions
This chapter explains the models of Servo Drive, Servomotor, and peripheral devices, and provides the external dimensions and mounting dimensions.
2-1 Servo System Configuration .......................................2-1
2-2 How to Read Model Numbers ......................................2-3
2-3 Model Tables .................................................................2-5
2-4 External and Mounting Dimensions..........................2-21
2-5 EMC Filter Dimensions...............................................2-51
2
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-1 Servo System Configuration
2-1 Servo System Configuration
Controller
SYSMAC PLC Position Control Unit with EtherCAT Interface
Support Software
● CX-One FA Integrated
Tool Package
CX-Programmer,
CX-Position,
and CX-Motion
Support Software
● CX-One FA Integrated
Tool Package
(Including CX-Drive)
● CX-Drive
WS02-DRVC1
2
Programmable
Controller
SYSMAC CJ2
Position Control Unit (NC)
CJ1W-NC @8@
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-1 Servo System Configuration
USB communications
AC Servo Drive
Motor power signals
Power Cables
● Flexible Cables
• Without Brake
R88A-CA @@@@@SR-E
• With Brake
R88A-CA @@@@@BR-E
EtherCAT communications
● OMNUC G5-series Servo Drive
R88D-KN
@-ECT-R
100 VAC
200 VAC
400 VAC
Brake Cables (50 to 750 W max.)
● Flexible Cable
R88A-CAKA @@@BR-E
Feedback Signals
Encoder Cables
● Flexible Cables
• 750 W or less:
R88A-CRKA @@@CR-E
• 1 kW or more:
R88A-CRKC @@@NR-E
AC Servomotors
● OMNUC G5-series Servomotor
R88M-K
3000 r/min
2000 r/min
1000 r/min
2
External encoder
Peripheral Devices
●
External
Regeneration
Resistors
R88A-RR
Absolute Encoder Battery Cable
R88A-CRGD0R3C (-BS)
(A battery is included with model numbers ending in “BS.”)
* Not required if a battery is connected to
the control connector (CN1).
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-2
2-2 How to Read Model Numbers
2-2 How to Read Model Numbers
This section describes how to read and understand the model numbers of Servo Drives and
Servomotors.
2
Servo Drive
The Servo Drive model number tells the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.
R88D-KN01H-ECT-R
OMNUC G5-series
Servo Drive
Drive Type
N: Network
Maximum Applicable
Servomotor Capacity
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
06: 600 W
08: 750 W
10: 1 kW
15: 1.5 kW
20: 2 kW
30: 3 kW
50: 5 kW
Power Supply Voltage
L: 100 VAC
H: 200 VAC
F: 400 VAC
Communications Type
ECT: EtherCAT
Model
R: Model limited to connection to CJ1W-NC
@8@
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-2 How to Read Model Numbers
Servomotors
The model number provides information such as the Servomotor type, motor capacity, rated rotation speed, and power supply voltage.
R88M-KP10030H-BOS2
OMNUC G5-series Servomotor
Motor Type
Blank: Cylinder type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
600: 600 W
750: 750 W
900: 900 W
1K0: 1 kW
1K5: 1.5 kW
2K0: 2 kW
3K0: 3 kW
4K0: 4 kW
5K0: 5 kW
Rated Rotation Speed
10: 1,000 r/min
20: 2,000 r/min
30: 3,000 r/min
Applied Voltage
F: 400 VAC (incremental encoder)
H: 200 VAC (incremental encoder)
L: 100 VAC (incremental encoder)
C: 400 VAC (absolute encoder)
T: 200 VAC (absolute encoder)
S: 100 VAC (absolute encoder)
Options
No: Straight shaft
2
S2: With key and tap
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4
2-3 Model Tables
2-3 Model Tables
This section lists the standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment.
2
Servo Drive Model Table
The table below lists the Servo Drive models.
Specifications
Single-phase 100 VAC
Single-phase/3-phase 200 VAC
3-phase 200 VAC
3-phase 400 VAC
Model
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
R88D-KN08H-ECT-R
1 kW R88D-KN10H-ECT-R
1.5 kW R88D-KN15H-ECT-R
2 kW
3 kW
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
5 kW
600 W
R88D-KN50H-ECT-R
R88D-KN06F-ECT-R
1 kW R88D-KN10F-ECT-R
1.5 kW R88D-KN15F-ECT-R
2 kW
3 kW
5 kW
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Servomotor Model Tables
The following tables list the Servomotor models by the rated motor speed.
3,000-r/min Servomotors
With incremental encoder
Specifications
100 V
200 V
400 V
Straight shaft without key
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
R88M-K05030H
R88M-K10030L
R88M-K20030L
R88M-K40030L
R88M-K05030H
R88M-K10030H
R88M-K20030H
R88M-K40030H
750 W
1 kW
R88M-K75030H
R88M-K1K030H
1.5 kW R88M-K1K530H
2 kW R88M-K2K030H
3 kW
4 kW
5 kW
750 W
R88M-K3K030H
R88M-K4K030H
R88M-K5K030H
R88M-K75030F
R88M-K1K030F
R88M-K1K530F
R88M-K2K030F
R88M-K3K030F
R88M-K4K030F
R88M-K5K030F
Straight shaft with key and tap
R88M-K05030H-S2
R88M-K10030L-S2
R88M-K20030L-S2
R88M-K40030L-S2
R88M-K05030H-S2
R88M-K10030H-S2
R88M-K20030H-S2
R88M-K40030H-S2
R88M-K75030H-S2
R88M-K1K030H-S2
R88M-K1K530H-S2
R88M-K2K030H-S2
R88M-K3K030H-S2
R88M-K4K030H-S2
R88M-K5K030H-S2
R88M-K75030F-S2
R88M-K1K030F-S2
R88M-K1K530F-S2
R88M-K2K030F-S2
R88M-K3K030F-S2
R88M-K4K030F-S2
R88M-K5K030F-S2
Model
With absolute encoder
Straight shaft without key
R88M-K05030T
R88M-K10030S
R88M-K20030S
R88M-K40030S
R88M-K05030T
R88M-K10030T
R88M-K20030T
R88M-K40030T
R88M-K75030T
R88M-K1K030T
R88M-K1K530T
R88M-K2K030T
R88M-K3K030T
R88M-K4K030T
R88M-K5K030T
R88M-K75030C
R88M-K1K030C
R88M-K1K530C
R88M-K2K030C
R88M-K3K030C
R88M-K4K030C
R88M-K5K030C
Straight shaft with key and tap
R88M-K05030T-S2
R88M-K10030S-S2
R88M-K20030S-S2
R88M-K40030S-S2
R88M-K05030T-S2
R88M-K10030T-S2
R88M-K20030T-S2
R88M-K40030T-S2
R88M-K75030T-S2
R88M-K1K030T-S2
R88M-K1K530T-S2
R88M-K2K030T-S2
R88M-K3K030T-S2
R88M-K4K030T-S2
R88M-K5K030T-S2
R88M-K75030C-S2
R88M-K1K030C-S2
R88M-K1K530C-S2
R88M-K2K030C-S2
R88M-K3K030C-S2
R88M-K4K030C-S2
R88M-K5K030C-S2
2
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-6
2
2-3 Model Tables
With incremental encoder
Specifications
Straight shaft without key
Straight shaft with key and tap
100 V
200 V
400 V
50 W R88M-K05030H-B
100 W R88M-K10030L-B
200 W R88M-K20030L-B
400 W R88M-K40030L-B
50 W R88M-K05030H-B
100 W R88M-K10030H-B
200 W R88M-K20030H-B
400 W R88M-K40030H-B
R88M-K05030H-BS2
R88M-K10030L-BS2
R88M-K20030L-BS2
R88M-K40030L-BS2
R88M-K05030H-BS2
R88M-K10030H-BS2
R88M-K20030H-BS2
R88M-K40030H-BS2
750 W R88M-K75030H-B R88M-K75030H-BS2
1 kW R88M-K1K030H-B R88M-K1K030H-BS2
1.5 kW R88M-K1K530H-B R88M-K1K530H-BS2
2 kW R88M-K2K030H-B R88M-K2K030H-BS2
3 kW R88M-K3K030H-B R88M-K3K030H-BS2
4 kW R88M-K4K030H-B R88M-K4K030H-BS2
5 kW R88M-K5K030H-B R88M-K5K030H-BS2
750 W R88M-K75030F-B R88M-K75030F-BS2
1 kW R88M-K1K030F-B
1.5 kW R88M-K1K530F-B
2 kW R88M-K2K030F-B
3 kW R88M-K3K030F-B
4 kW R88M-K4K030F-B
5 kW R88M-K5K030F-B
R88M-K1K030F-BS2
R88M-K1K530F-BS2
R88M-K2K030F-BS2
R88M-K3K030F-BS2
R88M-K4K030F-BS2
R88M-K5K030F-BS2
Note: Models with oil seals are also available.
Model
With absolute encoder
Straight shaft without key
R88M-K05030T-B
R88M-K10030S-B
R88M-K20030S-B
R88M-K40030S-B
R88M-K05030T-B
R88M-K10030T-B
R88M-K20030T-B
R88M-K40030T-B
R88M-K75030T-B
R88M-K1K030T-B
R88M-K1K530T-B
R88M-K2K030T-B
R88M-K3K030T-B
R88M-K4K030T-B
R88M-K5K030T-B
R88M-K75030C-B
R88M-K1K030C-B
R88M-K1K530C-B
R88M-K2K030C-B
R88M-K3K030C-B
R88M-K4K030C-B
R88M-K5K030C-B
Straight shaft with key and tap
R88M-K05030T-BS2
R88M-K10030S-BS2
R88M-K20030S-BS2
R88M-K40030S-BS2
R88M-K05030T-BS2
R88M-K10030T-BS2
R88M-K20030T-BS2
R88M-K40030T-BS2
R88M-K75030T-BS2
R88M-K1K030T-BS2
R88M-K1K530T-BS2
R88M-K2K030T-BS2
R88M-K3K030T-BS2
R88M-K4K030T-BS2
R88M-K5K030T-BS2
R88M-K75030C-BS2
R88M-K1K030C-BS2
R88M-K1K530C-BS2
R88M-K2K030C-BS2
R88M-K3K030C-BS2
R88M-K4K030C-BS2
R88M-K5K030C-BS2
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
2,000-r/min Servomotors
With incremental encoder
Specifications
200 V
400 V
200 V
400 V
Straight shaft without key
Straight shaft with key and tap
1 kW R88M-K1K020H
1.5 kW R88M-K1K520H
2 kW
3 kW
R88M-K2K020H
R88M-K3K020H
4 kW
5 kW
400 W
600 W
R88M-K4K020H
R88M-K5K020H
R88M-K40020F
R88M-K60020F
R88M-K1K020H-S2
R88M-K1K520H-S2
R88M-K2K020H-S2
R88M-K3K020H-S2
R88M-K4K020H-S2
R88M-K5K020H-S2
R88M-K40020F-S2
R88M-K60020F-S2
1 kW
1.5 kW
2 kW
3 kW
R88M-K1K020F
R88M-K1K520F
R88M-K2K020F
R88M-K3K020F
R88M-K1K020F-S2
R88M-K1K520F-S2
R88M-K2K020F-S2
R88M-K3K020F-S2
4 kW
5 kW
R88M-K4K020F
R88M-K5K020F
R88M-K4K020F-S2
R88M-K5K020F-S2
1 kW R88M-K1K020H-B R88M-K1K020H-BS2
1.5 kW R88M-K1K520H-B R88M-K1K520H-BS2
2 kW R88M-K2K020H-B R88M-K2K020H-BS2
3 kW R88M-K3K020H-B R88M-K3K020H-BS2
4 kW R88M-K4K020H-B R88M-K4K020H-BS2
5 kW R88M-K5K020H-B R88M-K5K020H-BS2
400 W R88M-K40020F-B
600 W R88M-K60020F-B
1 kW R88M-K1K020F-B
1.5 kW R88M-K1K520F-B
R88M-K40020F-BS2
R88M-K60020F-BS2
R88M-K1K020F-BS2
R88M-K1K520F-BS2
2 kW
3 kW
4 kW
5 kW
R88M-K2K020F-B
R88M-K3K020F-B
R88M-K4K020F-B
R88M-K5K020F-B
R88M-K2K020F-BS2
R88M-K3K020F-BS2
R88M-K4K020F-BS2
R88M-K5K020F-BS2
Note: Models with oil seals are also available.
Model
With absolute encoder
Straight shaft without key
R88M-K1K020T
R88M-K1K520T
R88M-K2K020T
R88M-K3K020T
R88M-K4K020T
R88M-K5K020T
R88M-K40020C
R88M-K60020C
R88M-K1K020C
R88M-K1K520C
R88M-K2K020C
R88M-K3K020C
R88M-K4K020C
R88M-K5K020C
R88M-K1K020T-B
R88M-K1K520T-B
R88M-K2K020T-B
R88M-K3K020T-B
R88M-K4K020T-B
R88M-K5K020T-B
R88M-K40020C-B
R88M-K60020C-B
R88M-K1K020C-B
R88M-K1K520C-B
R88M-K2K020C-B
R88M-K3K020C-B
R88M-K4K020C-B
R88M-K5K020C-B
Straight shaft with key and tap
R88M-K1K020T-S2
R88M-K1K520T-S2
R88M-K2K020T-S2
R88M-K3K020T-S2
R88M-K4K020T-S2
R88M-K5K020T-S2
R88M-K40020C-BS2
R88M-K60020C-BS2
R88M-K1K020C-S2
R88M-K1K520C-S2
R88M-K2K020C-S2
R88M-K3K020C-S2
R88M-K4K020C-S2
R88M-K5K020C-S2
R88M-K1K020T-BS2
R88M-K1K520T-BS2
R88M-K2K020T-BS2
R88M-K3K020T-BS2
R88M-K4K020T-BS2
R88M-K5K020T-BS2
R88M-K40020C-BS2
R88M-K60020C-BS2
R88M-K1K020C-BS2
R88M-K1K520C-BS2
R88M-K2K020C-BS2
R88M-K3K020C-BS2
R88M-K4K020C-BS2
R88M-K5K020C-BS2
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2-3 Model Tables
2
1,000-r/min Servomotors
With incremental encoder
Specifications
Straight shaft without key
Straight shaft with key and tap
200 V
900 kW R88M-K90010H
2 kW
3 kW
R88M-K2K010H
R88M-K3K010H
R88M-K90010H-S2
R88M-K2K010H-S2
R88M-K3K010H-S2
400 V
200 V
900 kW
2 kW
R88M-K90010F
R88M-K2K010F
3 kW R88M-K3K010F
900 kW R88M-K90010H-B
R88M-K90010F-S2
R88M-K2K010F-S2
R88M-K3K010F-S2
R88M-K90010H-BS2
2 kW R88M-K2K010H-B R88M-K2K010H-BS2
3 kW R88M-K3K010H-B R88M-K3K010H-BS2
400 V
900 kW R88M-K90010F-B
2 kW R88M-K2K010F-B
3 kW R88M-K3K010F-B
R88M-K90010F-BS2
R88M-K2K010F-BS2
R88M-K3K010F-BS2
Note: Models with oil seals are also available.
Model
With absolute encoder
Straight shaft without key
R88M-K90010T
R88M-K2K010T
R88M-K3K010T
R88M-K90010C
R88M-K2K010C
R88M-K3K010C
R88M-K90010T-B
R88M-K2K010T-B
R88M-K3K010T-B
R88M-K90010C-B
R88M-K2K010C-B
R88M-K3K010C-B
Straight shaft with key and tap
R88M-K90010T-S2
R88M-K2K010T-S2
R88M-K3K010T-S2
R88M-K90010C-S2
R88M-K2K010C-S2
R88M-K3K010C-S2
R88M-K90010T-BS2
R88M-K2K010T-BS2
R88M-K3K010T-BS2
R88M-K90010C-BS2
R88M-K2K010C-BS2
R88M-K3K010C-BS2
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Servo Drive and Servomotor Combination Tables
The tables in this section show the possible combinations of OMNUC G5-series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.
“-@” at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.
3,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
Single-phase
100 V
Single-phase/
3-phase 100 V
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
Rated output
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
50 W
100 W
200 W
400 W
50 W
100 W
200 W
750 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
With incremental encoder
R88M-K05030H-@
R88M-K10030L-@
R88M-K20030L-@
R88M-K40030L-@
R88M-K05030H-@
R88M-K10030H-@
R88M-K20030H-@
R88M-K40030H-@
R88M-K75030H-@
R88M-K1K030H-@
R88M-K1K530H-@
R88M-K2K030H-@
R88M-K3K030H-@
R88M-K4K030H-@
R88M-K5K030H-@
R88M-K75030F-@
R88M-K1K030F-@
R88M-K1K530F-@
R88M-K2K030F-@
R88M-K3K030F-@
R88M-K4K030F-@
R88M-K5K030F-@
With absolute encoder
R88M-K05030T-@
R88M-K10030S-@
R88M-K20030S-@
R88M-K40030S-@
R88M-K05030T-@
R88M-K10030T-@
R88M-K20030T-@
R88M-K40030T-@
R88M-K75030T-@
R88M-K1K030T-@
R88M-K1K530T-@
R88M-K2K030T-@
R88M-K3K030T-@
R88M-K4K030T-@
R88M-K5K030T-@
R88M-K75030C-@
R88M-K1K030C-@
R88M-K1K530C-@
R88M-K2K030C-@
R88M-K3K030C-@
R88M-K4K030C-@
R88M-K5K030C-@
Servo Drive
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R
R88D-KN01H-ECT-R*
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
R88D-KN08H-ECT-R
R88D-KN15H-ECT-R*
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
R88D-KN50H-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R*
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
R88D-KN50F-ECT-R
* Use these combination with caution because the Servo Drive and Servomotor have different capacities.
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2-3 Model Tables
2,000-r/min Servomotors and Servo Drives
Voltage
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
Rated output
600 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
400 W
Servomotor
With incremental encoder
R88M-K1K020H-@
R88M-K1K520H-@
R88M-K2K020H-@
R88M-K3K020H-@
R88M-K4K020H-@
R88M-K5K020H-@
R88M-K40020F-@
R88M-K60020F-@
R88M-K1K020F-@
R88M-K1K520F-@
R88M-K2K020F-@
R88M-K3K020F-@
R88M-K4K020F-@
R88M-K5K020F-@
With absolute encoder
R88M-K1K020T-@
R88M-K1K520T-@
R88M-K2K020T-@
R88M-K3K020T-@
R88M-K4K020T-@
R88M-K5K020T-@
R88M-K40020C-@
R88M-K60020C-@
R88M-K1K020C-@
R88M-K1K520C-@
R88M-K2K020C-@
R88M-K3K020C-@
R88M-K4K020C-@
R88M-K5K020C-@
Servo Drive
R88D-KN10H-ECT-R
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
R88D-KN50H-ECT-R
R88D-KN06F-ECT-R
R88D-KN06F-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
R88D-KN50F-ECT-R
1,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
Rated output
Single-phase/
3-phase 200 V
900 W
3-phase 200 V 2 kW
3 kW
3-phase 400 V 900 W
2 kW
3 kW
With incremental encoder
R88M-K90010H-@
R88M-K2K010H-@
R88M-K3K010H-@
R88M-K90010F-@
R88M-K2K010F-@
R88M-K3K010F-@
With absolute encoder
R88M-K90010T-@
R88M-K2K010T-@
R88M-K3K010T-@
R88M-K90010C-@
R88M-K2K010C-@
R88M-K3K010C-@
Servo Drive
R88D-KN15H-ECT-R*
R88D-KN30H-ECT-R*
R88D-KN50H-ECT-R*
R88D-KN15F-ECT-R*
R88D-KN30F-ECT-R*
R88D-KN50F-ECT-R*
* Use these combination with caution because the Servo Drive and Servomotor have different capacities.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Cable and Peripheral Device Model Tables
The following tables list the models of cables and peripheral devices. The cables include motor power cables, brake cables, encoder cables, EtherCAT communications cables, and absolute encoder battery cables. The peripheral devices include Connectors, External Regeneration
Resistors, and Mounting Brackets.
Encoder Cables (European Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min Servomotors of 1.0 kW or more
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
Model
1.5 m R88A-CRKA001-5CR-E
3 m
5 m
R88A-CRKA003CR-E
R88A-CRKA005CR-E
10 m R88A-CRKA010CR-E
15 m R88A-CRKA015CR-E
20 m R88A-CRKA020CR-E
1.5 m R88A-CRKC001-5NR-E
3 m
5 m
R88A-CRKC003NR-E
R88A-CRKC005NR-E
10 m R88A-CRKC010NR-E
15 m R88A-CRKC015NR-E
20 m R88A-CRKC020NR-E
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2-3 Model Tables
Motor Power Cables (European Flexible Cables)
Model
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 W
[200 V]
For 3,000-r/min Servomotors of 1 to
2 kW
For 2,000-r/min Servomotors of 1 to
2 kW
For 1,000-r/min Servomotors of 900 W
[400 V]
For 3,000-r/min Servomotors of 750 W to 2 kW
For 2,000-r/min Servomotors of 400 W to 2 kW
For 1,000-r/min Servomotors of 900 W
For 3,000-r/min Servomotors of 3 to
5 kW
For 2,000-r/min Servomotors of 3 to
5 kW
For 1,000-r/min Servomotors of 2 to
3 kW
For motor without brake For motor with brake
1.5 m R88A-CAKA001-5SR-E
3 m R88A-CAKA003SR-E
5 m R88A-CAKA005SR-E
(See note 1.)
10 m R88A-CAKA010SR-E
15 m R88A-CAKA015SR-E
20 m R88A-CAKA020SR-E
1.5 m R88A-CAGB001-5SR-E
3 m R88A-CAGB003SR-E
5 m R88A-CAGB005SR-E
10 m R88A-CAGB010SR-E
15 m R88A-CAGB015SR-E
20 m R88A-CAGB020SR-E
1.5 m R88A-CAGB001-5SR-E
3 m
5 m
R88A-CAGB003SR-E
R88A-CAGB005SR-E
10 m R88A-CAGB010SR-E
15 m R88A-CAGB015SR-E
R88A-CAGB001-5BR-E
R88A-CAGB003BR-E
R88A-CAGB005BR-E
R88A-CAGB010BR-E
R88A-CAGB015BR-E
R88A-CAGB020BR-E
R88A-CAKF001-5BR-E
R88A-CAKF003BR-E
R88A-CAKF005BR-E
R88A-CAKF010BR-E
R88A-CAKF015BR-E
20 m R88A-CAGB020SR-E R88A-CAKF020BR-E
1.5 m R88A-CAGD001-5SR-E R88A-CAGD001-5BR-E
3 m R88A-CAGD003SR-E
5 m R88A-CAGD005SR-E
10 m R88A-CAGD010SR-E
15 m R88A-CAGD015SR-E
20 m R88A-CAGD020SR-E
R88A-CAGD003BR-E
R88A-CAGD005BR-E
R88A-CAGD010BR-E
R88A-CAGD015BR-E
R88A-CAGD020BR-E
Note: It requires both, the power cable R88A-CAKA@@@SR-E and the separate brake cable R88A-
CAKA@@@BR-E. For the separate brake cable selection, see brake cables table in page 2-14.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Brake Cables (European Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
Model
1.5 m R88A-CAKA001-5BR-E
3 m R88A-CAKA003BR-E
5 m R88A-CAKA005BR-E
10 m R88A-CAKA010BR-E
15 m R88A-CAKA015BR-E
20 m R88A-CAKA020BR-E
2
Encoder Cables (Global Non-flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min Servomotors of 1.0 kW or more
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
Model
3 m R88A-CRKA003C
5 m R88A-CRKA005C
10 m R88A-CRKA010C
15 m R88A-CRKA015C
20 m R88A-CRKA020C
30 m R88A-CRKA030C
40 m R88A-CRKA040C
50 m R88A-CRKA050C
3 m R88A-CRKC003N
5 m R88A-CRKC005N
10 m R88A-CRKC010N
15 m R88A-CRKC015N
20 m R88A-CRKC020N
30 m R88A-CRKC030N
40 m R88A-CRKC040N
50 m R88A-CRKC050N
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2-14
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2-3 Model Tables
Motor Power Cables (Global Non-flexible Cables)
Model
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 W
[200 V]
For 3,000-r/min Servomotors of 1 to
2 kW
For 2,000-r/min Servomotors of 1 to
2 kW
For 1,000-r/min Servomotors of 900 W
[400 V]
For 3,000-r/min Servomotors of 750 W to
2 kW
For 2,000-r/min Servomotors of 400 W to
2 kW
Specifications
For 1,000-r/min Servomotors of 900 W
For 3,000-r/min Servomotors of 3 to 5 kW
For 2,000-r/min Servomotors of 3 to 5 kW
For 1,000-r/min Servomotors of 2 to 3 kW
For motor without brake
3 m R88A-CAKA003S
5 m R88A-CAKA005S
10 m R88A-CAKA010S
15 m R88A-CAKA015S
20 m R88A-CAKA020S
30 m R88A-CAKA030S
40 m R88A-CAKA040S
50 m R88A-CAKA050S
3 m
5 m
R88A-CAGB003S
R88A-CAGB005S
10 m R88A-CAGB010S
15 m R88A-CAGB015S
20 m R88A-CAGB020S
30 m R88A-CAGB030S
40 m R88A-CAGB040S
50 m R88A-CAGB050S
3 m
5 m
R88A-CAGB003S
R88A-CAGB005S
10 m R88A-CAGB010S
15 m R88A-CAGB015S
20 m R88A-CAGB020S
30 m R88A-CAGB030S
40 m R88A-CAGB040S
50 m R88A-CAGB050S
3 m
5 m
R88A-CAGD003S
R88A-CAGD005S
10 m R88A-CAGD010S
15 m R88A-CAGD015S
20 m R88A-CAGD020S
30 m R88A-CAGD030S
40 m R88A-CAGD040S
50 m R88A-CAGD050S
For motor with brake
(See note 1.)
R88A-CAGB003B
R88A-CAGB005B
R88A-CAGB010B
R88A-CAGB015B
R88A-CAGB020B
R88A-CAGB030B
R88A-CAGB040B
R88A-CAGB050B
R88A-CAKF003B
R88A-CAKF005B
R88A-CAKF010B
R88A-CAKF015B
R88A-CAKF020B
R88A-CAKF030B
R88A-CAKF040B
R88A-CAKF050B
R88A-CAGD003B
R88A-CAGD005B
R88A-CAGD010B
R88A-CAGD015B
R88A-CAGD020B
R88A-CAGD030B
R88A-CAGD040B
R88A-CAGD050B
Note: It requires both, the power cable R88A-CAKA@@@S and the separate brake cable R88A-
CAKA@@@B. For the separate brake cable selection, see brake cables table in page 2-16.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Brake Cables (Global Non-flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
Model
3 m R88A-CAKA003B
5 m R88A-CAKA005B
10 m R88A-CAKA010B
15 m R88A-CAKA015B
20 m R88A-CAKA020B
30 m R88A-CAKA030B
40 m R88A-CAKA040B
50 m R88A-CAKA050B
2
Encoder Cables (Global Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min Servomotors of 1.0 kW or more
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
Model
3 m R88A-CRKA003CR
5 m R88A-CRKA005CR
10 m R88A-CRKA010CR
15 m R88A-CRKA015CR
20 m R88A-CRKA020CR
30 m R88A-CRKA030CR
40 m R88A-CRKA040CR
50 m R88A-CRKA050CR
3 m R88A-CRKC003NR
5 m R88A-CRKC005NR
10 m R88A-CRKC010NR
15 m R88A-CRKC015NR
20 m R88A-CRKC020NR
30 m R88A-CRKC030NR
40 m R88A-CRKC040NR
50 m R88A-CRKC050NR
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2-3 Model Tables
Motor Power Cables (Global Flexible Cables)
Model
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 W
[200 V]
For 3,000-r/min Servomotors of 1 to 2 kW
For 2,000-r/min Servomotors of 1 to 2 kW
For 1,000-r/min Servomotors of 900 W
[400 V]
For 3,000-r/min Servomotors of 750 W to
2 kW
For 2,000-r/min Servomotors of 400 W to
2 kW
Specifications
For 1,000-r/min Servomotors of 900 W
For 3,000-r/min Servomotors of 3 to 5 kW
For 2,000-r/min Servomotors of 3 to 5 kW
For 1,000-r/min Servomotors of 2 to 3 kW
For motor without brake
3 m R88A-CAKA003SR
5 m R88A-CAKA005SR
10 m R88A-CAKA010SR
15 m R88A-CAKA015SR
20 m R88A-CAKA020SR
30 m R88A-CAKA030SR
40 m R88A-CAKA040SR
50 m R88A-CAKA050SR
3 m
5 m
R88A-CAGB003SR
R88A-CAGB005SR
10 m R88A-CAGB010SR
15 m R88A-CAGB015SR
20 m R88A-CAGB020SR
30 m R88A-CAGB030SR
40 m R88A-CAGB040SR
50 m R88A-CAGB050SR
3 m
5 m
R88A-CAGB003SR
R88A-CAGB005SR
10 m R88A-CAGB010SR
15 m R88A-CAGB015SR
20 m R88A-CAGB020SR
30 m R88A-CAGB030SR
40 m R88A-CAGB040SR
50 m R88A-CAGB050SR
3 m
5 m
R88A-CAGD003SR
R88A-CAGD005SR
10 m R88A-CAGD010SR
15 m R88A-CAGD015SR
20 m R88A-CAGD020SR
30 m R88A-CAGD030SR
40 m R88A-CAGD040SR
50 m R88A-CAGD050SR
For motor with brake
(See note 1.)
R88A-CAGB003BR
R88A-CAGB005BR
R88A-CAGB010BR
R88A-CAGB015BR
R88A-CAGB020BR
R88A-CAGB030BR
R88A-CAGB040BR
R88A-CAGB050BR
R88A-CAKF003BR
R88A-CAKF005BR
R88A-CAKF010BR
R88A-CAKF015BR
R88A-CAKF020BR
R88A-CAKF030BR
R88A-CAKF040BR
R88A-CAKF050BR
R88A-CAGD003BR
R88A-CAGD005BR
R88A-CAGD010BR
R88A-CAGD015BR
R88A-CAGD020BR
R88A-CAGD030BR
R88A-CAGD040BR
R88A-CAGD050BR
Note: It requires both, the power cable R88A-CAKA@@@SR and the separate brake cable R88A-
CAKA@@@BR. For the separate brake cable selection, see brake cables table in page 2-18.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Brake Cables (Global Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
Model
3 m R88A-CAKA003BR
5 m R88A-CAKA005BR
10 m R88A-CAKA010BR
15 m R88A-CAKA015BR
20 m R88A-CAKA020BR
30 m R88A-CAKA030BR
40 m R88A-CAKA040BR
50 m R88A-CAKA050BR
EtherCAT Communications Cable (Recommended)
Category 5 or higher (cable with double, aluminum tape and braided shielding) is recommended
Absolute Encoder Battery Cables
Name Model
Absolute Encoder Battery Cable (battery not supplied) 0.3 m R88A-CRGD0R3C
Absolute Encoder Battery Cable (R88A-BAT01G battery × 1 supplied) 0.3 m R88A-CRGD0R3C-BS
2
Absolute Encoder Backup Battery
Absolute Encoder Backup Battery
Name
Analog Monitor Cable
Analog Monitor Cable
Name
Model
R88A-BAT01G
1 m
Model
R88A-CMK001S
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-18
2
2-3 Model Tables
Connectors
Name and applications
Motor Connector for Encoder Cable [100 V and 200 V]
For 3,000-r/min of 50 to 750 W
[100 V and 200 V]
For 3,000-r/min of 1 to 5 kW
For 2,000 r/min, 1,000 r/min
[400 V]
For 3,000 r/min, 2,000 r/min and
1,000 r/min
Control I/O Connector (CN1)
Encoder Connector (CN2)
External Encoder Connector (CN4)
Safety Connector (CN8)
Power Cable Connector (for 750 W max.)
Brake Cable Connector (for 750 W max.)
Control Cables
Connector-terminal Block Cables
Name
Connector-terminal Block
Model
R88A-CNK02R
R88A-CNK04R
R88A-CNW01C
R88A-CNW01R
R88A-CNK41L
R88A-CNK81S
R88A-CNK11A
R88A-CNK11B
Model
M3 screws
M3.5 screws
M3 screws
1 m XW2Z-100J-B34
2 m XW2Z-200J-B34
XW2B-20G4
XW2B-20G5
XW2D-20G6
External Regeneration Resistors
Specifications
Regeneration process capacity: 20 W, 50 Ω (with 150°C thermal sensor)
Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor)
Regeneration process capacity: 70 W, 47 Ω (with 150°C thermal sensor)
Regeneration process capacity: 70 W, 47 Ω (with 170°C thermal sensor)
Regeneration process capacity: 180 W, 20 Ω (with 200°C thermal sensor)
Model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S1
R88A-RR22047S
R88A-RR50020S
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-3 Model Tables
Mounting Brackets (L-brackets for Rack Mounting)
Applicable Servo Drives
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN01H-ECT-R/-KN02H-ECT-R
R88D-KN02L-ECT-R/-KN04H-ECT-R
R88D-KN04L-ECT-R/-KN08H-ECT-R
R88D-KN10H-ECT-R/-KN15H-ECT-R/-KN06F-ECT-R/-KN10F-ECT-R/-
KN15F-ECT-R
Model
R88A-TK01K
R88A-TK02K
R88A-TK03K
R88A-TK04K
2
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-20
2-4 External and Mounting Dimensions
2-4 External and Mounting Dimensions
This section describes the external dimensions and the mounting dimensions of Servo Drives,
Servomotors, and peripheral devices.
2
Servo Drive Dimensions
The dimensional description starts with a Servo Drive of the smallest motor capacity, which is followed by the next smallest, and so on.
Single-phase 100 VAC: R88D-KNA5L-ECT-R/-KN01L-ECT-R (50 to 100 W)
Single-phase/3-phase 200 VAC: R88D-KN01H-ECT-R/-KN02H-ECT-R
(100 to 200 W)
Wall Mounting
External dimensions
70
40
132
Mounting dimensions
φ5.2
6 28
40
2-21
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
φ5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
132
40 70
19.5
7
2.5
Mounting dimensions
7
φ5.2
2
Rectangular hole
R26
7
5.2
2.5
(42)*
* Rectangular hole dimensions are reference values.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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2
2-4 External and Mounting Dimensions
Single-phase/3-phase 100 VAC: R88D-KN02L-ECT-R (200 W)
Single-phase/3-phase 200 VAC: R88D-KN04H-ECT-R (400 W)
Wall Mounting
55
External dimensions
70
132
Mounting dimensions
φ
5.2
φ5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
55
47
70
19.5
132
7
2.5
6
43
55
Mounting dimensions
7 φ5.2
Rectangular hole
R2.6
2-23
7
5.2
2.5
(57)*
* Rectangular hole dimensions are reference values.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
Single-phase/3-phase 100 VAC: R88D-KN04L-ECT-R (400 W)
Single-phase/3-phase 200 VAC: R88D-KN08H-ECT-R (750 W)
Wall Mounting
65
External dimensions
70
172
4
Mounting dimensions
φ
5.2
2
Front Mounting (Using Front Mounting Brackets)
φ5.2
20
40
65
External dimensions
70
19.5
2.5
172
7.5
50
65
4
Mounting dimensions
20
φ5.2
Rectangular hole
R2.6
20
40
5.2
2.5
(67)*
* Rectangular hole dimensions are reference values.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-24
2
2-4 External and Mounting Dimensions
Single-phase/3-phase 200 VAC: R88D-KN10H-ECT-R/-KN15H-ECT-R
(900 W to 1.5 kW)
Wall Mounting
External dimensions
70
86
172
4
Mounting dimensions
φ
5.2
8.5
70
86
Front Mounting (Using Front Mounting Brackets)
External dimensions
φ5.2
10
60
40
86
φ5.2
70
19.5
2.5
172
4
Mounting dimensions
φ5.2
Rectangular hole
R2.6
10
5.2
40
5.2
R2.6
2.5
11 40
(88)*
* Rectangular hole dimensions are reference values.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KN20H-ECT-R (2 kW)
Wall Mounting
R2.6
17.5
External dimensions
86
85
50
42.5
5.2
5.2
φ5.2
R2.6
70
195
Mounting dimensions
1.8
25
φ5.2
2
R2.6
17.5
5.2
42.5
50
5.2
φ5.2
R2.6
Front Mounting (Using Front Mounting Brackets)
17.5
R2.6
External dimensions
86
85
50
42.5
5.2
5.2
φ5.2
R2.6
70
30.7
2.5
195
R2.6
17.5
5.2
42.5
50
5.2
φ5.2
R2.6
17.5
50
86
Mounting dimensions
25
φ5.2
Rectangular hole
2.5
17.5
50
(88)*
* Rectangular hole dimensions are reference values.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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2
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KN30H-ECT-R/-KN50H-ECT-R (3 to 5 kW)
Wall Mounting
External dimensions
R2.6
15
65
5.2
130
100
φ5.2
5.2
R2.6
70 214
3.5
Mounting dimensions
50
φ5.2
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
Front Mounting (Using Front Mounting Brackets)
External dimensions
R2.6
15
65
5.2
130
100
φ5.2
5.2
R2.6
70
40.7
2.5
214
15
100
130
Mounting dimensions
50
φ5.2
Rectangular hole
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
2.5
15
100
(132)*
* Rectangular hole dimensions are reference values.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KN06F-ECT-R/-KN10F-ECT-R (600 W to 1.0 kW)
3-phase 400 VAC: R88D-KN15F-ECT-R (1.5 kW)
Wall Mounting
External dimensions
70
92
172
4
Mounting dimensions
φ
5.2
2
14.5
70
92
φ5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
172
10
60
40
92
φ5.2
19.5
2.5
4
Mounting dimensions
φ5.2
R2.6
5.2
10
40
5.2
2.5
Rectangular hole
6
18 40
(94)*
* Rectangular hole dimensions are reference values.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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2
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KN20F-ECT-R (2 kW)
Wall Mounting
17.5
42.5
5.2
External dimensions
94
85
50
φ5.2
5.2
70
195 1.8
Mounting dimensions
25
φ5.2
R2.6
5.2
17.5
50
5.2
φ5.2
R2.6
Front Mounting (Using Front Mounting Brackets)
17.5
42.5
5.2
External dimensions
94
85
50
φ5.2
5.2
70
30.7
2.5
195
R2.6
5.2
17.5
50
5.2
φ5.2
R2.6
26.5
94
50
Mounting dimensions
25
φ5.2
Rectangular hole
2.5
26.5
50
(96)*
* Rectangular hole dimensions are reference values.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KN30F-ECT-R/-KN50F-ECT-R (3 to 5 kW)
Wall Mounting
15
External dimensions
65
5.2
130
100
φ5.2
5.2
70
214 3.5
Mounting dimensions
φ5.2
50
2
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
15
Front Mounting (Using Front Mounting Brackets)
External dimensions
65
5.2
130
100
φ5.2
5.2
70
40.7
2.5
214
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
15
100
130
Mounting dimensions
φ5.2
50
Rectangular hole
2.5
15
100
(132)*
* Rectangular hole dimensions are reference values.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-30
2-4 External and Mounting Dimensions
2
Servomotor Dimensions
In this description, the Servomotors are grouped by rated rotation speed. The description starts with a Servomotor of the smallest capacity, which is followed by the next smallest, and so on.
3,000-r/min Servomotors (100 V and 200 V)
50 W/100 W (without Brake)
R88M-K05030H (-S2)/-K10030@ (-S2)
R88M-K05030T (-S2)/-K10030@ (-S2)
INC
ABS
Encoder connector
LL
Motor connector
25
LM
6 3
40×40
R3.7
2
LN
(Shaft end specifications with key and tap)
25
14
12.5
3h9
M3 (depth 6)
1.5 min.
φ4
6±0.2
R4.2
2-
φ4.3
Dimensions (mm)
Model
R88M-K05030@
R88M-K10030@
LL
72
92
LM
48
68
LN
23
43
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
50 W/100 W (with Brake)
R88M-K05030H-B (S2)/-K10030@-B (S2)
R88M-K05030T-B (S2)/-K10030@-B (S2)
INC
ABS
Encoder connector
Brake connector
LL
Motor connector
25
LM
40×40
6 3
R3.7
LN
2
(Shaft end specifications with key and tap)
25
14
12.5
3h9
M3 (depth 6)
1.5 min.
φ46±0.2
R4.2
2-
φ4.3
Dimensions (mm)
Model
LL LM LN
R88M-K05030@-B@
R88M-K10030@-B@
102
122
78
98
23
43
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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2-4 External and Mounting Dimensions
2
200 W/400 W (without Brake)
R88M-K20030@ (-S2)/-K40030@ (-S2)
R88M-K20030@ (-S2)/-K40030@ (-S2)
INC
ABS
2-33
Encoder connector
LL
Motor connector
LM
6.5
3
30
60×60
φ70±0.2
4-
φ4.5
(Shaft end specifications with key and tap)
30
20 (200 W)
25 (400 W)
18 (200 W)
22.5 (400 W)
4h9 (200 W)
5h9 (400 W)
M4, depth 8 (200 W)
M5, depth 10 (400 W)
8.5 11
1.5 min.
Dimensions (mm)
Model
R88M-K20030@
R88M-K40030@
LL
79.5
99
LM
56.5
76
S
11
14
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
200 W/400 W (with Brake)
R88M-K20030@-B (S2)/-K40030@-B (S2)
R88M-K20030@-B (S2)/-K40030@-B (S2)
INC
ABS
Encoder connector
Brake connector
Motor connector
LL
LM
6.5
3
30
4-
φ4.5
60×60
φ70±0.2
(Shaft end specifications with key and tap)
30 20 (200 W)
25 (400 W)
18 (200 W)
22.5 (400 W)
4h9 (200 W)
5h9 (400 W)
8.5 11
M4, depth 8 (200 W)
M5, depth 10 (400 W)
1.5 min.
Dimensions (mm)
Model
R88M-K20030@-B@
R88M-K40030@-B@
LL
116
135.5
LM
93
112.5
S
11
14
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
750 W (without Brake)
R88M-K75030H (-S2)
R88M-K75030T (-S2)
INC
ABS
Encoder connector
Motor connector
112.2
86.2
8 3
35
80×80
(Shaft end specifications with key and tap)
4-
φ
6
φ
90±0.2
35
25
22
6h9
M5 (depth 10)
2
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
750 W (with Brake)
R88M-K75030H-B (S2)
R88M-K75030T-B (S2)
INC
ABS
Encoder connector
Brake connector
Motor connector
148.2
122.2
35
8 3
80×80
(Shaft end specifications with key and tap)
4-
φ
6
φ
90±0.2
35
25
22
6h9
M5 (depth 10)
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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2-4 External and Mounting Dimensions
2
1 kW/1.5 kW/2 kW (without Brake)
R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2)
R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2)
INC
ABS
1 kW/1.5 kW/2 kW (with Brake)
R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (-S2)
R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (-S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
55
100×100
10 3
(Shaft end specifications with key and tap)
4-
φ
9
φ 135
55
45
42
M3, through
6h9
φ
115
M5 (depth 12)
Dimensions (mm)
Model
R88M-K1K030@
R88M-K1K530@
R88M-K2K030@
R88M-K1K030@-B@
R88M-K1K530@-B@
R88M-K2K030@-B@
LL
141
159.5
178.5
168
186.5
205.5
LM
97
115.5
134.5
124
142.5
161.5
KB1
66
84.5
103.5
66
84.5
103.5
KB2
119
137.5
156.5
146
164.5
183.5
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
3 kW (without Brake)
R88M-K3K030H (-S2)
R88M-K3K030T (-S2)
INC
ABS
3 kW (with Brake)
R88M-K3K030H-B (S2)
R88M-K3K030T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
112
55
12 3
120
×
120
(Shaft end specifications with key and tap)
4
−φ
9
φ 162
55
45
41
M3, through
8h9
2
φ
145
M5 (depth 12)
Model
R88M-K3K030 @
R88M-K3K030 @ -B @
LL
190
215
Dimensions (mm)
LM
146
171
KB2
168
193
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-36
2-4 External and Mounting Dimensions
2
4 kW/5 kW (without Brake)
R88M-K4K030H (-S2)/-K5K030H (-S2)
INC
R88M-K4K030T (-S2)/-K5K030T (-S2)
ABS
4 kW/5 kW (with Brake)
R88M-K4K030H-B (S2)/-K5K030H-B (S2)
INC
R88M-K4K030T-B (S2)/-K5K030T-B (S2)
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
65
12 6
ABS
130
×
130
(Shaft end specifications with key and tap)
4
−φ
9
φ
145
65
55
51
M3, through
8h9
φ
165
M8 (depth 20)
Model
R88M-K4K030 @
R88M-K5K030 @
R88M-K4K030 @ -B @
R88M-K5K030 @ -B @
LL
208
243
233
268
Dimensions (mm)
LM KB1
164
199
189
224
127
162
127
162
KB2
186
221
211
246
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
3,000-r/min Servomotors (400 V)
750 W/1 kW/1.5 kW/2 kW (without Brake)
R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2)
R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2)
INC
ABS
750 W/1 kW/1.5 kW/2 kW (with Brake)
R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (-S2)
R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (-S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
55
100×100
10 3
(Shaft end specifications with key and tap)
4-
φ
9
φ 135
55
45
42 M3, through
6h9
φ
115
M5 (depth 12)
2
Dimensions (mm)
Model
R88M-K75030@
R88M-K1K030@
R88M-K1K530@
R88M-K2K030@
R88M-K75030@-B@
R88M-K1K030@-B@
R88M-K1K530@-B@
R88M-K2K030@-B@
LL
131.5
141
159.5
178.5
158.5
168
186.5
205.5
LM
87.5
97
115.5
134.5
114.5
124
142.5
161.5
KB1
56.5
66
84.5
103.5
53.5
63
81.5
100.5
KB2
109.5
119
137.5
156.5
136.5
146
164.5
183.5
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-38
2-4 External and Mounting Dimensions
2
3 kW (without Brake)
R88M-K3K030F (-S2)
R88M-K3K030C (-S2)
INC
ABS
3 kW (with Brake)
R88M-K3K030F-B (S2)
R88M-K3K030C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
KB2
LM
112
55
12 3
0
120
×
120
(Shaft end specifications with key and tap)
4-
φ
9
φ
162
55
45
41
M3, through
8h9
φ
145
M5 (depth 12)
Model
R88M-K3K030 @
R88M-K3K030 @ -B @
LL
Dimensions (mm)
LM KB2
190
215
146
171
168
193
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2-39
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K030F (-S2)/-K5K030F (-S2)
R88M-K4K030C (-S2)/-K5K030C (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K030F-B (S2)/-K5K030F-B (S2)
R88M-K4K030C-B (S2)/-K5K030C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
65
130
×
130
12 6
(Shaft end specifications with key and tap)
4
−φ
9
φ
145
65
55
51
M3, through
8h9
φ
165
M8 (depth 20)
2
Model
R88M-K4K030 @
R88M-K5K030 @
R88M-K4K030 @ -B @
R88M-K5K030 @ -B @
LL
208
243
233
268
Dimensions (mm)
LM
164
KB1
127
199
189
224
162
127
162
KB2
186
221
211
246
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-40
2-4 External and Mounting Dimensions
2
2,000-r/min Servomotors (200 V)
1 kW/1.5 kW/2 kW/3 kW (without Brake)
R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2)
R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)
INC
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2)
R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12
LR
6
130
×
130
4
−φ
9
φ
145
(Shaft end specifications with key and tap)
LR
45 (1.0 to 2.0 kW)
55 (3.0 kW)
41 (1.0 to 2.0 kW)
51 (3.0 kW)
M3, through
8h9
φ
165
M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
Dimensions (mm)
Model
R88M-K1K020@
R88M-K1K520@
R88M-K2K020@
R88M-K3K020@
R88M-K1K020@-B@
R88M-K1K520@-B@
R88M-K2K020@-B@
R88M-K3K020@-B@
138
173
208
163
198
233
LL
155.5
180.5
55
55
55
65
55
55
55
65
LR LM
94
111.5
129
164
119
136.5
154
189
22
22
22
24
22
22
22
24
S KB1
60
77.5
95
127
60
77.5
95
127
KB2
116
133.5
151
186
141
158.5
176
211
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2-41
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K020H (-S2)/-K5K020H (-S2)
R88M-K4K020T (-S2)/-K5K020T (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K020H-B (S2)/-K5K020H-B (S2)
R88M-K4K020T-B (S2)/-K5K020T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
70
3.2
176
×
176
4
−φ
13.5
φ 233
(Shaft end specifications with key and tap)
70
55
50
M3, through
10h9
2
M12 (depth 25)
φ
200
Dimensions (mm)
Model
R88M-K4K020@
R88M-K5K020@
R88M-K4K020@-B@
R88M-K5K020@-B@
LL
177
196
202
221
LM
133
152
158
177
96
KB1
115
96
115
KB2
155
174
180
199
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-42
2-4 External and Mounting Dimensions
2
2,000-r/min Servomotors (400 V)
400 W/600 W (without Brake)
R88M-K40020F (-S2)/-K60020F (-S2)
R88M-K40020C (-S2)/-K60020C (-S2)
INC
ABS
400 W/600 W (with Brake)
R88M-K40020F-B (S2)/-K60020F-B (S2)
R88M-K40020C-B (S2)/-K60020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
55
100×100
10 3
(Shaft end specifications with key and tap)
4-
φ9
φ135
55
45
42
M3, through
6h9
φ115
M5 (depth 12)
Dimensions (mm)
Model
R88M-K40020@
R88M-K60020@
R88M-K40020@-B@
R88M-K60020@-B@
LL
131.5
141
158.5
168
LM
87.5
97
114.5
124
KB1
56.5
66
53.5
63
KB2
109.5
119
136.5
146
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2-43
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
1 kW/1.5 kW/2 kW/3 kW (without Brake)
R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2)
R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)
INC
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2)
R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12
LR
6
130
×
130
(Shaft end specifications with key and tap)
LR
4-
φ
9
45 (1 to 2 kW)
55 (3 kW)
41 (1 to 2 kW)
51 (3 kW)
M3, through
8h9
φ
145
φ
165
M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
2
Dimensions (mm)
Model
R88M-K1K020@
R88M-K1K520@
R88M-K2K020@
R88M-K3K020@
R88M-K1K020@-B@
R88M-K1K520@-B@
R88M-K2K020@-B@
R88M-K3K020@-B@
LL
138
155.5
173
208
163
180.5
198
233
55
55
55
65
55
55
55
65
LR LM
94
111.5
129
164
119
136.5
154
189
22
22
22
24
22
22
22
24
S KB1
57
74.5
92
127
60
77.5
95
127
KB2
116
133.5
151
186
141
158.5
176
211
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-44
2-4 External and Mounting Dimensions
2
4 kW/5 kW (without Brake)
R88M-K4K020F (-S2)/-K5K020F (-S2)
R88M-K4K020C (-S2)/-K5K020C (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K020F-B (S2)/-K5K020F-B (S2)
R88M-K4K020C-B (S2)/-K5K020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
70
3.2
176
×
176
(Shaft end specifications with key and tap)
4-
φ
13.5
70
55
50
M3, through
φ 233
10h9
φ
200
M12
(depth 25)
Dimensions (mm)
Model
R88M-K4K020@
R88M-K5K020@
R88M-K4K020@-B@
R88M-K5K020@-B@
177
196
202
221
LL LM
133
152
158
177
KB1
96
115
96
115
KB2
155
174
180
199
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2-45
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
1,000-r/min Servomotors (200 V)
900 W (without Brake)
R88M-K90010H (-S2)
R88M-K90010T (-S2)
INC
ABS
900 W (with Brake)
R88M-K90010H-B (S2)
R88M-K90010T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
77.5
12 6
70
130×130
(Shaft end specifications with key and tap)
70
45
4-
φ
9
41
M3, through
8h9
φ
145
φ
165
M5 (depth 12)
2
Dimensions (mm)
Model
LL LM KB2
R88M-K90010@
R88M-K90010@-B@
155.5
180.5
111.5
136.5
133.5
158.5
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-46
2-4 External and Mounting Dimensions
2
2 kW/3 kW (without Brake)
R88M-K2K010H (-S2)/-K3K010H (-S2)
R88M-K2K010T (-S2)/-K3K010T (-S2)
INC
ABS
2 kW/3 kW (with Brake)
R88M-K2K010H-B (S2)/-K3K010H-B (S2)
R88M/-K2K010T-B (S2)/-K3K010T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
80
3.2
176
×
176
(Shaft end specifications with key and tap)
4
−φ
13.5
80
55
50
M3, through
φ 233 10h9
M12 (depth 25)
φ
200
Dimensions (mm)
Model
R88M-K2K010@
R88M-K3K010@
R88M-K2K010@-B@
R88M-K3K010@-B@
LL
163.5
209.5
188.5
234.5
LM
119.5
165.5
144.5
190.5
KB1
82.5
128.5
82.5
128.5
KB2
141.5
187.5
166.5
212.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2-47
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
1,000-r/min Servomotors (400 V)
900 W (without Brake)
R88M-K90010F (-S2)
R88M-K90010C (-S2)
INC
ABS
900 W (with Brake)
R88M-K90010F-B (S2)
R88M-K90010C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12 6
70
130×130
(Shaft end specifications with key and tap)
4-
φ9
70
45
41
M3, through
8h9
φ145
φ165
M5 (depth 12)
2
Dimensions (mm)
Model
LL LM KB1 KB2
R88M-K90010@
R88M-K90010@-B@
155.5
180.5
111.5
136.5
77.5
74.5
133.5
158.5
Note: The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-48
2-4 External and Mounting Dimensions
2
2 kW/3 kW (without Brake)
R88M-K2K010F (-S2)/-K3K010F (-S2)
R88M-K2K010C (-S2)/-K3K010C (-S2)
INC
ABS
2 kW/3 kW (with Brake)
R88M-K2K010F-B (S2)/-K3K010F-B (S2)
R88M-K2K010C-B (S2)/-K3K010C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
80
3.2
176
×
176
(Shaft end specifications with key and tap)
80
55
50
4
−φ
13.5
φ 233
M3, through
10h9
M12 (depth 25)
φ
200
Dimensions (mm)
Model
R88M-K2K010@
R88M-K3K010@
R88M-K2K010@-B@
R88M-K3K010@-B@
LL
163.5
209.5
188.5
234.5
LM
119.5
165.5
144.5
190.5
KB1
82.5
128.5
82.5
128.5
KB2
141.5
187.5
166.5
212.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
2-49
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-4 External and Mounting Dimensions
External Regeneration Resistor Dimensions
External Regeneration Resistor
R88A-RR08050S/-RR080100S
Thermal switch output
2
20 t1.2
6
500
R88A-RR22047S/-RR22047S1
Thermal switch output
104
122
130
20 t1.2
6
500
R88A-RR50020S
25 43
78
10
200
220
230
360
386
402
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
2-50
2
2-5 EMC Filter Dimensions
2-5 EMC Filter Dimensions
W
M2
Drive mounts
D
H
M1
Output flexes
Filter model
R88A-FIK102-RE 190
R88A-FIK104-RE 190
R88A-FIK107-RE 190
R88A-FIK114-RE 190
H
External dimensions
W D
42
57
64
86
44
30
35
35
R88A-FIK304-RE 190
R88A-FIK306-RE 245
R88A-FIK312-RE 290
86
94
130
40
40
45
180
180
180
235
280
180
180
Mount dimensions
M1 M2
20
30
40
60
60
60
100
2-51
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Specifications
This chapter 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.
3
3-1 Servo Drive Specifications ..........................................3-1
(Electronic Thermal Function)...................................3-31
3-3 Servomotor Specifications ........................................3-32
3-4 Cable and Connector Specifications ........................3-57
3-5 External Regeneration Resistor Specifications.......3-80
3-6 EMC Filter Specifications...........................................3-82
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
3-1 Servo Drive Specifications
Select a Servo Drive that matches the Servomotor to be used. Refer to Servo Drive and
3
General Specifications
Item
Ambient operating temperature and operating humidity
Storage ambient temperature and humidity
Operating and storage atmosphere
Vibration resistance
Specifications
0 to 55°C, 90% max. (with no condensation)
−20 to 65°C, 90% max. (with no condensation)
No corrosive gases
Insulation resistance
Dielectric strength
Protective structure
EC
Directives
EMC
Directive
Low Voltage
Directive
Machinery
Directive
UL standards
CSA standards
10 to 60 Hz and at an acceleration of 5.88 m/s
2 a resonance point)
or less (Not to be run continuously at
Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at
500 VDC)
Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at
50/60 Hz
Built into panel
EN 55011, EN 61000-6-2, IEC 61800-3
EN 61800-5-1
EN954-1 (Category 3), EN ISO 13849-1: 2008 (PLc,d), ISO 13849-1: 2006 (PLc,d),
EN61508 (SIL2), EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL 508C
CSA22.2 No. 14
Note 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note 2. Never perform dielectric strength or other megameter tests on the Servo Drive. Failure to follow this guideline may result in damaging the internal elements.
Note 3. Depending on the operating conditions, some Servo Drive parts will require maintenance. For details, refer to
3-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Characteristics
100-VAC Input Models
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Power supply voltage
Control circuit
Rated current
Heat value
*1
Power supply voltage
Heat value
*1
Control method
Inverter method
PWM frequency
Weight
Maximum applicable motor capacity
Applicable
Servomotor
3,000 r/min
INC
R88D-
KNA5L-ECT-R
1.2 A
0.4 KVA
1.7 A
11 W
6 W
R88D-
KN01L-ECT-R
1.7 A
R88D-
KN02L-ECT-R
2.5 A
4.3 A
21 W
R88D-
KN04L-ECT-R
4.6 A
0.9 KVA
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
All-digital servo
IGBT-driven PWM
12.0 kHz
Approx. 0.8 kg
50 W
Approx. 0.8 kg
100 W
6.0 kHz
Approx. 1.0 kg
200 W
Approx. 1.6 kg
400 W
K05030H
ABS
K05030T
2,000 r/min
1,000 r/min
ABS
ABS
*1. The heat value is given for rated operation.
−
−
0.4 KVA
2.6 A
16.6 W
6 W
K10030L
K10030S
−
−
0.5 KVA
6 W
K20030L
K20030S
−
−
7.6 A
25 W
6 W
K40030L
K40030S
−
−
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-2
3-1 Servo Drive Specifications
3
200-VAC Input Models
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Control circuit
Power supply voltage
Rated current
Heat value
*2
Power supply voltage
Heat value
*2
PWM frequency
Weight
R88D-
KN01H-
ECT-R
1.2 A
0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA
4.1/2.4 A*
1
6.6/3.6 A*
1
1.8 KVA
Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
1.6/0.9 A *
1
14.3/13.7 W *
1
6 W
R88D-
KN02H-
ECT-R
1.6 A
2.4/1.3 A*
1
23/19 W *
1
6 W
R88D-
KN04H-
ECT-R
2.6 A
30/22 W *
1
6 W
R88D-
KN08H-
ECT-R
4.1 A
30/35.5 W *
1
6 W
R88D-
KN10H-
ECT-R
5.9 A
R88D-
KN15H-
ECT-R
9.4 A
2.3KVA
9.1/5.2 A*
1
14.2/8.1 A
*
1
63/64 W *
1
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
8 W
104/93 W *
1
8 W
12.0 kHz
Approx.
0.8 kg
Approx.
0.8 kg
Approx.
1.0 kg
6.0 kHz
Approx.
1.6 kg
Approx.
1.8 kg
Approx.
1.8 kg
Maximum applicable motor capacity
Applicable
Servomotor
3,000 r/min
INC
ABS
100 W
K05030H
K10030H
K05030T
K10030T
200 W 400 W 750 W
K20030H K40030H K75030H
K20030T K40030T K75030T
1 kW
−
−
1.5 kW
K1K030H
K1K530H
K1K030T
K1K530T
2,000 r/min
INC
− − − − K1K020H K1K520H
ABS
− − − −
K1K020T K1K520T
1,000 r/min
INC
− − − − −
ABS
− − − − −
Control method
Inverter method
All-digital servo
IGBT-driven PWM
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.
K90010H
K90010T
3-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Power supply voltage
Rated current
Heat value
*1
Control circuit
PWM frequency
Power supply voltage
Heat value
*1
Weight
Maximum applicable motor capacity
Applicable
Servomotor
3,000-r/ min
2,000-r/ min
INC
ABS
INC
R88D-KN20H-
ECT-R
13.4 A
3.3 KVA
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
11.8 A
139 W
15.1 A
108 W
21.6 A
328 W
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
K2K020T
ABS
1,000-r/ min
INC
−
ABS
Control method
Inverter method
*1. The heat value is given for rated operation.
−
R88D-KN30H-
ECT-R
18.7 A
4.5 KVA
R88D-KN50H-
ECT-R
33.0 A
7.5 KVA
10 W
Approx. 2.7 kg
2 kW
K2K030H
K2K030T
K2K020H
10 W
6.0 kHz
Approx. 4.8 kg
3 kW
K3K030H
K3K030T
K3K020H
K3K020T
K2K010H
K2K010T
All-digital servo
IGBT-driven PWM
10 W
Approx. 4.8 kg
5 kW
K4K030H
K5K030H
K4K030T
K5K030T
K4K020H
K5K020H
K4K020T
K5K020T
K3K010H
K3K010T
K4K510T
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4
3-1 Servo Drive Specifications
3
400-VAC Input Models
Item
Continuous output current
(rms)
Input power supply
Main circuit
Control circuit
Power supply voltage
Rated current
Heat value
*1
Power supply voltage
Heat value
*1
PWM frequency
Weight
Maximum applicable motor capacity
Applicable Servomotor
3,000r/min
INC
R88D-
KN06F-
ECT-R
1.5 A
2.1 A
32.2 W
R88D-
KN10F-
ECT-R
2.9 A
2.8 A
48 W
R88D-
KN15F-
ECT-R
4.7 A
3.9 A
49 W
R88D-
KN20F-
ECT-R
6.7 A
5.9 A
65 W
24 VDC (20.4 to 27.6 V)
R88D-
KN30F-
ECT-R
9.4 A
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
7.6 A
108 W
R88D-
KN50F-
ECT-R
16.5 A
12.1 A
200 W
9.6 W 9.6 W 9.6 W 12 W 12 W 12 W
Approx. 1.9 kg
Approx. 1.9 kg
600 W 1 kW
6.0 kHz
Approx. 1.9 kg
Approx. 2.7 kg
1.5 kW 2 kW
Approx. 4.7 kg
Approx. 4.7 kg
3 kW 5 kW
K75030F
K1K030F
K1K530F
K2K030F K3K030F
K4K030F
K5K030F
ABS
K75030C
K1K030C
K1K530C
K2K030C K3K030C
K4K030C
K5K030C
2,000r/min
INC
ABS
K40020F
K60020F
K40020C
K60020C
K1K020F
K1K020C
K1K520F
K1K520C
K2K020F
K2K020C
K3K020F
K3K020C
K4K020F
K5K020F
K4K020C
K5K020C
1,000r/min
INC
K90010F K2K010F K3K010F
ABS
-
Control method
Inverter method
*1. The heat value is given for rated operation.
K90010C -
All-digital servo
IGBT-driven PWM
K2K010C K4K510C
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3-1 Servo Drive Specifications
EtherCAT Communications Specifications
Item
Communications standard
Physical layer
Connectors
Communications media
Communications distance
Process data
Mailbox (CoE)
Distributed clock
LED indicators
CiA402 Drive Profile
Specification
IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
100BASE-TX (IEEE802.3)
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Category 5 or higher (cable with double, aluminum tape and braided shielding) is recommended.
Distance between nodes: 100 m max.
Fixed PDO mapping
Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization in DC mode.
DC cycle: 250 µs, 500 µs, 1 ms, 2 ms, 4 ms
L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
Cyclic synchronous position mode
Touch probe function (Latch function)
Torque limit function
3
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3-1 Servo Drive Specifications
3
Main Circuit and Motor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R/
-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/
-KN10H-ECT-R/-KN15H-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KN@L-ECT-R
50 to 400 W: Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
200 to 400 W: 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz
R88D-KN@H-ECT-R
50 W to 1.5 kW: Single-phase: 200 to 240 VAC (170 to 264 V) 50/
60 Hz
100 W to 1.5 kW: 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz
Note: Single-phase should connect to L1 and L3.
R88D-KN@L-ECT-R : Single-phase 100 to 120 VAC (85 to 132 V)
50/60 Hz
R88D-KN@H-ECT-R : Single-phase 200 to 240 VAC (170 to 264
V) 50/60 Hz
Motor Connector Specifications (CNB)
Symbol Name Function
B2 terminals
Regeneration
Resistor connection
B3
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2. (R88D-KN08H-ECT-R/ KN10H-ECT-
R/ KN15H-ECT-R)
U Motor connection terminals
V
W
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
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3-1 Servo Drive Specifications
R88D-KN20H-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KN@H-ECT-R (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253
V) 50/60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Function
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
3
External Regeneration Resistor Connector Specifications (CNC)
Symbol Name Function
B2 terminals
Regeneration
Resistor connection
B3
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
NC Do not connect.
Precautions for Correct Use
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
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3-1 Servo Drive Specifications
R88D-KN30H-ECT-R/R88D-KN50H-ECT-R
Main Circuit Terminal Block Specifications
Symbol Name Function
L1
L2
L3
Main circuit power supply input
R88D-KN@H-ECT-R (3 to 5 kW):
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
U
V
W
L1C
L2C
Control circuit power supply input
Motor connection terminals
R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253
V) 50/60 Hz
B2 terminals
Regeneration
Resistor connection
B3
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
NC Do not connect.
Phase U These are the output terminals to the Servomotor.
Phase V
Phase W
Be sure to wire them correctly.
Precautions for Correct Use
Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).
If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
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3-1 Servo Drive Specifications
R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
Name
Main circuit power supply input
Function
R88D-KN@F-ECT-R
600 W to 1.5 kW: 3-phase: 380 to 480 VAC (323 to 528 V)
50/60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Function
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
3
Control Circuit Connector Specifications (CNC)
Symbol Name
24 V Control circuit power
0 V supply input
24 VDC ± 15%
Function
External Regeneration Resistor Connector Specifications (CND)
Symbol Name Function
B2 terminals
Regeneration
Resistor connection
B3
NC
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
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3-1 Servo Drive Specifications
R88D-KN30F-ECT-R/R88D-KN50F-ECT-R
Main Circuit Terminal Block Specifications (TB1)
Symbol
24 V
0 V
Name
Control circuit power supply input
24 VDC ± 15%
Function
Main Circuit Terminal Block Specifications (TB2)
Symbol Name Function
NC
U
V
W
L1
L2
Main circuit power supply input
Motor connection terminals
R88D-KN@F-ECT-R (3 to 5 kW):
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
L3
B2 terminals
Regeneration
Resistor connection
B3
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
Precautions for Correct Use
Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).
If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
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3-1 Servo Drive Specifications
EtherCAT Communications Connector Specifications (RJ45)
The EtherCAT twisted-pair cable is connected to a shielded connector.
Electrical characteristics: Confirm to IEEE 802.3.
Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877)
Pin No. Signal name Abbreviation
1
2
3
4
Send data +
Send data −
Receive data +
Not used
TD+
TD−
RD+
−
5
6
Not used
Receive data −
−
RD−
7
8
Not used
Not used
−
−
Connector hood Protective ground FG
Direction
−
−
−
Output
Output
Input
−
−
Input
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3-1 Servo Drive Specifications
3
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
12 to 24 VDC +24 VIN 6
4.7 kΩ
General-purpose input 1
IN1
5
1 kΩ
4.7 kΩ
General-purpose input 2
IN2
7
1 kΩ
4.7 kΩ
General-purpose input 3 IN3
8
1 kΩ
4.7 kΩ
General-purpose input 4
IN4
9
1 kΩ
4.7 kΩ
General-purpose input 5
IN5
10
1 kΩ
4.7 kΩ
General-purpose input 6
IN6
11
1 kΩ
4.7 kΩ
General-purpose input 7
IN7
12
1 kΩ
4.7 kΩ
General-purpose input 8 IN8
13
1 kΩ
Backup battery
*1
BAT
14
BATGND
15
10 Ω
10 Ω
3
4
/ALM
Error output
ALMCOM
1
2
OUTM1
General-purpose output 1
OUTM1COM
Maximum service voltage:
30 VDC
Maximum output current:
50 mADC
10 Ω 25
26
OUTM2
General-purpose output 2
OUTM2COM
16
GND
Shell
FG
Frame ground
*1. A cable equipped with a battery is not required if a backup battery is connected.
Note 1. The input function of pins 5 and 7 to 13 are determined by object settings.
Note 2. The output function of pins 1, 2, 25 and 26 are determined by object settings.
Note 3. It is not necessary to wire input pins that are not being used.
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3-1 Servo Drive Specifications
Control I/O Signal Tables
CN1 Control Inputs
Pin number
6
5
7
8
9
10
11
12
13
14
15
Symbol
+24 VIN
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
BAT
BATGND
Signal
Control mode
Name Default
Power supply input 12 to 24 VDC. The positive input terminal of the external power supply (12 to 24 VDC) for sequence inputs
Generalpurpose Input 1
Generalpurpose Input 2
Generalpurpose Input 3
Immediate
Stop Input
Forward Drive
Prohibition
Input
Reverse Drive
Prohibition
Input
These are general-purpose inputs. The input functions can be selected with objects.
External Latch Signals 1 to 3 can be allocated only to IN5 to IN7 (or pins 10 to 12)
respectively. Refer to 7-1 Sequence I/O
on page 7-1 for the allocations.
Generalpurpose Input 4
Generalpurpose Input 5
Origin
Proximity Input
External Latch
Signal 3
Generalpurpose Input 6
Generalpurpose Input 7
Generalpurpose Input 8
Backup battery input
External Latch
Signal 2
External Latch
Signal 1
Monitor Input 0
ABS
Backup battery connection terminals when the absolute encoder power is interrupted.
(Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup.)
3
CN1 Control Outputs
Pin number
3
4
1
2
Symbol
Name
Signal
Default
Control mode
25
/ALM
ALMCOM
OUTM1
OUTM1COM
26 OUTM2COM
16
OUTM2
GND
Error Output
Generalpurpose
Output 1
Brake
Interlock
Output
Generalpurpose
Output 2
Signal Ground
Servo Ready
Output
The output turns OFF when an error occurs in the
Servo Drive.
These are general-purpose outputs. The output
functions can be selected with objects. Refer to 7-1
on page 7-1 for the allocations.
This is the signal ground.
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3-1 Servo Drive Specifications
3
CN1 Pin Arrangement
1
OUTM1
(BKIR)
General-purpose
Output 1 (Brake
Interlock Output)
2 OUTM1COM
General-purpose
Output 1 Common
14 BAT
Absolute
Encoder Backup
Battery Input
15 BATGND
Absolute
Encoder Backup
Battery Input
3 /ALM Error Output 16 GND
Signal Ground
5
7
9
11
13
IN1
(STOP)
IN2
(POT)
IN4
(DEC)
IN6
(EXT2)
IN8
(MONO)
4
General-purpose
Input 1 (Immediate
Stop Input)
6
General-purpose
Input 2 (Forward Drive
Prohibition Input)
8
General-purpose
Input 4 (Origin
Proximity Input)
10
General-purpose
Input 6 (External
Latch Input 2)
12
General-purpose
Input 8 (Monitor
Input 0)
ALMCOM
+24 VIN
IN3
(NOT)
IN5
(EXT3)
IN7
(EXT1)
Error Output
Common
18
12 to 24-VDC
Power
Supply Input
20
General-purpose
Input 3 (Reverse Drive
Prohibition Input)
22
General-purpose
Input 5 (External
Latch Input 3)
General-purpose
Input 7 (External
24
Latch Input 2)
26 OUTM2COM
*
*
*
*
General-purpose
Output 2 Common
17
19
21
23
25
OUTM2
(READY)
*
*
*
*
General-purpose
Output 2 (Servo
Ready Output)
Note: Do not connect anything to unused pins (those marked with *).
The input functions for general-purpose inputs 1 to 8 (or IN1 to IN8) and the output functions for general-purpose outputs (OUTM1 and OUTM2) are determined by the objects 3400 to 3407 hex (Input Signal Selection 1 to 8) and objects 3410 and 3411 hex (Output Signal Selection 1 and 2). The functions that are allocated by default
are given in parentheses. Refer to 7-1 Sequence I/O Signals on page 7-1 for the allocation.
To use an absolute encoder, connect a battery to pin 14 and 15, which is the backup battery input, or connect the battery to the holder of the absolute encoder cable. (Never connect to both.)
Connectors for CN1 (Pin 26)
Name
Plug
Cable Case
Model
10126-3000PE
10326-52A0-008
Manufacturer
Sumitomo 3M
OMRON model number
R88A-CNW01C
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3-1 Servo Drive Specifications
Control Input Circuits
External power supply
12 VDC ± 5% to
24 VDC ± 5%
Power supply capacity
50 mA or more
(per unit)
Signal level
ON level: 10 V or more
OFF level: 3 V or less
+24VIN 6
4.7 k
Ω
IN1
IN2
5
7
1.0 k
Ω
4.7 k
Ω
1.0 k
Ω
To another input circuit GND common To other input circuit
Photocoupler input
Photocoupler input
3
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3-1 Servo Drive Specifications
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Control Input Details
This is the detailed information about the CN1 connector input pins.
General-purpose Inputs (IN1 to IN8)
Pin 5: General-purpose Input 1 (IN1)
Pin 7: General-purpose Input 2 (IN2)
Pin 8: General-purpose Input 3 (IN3)
Pin 9: General-purpose Input 4 (IN4)
Pin 10: General-purpose Input 5 (IN5)
Pin 11: General-purpose Input 6 (IN6)
Pin 12: General-purpose Input 7 (IN7)
Pin 13: General-purpose Input 8 (IN8)
[Immediate Stop Input (STOP)]
[Forward Drive Prohibition Input (POT)]
[Reverse Drive Prohibition Input (NOT)]
[Origin Proximity Input (DEC)]
[External Latch Input 3 (EXT3)]
[External Latch Input 2 (EXT2)]
[External Latch Input 1 (EXT1)]
[Monitor Input 0 (MON0)]
Note: The functions that are allocated by default are given in brackets.
Refer to
on page 7-1 for the allocation procedures.
Immediate Stop Input (STOP)
STOP is used when an external sequence such as the host forcibly turns OFF the servo.
If the input is turned OFF during the Servomotor rotation, the dynamic brake makes a deceleration stop. After the motor stops, it remains in servo-free state.
If the Immediate Stop Input (STOP) turns ON when the motor is energized, an Immediate Stop
Input Error (Error No. 87.0) will occur.
This input is allocated to the pin 5 with the default setting.
Precautions for Safe Use
Turn OFF the Immediate Stop Input (STOP) at the same time when you turn OFF the main power. When the main power turns OFF due to an external immediate stop, the motor will continues to rotate due to residual voltage. This may cause human injuries or damages to the machine and devices.
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]
Forward Drive Prohibition Input (POT) and Reverse Drive Prohibition Input (NOT)
These two signals are the inputs to prohibit forward and reverse rotation (over-travel inputs).
When these terminals are shorted (factory setting), the Servo Drive can rotate in the specified direction.
In the drive prohibition state, Servomotor switches to servo lock state after a deceleration stop.
The maximum torque for a deceleration stop is the same as the maximum Servomotor torque.
In the drive prohibition state, the Servo Drive does not switch to an error state.
When the Drive Prohibition Input Selection (3504 hex) is set to 1, the operation at a drive prohibit input can be selected in the Stop Selection for Drive Prohibition Input (3505 hex).
If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error
No. 38.0) will occur when there is a drive prohibition input.
With the default settings, the Forward Drive Prohibition Input (POT) is allocated to pin 7, and the
Reverse Drive Prohibition Input (NOT) is allocated to pin 8.
Precautions for Correct Use
Both signals are disabled (in a state in which drive prohibition will not operation) in the default settings. If prohibiting the drive input is required, set the Drive Prohibit Input Selection (3504 hex) to either 0 or 2. The setting on the Input Signal Selection 1 to 10 (3400 to 3409 hex) can change the logic and allocation for the respective Input terminals (CN1 to 7 and 8).
3
Origin Proximity Input (DEC)
This is the deceleration signal for origin returns.
If the Origin Proximity Input turns ON while the Servomotor is traveling at the origin proximity input search speed, it will decelerate to the Speed during search for zero (6099 hex).
With the default settings, the Origin Proximity Input is assigned to pin 9.
External Latch Input Signals (EXT1, EXT2, and EXT3)
These are the external input signals to latch the actual value in the feedback pulse counter.
The encoder position data is obtained when the External Latch Input is turned ON.
With the default settings, External Latch Input 1 is allocated to pin 12, External Latch Input 2 to pin
11, and External Latch Input 3 to pin 10.
Precautions for Correct Use
The external latch inputs are detected by on the rising edge of the signal, but the minimal signal
ON and OFF widths must be 2 ms.
The external latch inputs can only be set to NO (normally open) contacts.
The external latch inputs can be allocated to pins 10 to 12 only.
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3-1 Servo Drive Specifications
Monitor Inputs (MON0, MON1, and MON2)
These are the general-purpose monitor inputs.
The general-purpose monitor inputs do not affect operation and can be monitored from the host controller.
With the default settings, MON0 is allocated to pin 13.
Forward External Torque Limit Input (PCL) and Reverse External Torque Limit Input
(NCL)
Turn ON these inputs to limit the torque to the value set in the Forward External Torque Limit (3525 hex) and the Reverse External Torque Limit (3526 hex).
While the input is ON, operation continues within the torque limit.
With the default settings, the inputs are not allocated.
Backup Battery Inputs (BAT)
Pin 14: Backup Battery + Input (BAT)
Pin 15: Backup Battery − Input (BATGND)
Function:
These are the backup battery connection terminals used when the absolute encoder power is interrupted.
If a battery is connected to the battery holder for the absolute encoder battery cable, do not connect anything to these terminals.
Precautions for Correct Use
Be sure not to connect to both of the absolute encoder battery cable and the backup battery inputs at the same time. Such connection may result in malfunction.
Control Output Circuits
Sequence Outputs
Servo Drive
10
Ω
+
-
X
Di
3-19
External power supply 12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50 mA max.
Di: Surge voltage prevention diode
*1
*1 When driving a relay directly with an output signal, always insert a diode as shown in the above figure.
Use high-speed diodes.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Control Output Details
Control Output Sequence
The chart below illustrates the timing of the command inputs after the control power supply is turned ON. Input the Servo ON/OFF operation, position, speed, and torque commands in the correct timing, as shown in the chart.
Control power supply
(L1C and L2C)
ON
OFF
Approx. 100 to 300 ms
Internal control power supply
ON
MPU operation
OFF
ON
Approx. 1.5 s
Iinitialization
*1
Approx. 3 s
Normal operation
OFF
0 s or more
Main circuit power supply
(L1, L2 and L3)
ON
OFF
Approx. 10 ms after initialization and main circuit ON
*2
Servo ready completed output
(READY)
ON
OFF
0 ms or more
Accepted
Servo ON accepted/rejected
Rejected
Approx. 2 ms
ON
Dynamic brake
*3
OFF
Approx. 60 ms
ON
Motor power supply
OFF
Approx. 4 ms
Brake interlock output (BKIR)
*4
ON
OFF
100 ms or more
*5
ON
Position, speed or torque command
OFF
*1. Once the internal control power is established, the protective function starts working about 1.5 s after the MPU starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive, especially the Forward/Reverse
Drive Prohibition Input (POT/NOT), the Origin Proximity Input (DEC), the external encoder input, are stable before the protective function starts working. The period can be extended by setting the Power Supply ON Initialization
Time (3618 hex).
*2. The Servo Ready Completed Output (READY) turns ON only when all of these conditions are met: MPU initialization is completed. The main power supply is established. No error exists. EtherCAT communications and servo are synchronized (phase alignment).
*3. The above timing chart applies when the servo ON signal is accepted as soon as doing so is enabled.
*4. The Brake Interlock Output (BKIR) turns ON either when a release request is received via servo controls or when a release request is received via EtherCAT communications.
*5. Although the servo ON operation is accepted in this section, it is not yet enabled.
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3-1 Servo Drive Specifications
Error Output (/ALM)
Pin 3: Error Output (/ALM)
Pin 4: Error Output Common (ALMCOM)
Function
This output is turned OFF when the drive detects an error.
This output is OFF when the power supply is turned ON, but turns ON when the drive's initial processing has been completed.
General-purpose Outputs (OUTM1 and OUTM2)
Pin 1: General-purpose Output 1 (OUTM1) − [Brake Interlock Output (BKIR)]
Pin 2: General-purpose Output 1 Common (OUTM1COM)
Pin 25: General-purpose Output 2 (OUTM2) − [Servo Ready Output (READY)]
Pin 26: General-purpose Output 2 Common (OUTM2COM)
Note: The functions that are allocated by default are given in brackets.
Refer to the description in Output Signals in 7-1 Sequence I/O Signals on page 7-1 for the
allocations.
Servo Ready Completed Output (READY)
This output signal indicates the Drive is ready to be energized.
It turns ON when no error is detected after the main circuit power supply turns ON.
With the default settings, the output is allocated to pins 25 and 26.
Brake Interlock Output (BKIR)
The Brake Interlock Output outputs the external brake timing signal according to the settings of the Brake Timing When Stopped (3437 hex), the Brake Timing During Operation (3438 hex), and the Brake Threshold Speed During Operation (3439 hex).
With the default settings, the output is allocated to pins 1 and 2.
Positioning Completion Output 2 (INP2)
INP2 will turn ON when the position error is equal to or less than Positioning Completion Range 2
(3442 hex).
With the default settings, the output is not allocated.
Torque Limit Output (TLIMT)
The output turns ON when the output torque reaches the limit set in the Positive torque limit value
(60E0 hex) or the Negative torque limit value (60E1 hex).
With the default settings, the output is not allocated.
3-21
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Zero Speed Detection Output (ZSP)
It turns ON when the motor rotation speed goes below the value set by the Zero Speed Detection
(3434 hex).
The output is effective both in forward and reverse directions regardless of the actual direction that the motor rotates.
The detection contains a hysteresis of 10 r/min.
With the default settings, the output is not allocated.
Forward direction
Speed
(3434 hex + 10) r/min
Zero Speed
Detection (ZSP)
Reverse direction
ON
(3434 hex - 10) r/min
3
Warning Outputs (WARN1 and WARN2)
The Warning Output 1 (WARN1) turns ON when the warning set by the Warning Output Selection
1 (3440 hex) is detected.
The Warning Output 2 (WARN2) turns ON when the warning set by the Warning Output Selection
2 (3441 hex) is detected.
With the default settings, the outputs are not allocated.
Error Clear Attribute Output (ALM-ATB)
This output turns ON when an error that can be reset occurs.
With the default settings, the output is not allocated.
Remote Outputs (R-OUT1 and R-OUT2)
Remote Output 1 (R-OUT1) turns ON and OFF according to the ON/OFF status of bit 16 in the
Digital outputs (60FE hex).
Remote Output 2 (R-OUT2) turns ON and OFF according to the ON/OFF status of bit 17 in the
Digital outputs (60FE hex).
These outputs are not assigned in the default settings.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-22
3-1 Servo Drive Specifications
3
Encoder Connector Specifications (CN2)
Pin No.
5
6
Shell
3
4
1
2
Symbol
E5V
E0V
BAT+
BAT−
PS+
PS−
FG
Name Function and interface
Encoder power supply +5 V Power supply output for the encoder
Encoder power supply GND
Battery +
Battery −
Backup power supply output for the absolute encoder
Encoder signal I/O (serial signal) Encoder + phase S input
Encoder − phase S input
Frame ground Frame ground
Connectors for CN2 (6 Pins)
Name
Drive connector
Cable connector
Model
53460-0629
55100-0670
Manufacturer
Molex Japan
OMRON model number
R88A-CNW01R
External Encoder Connector Specifications (CN4)
These are the specifications of the connector that connect with the external encoder.
Pin No.
1
2
8
9
6
7
3
4
5
10
Shell
Symbol
E5V
E0V
+EXS
−EXS
+EXA
−EXA
+EXB
−EXB
+EXZ
−EXZ
FG
Name Function and interface
External encoder power supply output
External encoder signal I/O
(serial signal)
Use at 5.2 V ± 5% and at or below 250 mA.
This is connected to the control circuit ground connected to connector CN1.
Perform serial signal input and output.
Perform input and output of phase A, B, and Z signals.
External encoder signal input
(phase A, B, and Z signals)
Frame ground Frame ground
Connectors for CN4 (10 Pins)
Name Model
MUF Connector MUF-PK10K-X
Manufacturer
JST Mfg. Co., Ltd.
OMRON model number
R88A-CNK41L
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Connection of External Encoder Input Signals and Processing of External
Signals
Serial number
E5V
External encoder power supply output
52 V
± 5%
E0V
250 mA max
+EXS
1
5 V
2
3
GND
−EXS
4
Phase A
Phase B
Phase Z
+EXA
−EXA
+EXB
−EXB
+EXZ
FG
5
6
7
8
9
−EXZ
10
2 k
Ω
120
Ω
2 k
Ω
2 k
Ω
120
Ω
2 k
Ω
2 k
Ω
120
Ω
2 k
Ω
Shell
20 k
Ω
20 k
Ω
20 k
Ω
20 k
20 k
20 k
Ω
Ω
Ω
PULS
PULS
PULS
FG
3
External Encoder Input Signal Table
External Encoder I/O (CN4)
Pin No.
Symbol
1
2
3
4
5
6
E5V
E0V
Name
External encoder power supply output
+EXS
External encoder signal serial interface
−EXS
+EXA
−EXA
External encoder signal
90° phase difference input
(Phases A, B and Z)
This is an external encoder serial bi-directional signal.
*1
(Conforms to EIA485)
Maximum response frequency: 400 Mpps
This is an external encoder 90 phase input signal.
multiplier)
Function and interface
External encoder power supply: 5.2 VDC ± 5%, 250 mA max.
If the above capacity is exceeded, provide a separate power supply.
*1
Maximum response frequency: 4 Mpps (quadruple
7
+EXB
EXA t1
8 −EXB t1
9 +EXZ
EXB t1 t2 t1 t1>0.25 μs
10
−EXZ t2>1.0 μs
Shell FG Frame ground Frame ground
*1 Connect external encoder signals to the serial interface (+EXS/−EXS) or 90° phase difference inputs according to the encoder type.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-24
3
3-1 Servo Drive Specifications
Example of Connection with External Encoder
90
° Phase Difference Input (3323 Hex = 0)
External encoder side
Power supply area
+5 V
0 V
E5V
Servo Drive side (CN4)
1
5 V
52 V
± 5% 250 mA max
E0V
2
GND
Phase A
Phase B
Phase Z
PA
/PA
PB
/PB
PC
/PC
FG
+EXA
+EXB
FG
5
−EXA
6
7
−EXB
8
+EXZ 9
−EXZ
10
2 k
Ω
120
Ω
2 k
Ω
2 k
Ω
120
Ω
2 k
Ω
2 k
Ω
120
Ω
2 k
Ω
Shell
20 k
Ω
20 k
Ω
20 k
Ω
20 k
Ω
20 k
Ω
20 k
Ω
FG
PULS
PULS
PULS
Serial Communications, Incremental Encoder Specifications (3323 Hex = 1)
Magnescale Incremental by Sony
Manufacturing Systems Corporation SR75/SR85
Servo Drive side (CN4)
E5V
1
5 V
E0V 2
GND
+EXS
3
-EXS
4
Serial signal
FG
FG
Shell
FG
3-25
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Serial Communications, Absolute Encoder Specifications (3323 Hex = 2)
Absolute encoder by
Mitutoyo Corporation
ABS ST771A/ST773A
Servo Drive side (CN4)
E5V
1
5 V
E0V 2
GND
+EXS
3
EXS
4
Serial signal
3 • 4 • 11
+5 V
1 • 2 • 13 GND
7 +
REQ/
+
SD
8
-REQ/
+
SD
Shell
FG
FG
Shell
FG
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-26
3-1 Servo Drive Specifications
3
Analog Monitor Connector Specifications (CN5)
Monitor Output Signal Table
Monitor Output (CN5)
3
4
5
6
Pin No.
Symbol
1
2
Name Function and interface
AM1
AM2
Analog monitor output 1 Outputs the analog signal for the monitor.
Default setting: Motor rotation speed 1 V/(1,000 r/min)
You can use objects 3416 hex and 3417 hex to change the item and unit.
You can use object 3421 hex to change the output method.
Analog monitor output 2 Outputs the analog signal for the monitor.
Default setting: Motor rotation speed 1 V/(1,000 r/min)
You can use objects 3418 hex and 3419 hex to change the item and unit.
You can use object 3421 hex to change the output method.
GND Analog monitor ground Ground for analog monitors 1, 2
−
−
−
Not used
Not used
Not used
Do not connect.
Do not connect.
Do not connect.
Connectors for CN5 (6 pins)
Name
Connector housing
Connector terminal
Model
51004-0600
50011-8000
Manufacturer
Molex Japan
Molex Japan
Monitor Output Circuit
Servo Drive
-
+
1 k
Ω
1/2 AM1/AM2
Monitor equipment
3 GND
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
USB Connector Specifications (CN7)
Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking error status and error history, and parameter saving and loading can be performed.
Pin No.
3
4
1
2
5
Symbol Name Function and interface
VBUS
D− USB signal terminal
Use this function for computer communication.
D+
−
Reserved for manufacturer use Do not connect.
SENGND Signal ground Signal ground
3
Precautions for Correct Use
Use a commercially available USB cable that is shielded, equipped with a ferrite core for noise immunity, and supports USB2.0.
The Mini B type USB cable can be used.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3-1 Servo Drive Specifications
3
Safety Connector Specifications (CN8)
Connection of Safety I/O Signals and Processing of External Signals
12 to 24 VDC
SF1+
SF1-
4
4.7 k
Ω
3
1 k
Ω
12 to 24 VDC
SF2+
SF2-
6
4.7 k
Ω
5
1 k
Ω
10
Ω
8
7
EDM+
Maximum service voltage:
30 VDC or less
Maximum output current:
50 mADC
EDM-
Leakage current: 0.1 mA max.
Residual voltage: 1.7 V max.
Shell
FG
3-29
Safety I/O Signal Table
Safety I/O (CN8)
Pin
No.
7
8
5
6
Shell
3
4
1
2
Symbol
Name
-
Reserved
SF1− Safety input 1
SF1+
SF2− Safety input 2
SF2+
EDM− EDM output
EDM+
FG Frame ground
Connector for CN8 (8 pins)
Name
Industrial Mini I/O Connector
(D-SHAPE1)
Model
2013595-1
Do not connect.
Function and interface
Inputs 1 and 2 for operating the STO function, which are
2 independent circuits. This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor.
A monitor signal is output to detect a safety function failure.
Connected to the ground terminal inside the Servo Drive.
Manufacturer
OMRON model number
Tyco Electronics AMP KK R88A-CNK81S
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-1 Servo Drive Specifications
Safety Input Circuits
Servo Drive
External power supply
12 VDC ± 5% to
24 VDC ± 5%
SF1+ 4
SF13
SF2+ 6
SF25
Signal level
ON level: 10 V min.
OFF level: 3 V max.
4.7 k
Ω
1.0 k
Ω
4.7 k
Ω
1.0 k
Ω
Photocoupler input
Photocoupler input
EDM Output Circuit
Servo Drive
10
Ω
8 +EDM
7 -EDM
X
Di
External power supply
12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50 mA max.
Leakage current: 0.1 mA max.
Residual voltage: 1.7 V max.
Di: Surge voltage prevention diode
(Use a high-speed diode.)
Note: When driving a relay directly with an output signal, always insert a diode as shown in the above figure.
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-30
3-2 Overload Characteristics (Electronic Thermal Function)
3-2 Overload Characteristics
(Electronic Thermal Function)
An overload protection function (electronic thermal) is built into the Servo Drive to protect the drive and motor from overloading. If an overload does occur, first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again.
If the error reset is repeated at short intervals, the motor windings may burn out.
3
Overload Characteristics Graphs
The following graphs show the characteristics of the load ratio and electronic thermal function's operation time.
Time [s]
100
10
[100 V, 200 V]
3,000-r/min Servomotors
50 W
100 W (100 V)
100 W (200 V)
200 W
400 W
750 W
1
0.1
115
100 150
Time [s]
100
200 250 300 Torque [%]
10
[200 V]
3,000-r/min Servomotors 1.0 kW to 1.5 kW
2,000-r/min Servomotors
1,000-r/min Servomotors
[400 V]
3,000-r/min Servomotors
2,000-r/min Servomotors
1,000-r/min Servomotors
1
0.1
115
100 150 200 250 300 Torque [%]
When the torque command = 0, and a constant torque command is continuously applied after
3 or more times the overload time constant has elapsed, the overload time t [s] is t [s] = −Overload time constant [s] × log e
(1 − Overload level [%] / Torque command [%])
2
(The overload time constant [s] depends on the motor. The standard overload level is 115%.)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
3-3 Servomotor Specifications
The following OMNUC G5-Series AC Servomotors are available.
3,000-r/min Servomotors
2,000-r/min Servomotors
1,000-r/min Servomotors
There are various options available, such as models with brakes, or different shaft types.
Select a Servomotor based on the mechanical system's load conditions and the installation environment.
General Specifications
Item
Protective structure
EC
Directives
EMC
Directive
Low
Voltage
Directive
UL standards
CSA standards
3,000-r/min Servomotors
UL1004-1
CSA22.2 No. 100
1,000-r/min Servomotors
2,000-r/min Servomotors
900 W to 15 kW
Ambient operating temperature and operating humidity
Storage ambient temperature and humidity
Operating and storage atmosphere
Vibration resistance *
1
50 to 750 W 1 to 5 kW
0 to 40°C, 20% to 85% (with no condensation)
−20 to 65°C, 20% to 85% (with no condensation)
Maximum temperature: 80°C for 72 hours
No corrosive gases
Impact resistance
Insulation resistance
Dielectric strength
Acceleration of 49 m/s
2
24.5 m/s
2
max. in X, Y, and Z directions when the motor is stopped
Acceleration of 98 m/s
2
max. 3 times each in X, Y, and Z directions
Between power terminal and FG terminal: 20 MΩ min. (at 500 VDC)
1,500 VAC between power terminal and FG terminal for 1 min (voltage 100 V, 200 V)
1,800 VAC between power terminal and FG terminal for 1 min (voltage 400 V)
1,000 VAC between brake terminal and FG terminal for 1 min
IP67 (except for through-shaft parts and motor and encoder connector pins)
EN 55011 class A group 1
EN 61000-6-2, IEC 61800-3 and IEC 61326-3-1
EN 60034
-
1/
-
5
3
*1. The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.
Note 1. Do not use the cable when it is laying in oil or water.
Note 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3-3 Servomotor Specifications
3
Characteristics
3,000-r/min Servomotors
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Unit
W
N • m r/min r/min Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
Rotor inertia Without brake
With brake
N • m
A (rms)
A (rms) kg • m
2 kg • m
2
Applicable load inertia
Torque constant *
1
Power rate
*
1
Without brake
With brake
−
N • m/A kW/s kW/s
Mechanical time constant
Without brake
With brake ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
N kg
With brake kg
Radiator plate dimensions (material) ms ms
N
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4
Power consumption (at
20°C)
Current consumption (at
20°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Insulation class kg • m
2
V
W
A
N • m ms ms
J
J rad/s
2
-
-
K05030H
K05030T
50
0.16
0.48
1.1
4.7
K10030L
K10030S
100
0.32
100 VAC
3,000
6,000
K20030L
K20030S
200
0.64
0.95
1.6
6.9
1.91
2.5
10.6
K40030L
K40030S
400
1.3
3.8
4.6
19.5
0.025×10
0.027×10
−4
−4
0.11±10%
10.1
9.4
1.43
0.051×10
−4
0.14×10
−4
0.054×10
−4
0.16×10
−4
30 times the rotor inertia max. *
2
0.14±10% 0.20±10%
19.8
18.7
1.03
28.9
25.3
0.61
0.26×10
0.28×10
57.8
0.48
−4
−4
0.21±10%
62.3
1.54
0.82
68
1.09
0.91
68
0.70
3.0
245
0.52
3.4
245
58
Approx. 0.31
KNA5L-ECT-R
2×10
−7
58
Approx. 0.45
Approx. 0.51
Approx. 0.65
100 × 80 × t10 (AI)
KN01L-ECT-R
2×10
−7
Approx. 0.78
Approx. 1.2
KN02L-ECT-R
24 VDC ± 10%
98
1.8×10
−6
98
Approx. 1.2
Approx. 1.6
130 × 120 × t12 (AI)
KN04L-ECT-R
1.8×10
−6
7 7 9 9
0.3
0.29 min.
35 max.
20 max.
0.3
0.36
0.29 min.
35 max.
20 max.
1.27 min.
50 max.
15 max.
1° (reference value)
0.36
1.27 min.
50 max.
20 max.
39.2
39.2
137 137
4.9×10
3
4.9×10
3
44.1×10
3
44.1×10
3
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
10 million times min.
Type B
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Unit
W
N • m r/min r/min Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
Rotor inertia Without brake
With brake
N • m
A (rms)
A (rms) kg • m
2
Applicable load inertia
Torque constant *
1
Power rate
*
1
Without brake
With brake kg • m
2
-
N • m/A kW/s kW/s
Mechanical time constant
Without brake
With brake ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
N kg
With brake kg
Radiator plate dimensions (material) ms ms
N
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4
Power consumption (at
20°C)
Current consumption (at
20°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Insulation class kg • m
2
V
W
A
N • m ms ms
J
J rad/s
2
-
-
K05030H
K05030T
50
0.16
0.48
1.1
4.7
K10030H
K10030T
100
0.32
200 VAC
K20030H
K20030T
200
0.64
3,000
6,000
0.95
1.1
4.7
1.91
1.5
6.5
K40030H
K40030T
400
1.3
3.8
2.4
10.2
0.025×10
0.027×10
−4
−4
0.11±10%
10.1
9.4
1.43
0.051×10
−4
0.14×10
−4
0.054 ×10
−4
0.16×10
−4
30 times the rotor inertia max.*
2
0.21±10% 0.32±10%
19.8
18.7
1.07
28.9
25.3
0.58
0.26×10
0.28×10
57.8
0.43
−4
−4
0.40±10%
62.3
1.54
0.82
68
1.13
0.90
68
0.66
3.2
245
0.46
3.4
245
58
Approx. 0.31
KN01H-ECT-R
2×10
−7
58
Approx. 0.46
Approx. 0.51
Approx. 0.66
100 × 80 × t10 (AI)
KN01H-ECT-R
2×10
−7
Approx. 0.79
Approx. 1.2
KN02H-ECT-R
24 VDC ± 10%
98
1.8×10
−6
98
Approx. 1.2
Approx. 1.6
130 × 120 × t12 (AI)
KN04H-ECT-R
1.8×10
−6
7 7 9 9
0.3
0.29 min.
35 max.
20 max.
0.3
0.36
0.29 min.
35 max.
20 max.
1.27 min.
50 max.
15 max.
1° (reference value)
0.36
1.27 min.
50 max.
15 max.
39.2
39.2
137 137
4.9×10
3
4.9×10
3
44.1×10
3
44.1×10
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
3
10 million times min.
Type B
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-34
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
Rotor inertia Without brake
With brake
Applicable load inertia
Unit
W
N • m r/min r/min
N • m
A (rms)
A (rms) kg • m
2 kg • m
2
-
Torque constant *
1
Power rate
*
1
Without brake
With brake
N • m/A kW/s kW/s
Mechanical time constant
Without brake
With brake ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
N kg
With brake kg
Radiator plate dimensions (material) ms ms
N
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4
Power consumption (at
20°C)
Current consumption (at
20°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Insulation class kg • m
V
W
A
N • m ms ms
J
J rad/s
-
-
2
2
K75030H
K75030T
750
2.4
6,000
7.1
4.1
17.4
0.87×10
−4
0.97×10
−4
20 times the rotor inertia max.
0.45±10%
65.4
58.7
0.37
0.42
5.3
490
196
Approx. 2.3
Approx. 3.1
170 × 160 × t12 (AI)
KN08H-ECT-R
0.33×10
−4
17
0.70±10%
2.5 min.
50 max.
15 max. *
6
392
4.9×10
5
Type B
200 VAC
K1K030H
K1K030T
1000
3.18
3,000
K1K530H
K1K530T
1500
4.77
5,000
9.55
6.6
28
14.3
8.2
35
2.03×10
−4
2.35×10
−4
2.84×10
3.17×10
15 times the rotor inertia max. *
2
−4
−4
0.37
49.8
0.45
80.1
43.0
0.61
71.8
0.49
0.71
5.8
490
0.55
6.3
490
196
Approx. 3.5
KN15H-ECT-R
0.33×10
−4
24 VDC ± 10%
196
Approx. 4.4
Approx. 4.5
Approx. 5.4
320 × 300 × t20 (AI)
KN15H-ECT-R
0.33×10
−4
19 19
0.81±10%
7.8 min.
50 max.
15 max. *
6
±1° (reference value)
392
4.9×10
5
10,000
10 million times min.
Type F
0.81±10%
7.8 min.
50 max.
15 max. *
6
392
4.9×10
-5
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Unit
W
N • m r/min r/min Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
Rotor inertia Without brake
With brake
N • m
A (rms)
A (rms) kg • m
2
Applicable load inertia
Torque constant *
1
Power rate
*
1
Without brake
With brake kg • m
2
-
N • m/A kW/s kW/s
Mechanical time constant
Without brake
With brake ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
N kg
With brake kg
Radiator plate dimensions (material) ms ms
N
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4
Power consumption (at
20°C)
Current consumption (at
20°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class kg • m
2
V
W
A
-
-
-
N • m ms ms
J
J rad/s
2
0.44
110
101
0.44
0.48
6.7
490
196
Approx. 5.3
Approx. 6.3
K2K030H
K2K030T
2000
6.37
19.1
11.3
48
5,000
K3K030H
K3K030T
3000
9.55
200 VAC
K4K030H
K4K030T
4000
12.7
3,000
4,500
28.6
18.1
77
38.2
19.6
83
3.68×10
−4
4.01×10
−4
KN20H-ECT-R
0.33×10
−4
19
6.50×10
−4
12.9×10
−4
7.85×10
−4
14.2×10
−4
30 times the rotor inertia max. *
2
0.41
0.49
140
116
126
114
0.41
0.51
0.49
11
490
0.56
12
784
196
Approx. 8.3
343
Approx. 11.0
Approx. 9.4
Approx. 12.6
380 × 350 × t30 (AI)
KN30H-ECT-R
0.33×10
−4
KN50H-ECT-R
1.35×10
24 VDC ± 10%
−4
19 22
0.81±10%
7.8 min.
50 max.
15 max. *
6
392
4.9×10
6
0.81±10% 0.90±10%
11.8 min.
80 max.
15 max. *
6
16.1 min.
110 max.
50 max. *
±1° (reference value)
7
392
4.9×10
6
1,470
2.2×10
6
10,000
10 million times min.
Continuous
Type F
K5K030H
K5K030T
5000
15.9
4,500
47.7
24.0
102
17.4×10
−4
18.6×10
−4
0.49
146
136
0.50
0.54
13
784
343
Approx. 14.0
Approx. 16.0
KN50H-ECT-R
1.35×10
−4
22
0.90±10%
16.1 min.
110 max.
50 max. *
7
1,470
2.2×10
6
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-36
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Unit
W
N • m r/min r/min
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake
With brake
Applicable load inertia
Torque constant *
1
*
Power rate
1
Without brake
With brake
A (rms) kg • m kg • m
-
2
N • m/A kW/s
2 kW/s
Mechanica l time constant
Weig ht
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Without brake
With brake ms ms ms
N
N kg kg
Radiator plate dimensions (material)
Applicable Servo Drives (R88D-)
K75030F
K75030C
750
2.39
7.16
2.4
10
1.61×10
1.93×10
-4
-4
0.78
35.5
29.6
0.67
0.8
5.9
490
196
Approx. 3.1
Approx. 4.1
KN10F-ECT-R
K1K030F
K1K030C
1000
3.18
400 VAC
K1K530F
K1K530C
1500
4.77
3,000
5,000
9.55
3.3
14
14.3
4.2
18
2.03×10
-4
2.84×10
-4
2.35×10
-4
3.17×10
-4
30 times the rotor inertia max. *
2
0.75
0.89
49.8
80.1
43
0.60
71.8
0.49
0.70
5.8
490
196
0.55
6.5
490
196
Approx. 3.5
Approx. 4.5
Approx. 4.4
Approx. 5.4
320 × 300 × t20 (AI)
KN15F-ECT-R KN15F-ECT-R
K2K030F
K2K030C
2000
6.37
19.1
5.7
24
3.68×10
-4
4.01×10
-4
0.87
110
101
0.45
0.49
6.6
490
196
Approx. 5.3
Approx. 6.3
KN20F-ECT-R
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Excitation voltage *
4
Power consumption
(at 20°C)
Current consumption
(at 20°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
Unit
kg • m
2
V
W
A
N • m ms ms
J
J rad/s
2
-
-
-
K75030F
K75030C
0.33×10
-4
17
0.70±10%
2.5 min.
50 max.
15 max. *
6
392
4.9×10
5
400 VAC
K1K030F K1K530F
K1K030C
0.33×10
-4
K1K530C
0.33×10
24 VDC ± 10%
-4
19 19
0.81±10% 0.81±10%
7.8 min.
50 max.
15 max. *
6
7.8 min.
50 max.
15 max. *
1° (reference value)
6
392
4.9×10
5
392
4.9×10
5
10,000
10 million times min.
Continuous
Type F
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
Rotor inertia
Without brake
With brake
Applicable load inertia
Torque constant *
1
*
Power rate
1
Without brake
With brake
Mechanica l time constant
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Unit
W
N • m r/min r/min
N • m
A (rms)
A (rms) kg • m
2 kg • m
2
-
N • m/A kW/s kW/s ms ms ms
N
K3K030F
K3K030C
3000
9.55
5,000
28.6
9.2
39
6.50×10
7.85×10
0.81
140
116
0.40
0.49
12
490
-4
-4
400 VAC
K4K030F
K4K030C
4000
12.7
3,000
38.2
9.9
42
4,500
12.9×10
-4
14.2×10
-4
30 times the rotor inertia max. *
2
0.98
126
114
0.51
0.56
13
784
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
K5K030F
K5K030C
5000
15.9
0.98
146
136
0.50
0.54
13
784
47.7
12.0
51
17.4×10
-4
18.6×10
-4
3-38
K2K030F
K2K030C
0.33×10
-4
19
0.81±10%
7.8 min.
50 max.
15 max. *
6
392
4.9×10
5
3
3
3-3 Servomotor Specifications
Model (R88M-)
Allowable thrust load *
Weig ht
Item
Without brake
With brake
3
Unit
N kg kg
Radiator plate dimensions (material)
Applicable Servo Drives (R88D-)
Brake inertia kg • m
2
Excitation voltage *
4
V
Power consumption
(at 20°C)
Current consumption
(at 20°C)
Static friction torque
Attraction time *
5
Release time *
5
W
A
N • m ms ms
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
-
-
-
J
J rad/s
2
K3K030F
K3K030C
196
Approx. 8.3
Approx. 9.4
KN30F-ECT-R
0.33×10
-4
19
0.81±10%
11.8 min.
80 max.
15 max. *
6
392
4.9×10
5
400 VAC
K4K030F
K4K030C
343
Approx. 11.0
Approx. 12.6
380 × 350 × t30 (AI)
KN50F-ECT-R
0.33×10
-4
24 VDC ± 10%
22
0.90±10%
16.1 min.
110 max.
50 max. *
7
1° (reference value)
1470
2.2×10
6
10,000
10 million times min.
Continuous
Type F
K5K030F
K5K030C
343
Approx. 14.0
Approx. 16.0
KN50F-ECT-R
1.35×10
-4
22
0.90±10%
16.1 min.
110 max.
50 max. *
7
1470
2.2×10
6
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
*1. These are the values when the motor is combined with a drive at normal temperature (20°C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
If the dynamic brake is activated frequently with high load inertia, the Dynamic Brake Resistor may burn. Do not repeatedly turn the servo ON/OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
*7. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
3
Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors
3,000-r/min Servomotors (100 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
• R88M-K05030H/T (50 W) • R88M-K10030L/S (100 W) • R88M-K20030L/S (200 W)
(N • m)
Power supply voltage dropped by 10%
0.48 (4000)
0.5 0.48
0.25
Momentary operation range
0.16 0.16
0
0.3
Continuous operation range
0.08
1000 2000 3000 4000 5000
6000
(r/min)
(N • m)
Power supply voltage dropped by 10%
0.95 (3700)
1.0 0.95
0.5
0
Momentary operation range
0.32
0.32
0.56
0.4
Continuous operation range
4300
0.16
1000 2000 3000 4000 5000
6000
(r/min)
(N • m)
2.0 1.91
1.0
0
1.91 (2600)
Power supply voltage dropped by 10%
Momentary operation range
0.64 0.64
Continuous operation range
3100
0.8
0.64
0.32
5000
6000
(r/min)
• R88M-K40030L/S (400 W)
(N • m)
4.0 3.8
3.8 (2600)
Power supply voltage dropped by 10%
2.0
0
Momentary operation range
1.3 1.3
1.7
1.3
Continuous operation range
3100
0.32
5000
6000
(r/min)
Note: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-40
3
3-3 Servomotor Specifications
3,000-r/min Servomotors (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K05030H/T (50 W)
(N • m)
0.5 0.48
Power supply voltage dropped by 10%
0.48 (4000)
0.25
Momentary operation range
0.16 0.16
0
0.3
Continuous operation range
0.08
1000 2000 3000 4000 5000
6000
(r/min)
• R88M-K10030H/T (100 W)
(N • m)
1.0 0.95
Power supply voltage dropped by 10%
0.95 (5000)
0.9
0.5
Momentary operation range
0.32
0.32
Continuous operation range
0.16
0 1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K20030H/T (200 W)
(N • m)
2.0 1.91
Power supply voltage dropped by 10%
(4000)
1.91 (4600)
Momentary operation range
1.0
0.64
0.64
Continuous operation range
0
1.3
1.1
0.32
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K40030H/T (400 W)
(N • m)
4.0 3.8
Power supply voltage dropped by 10%
(3100) 3.8 (3600)
2.0
0
Momentary operation range
1.3 1.3
2.0
1.7
0.64
Continuous operation range
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K75030H/T (750 W)
(N • m)
8.0 7.1
Power supply voltage dropped by 10%
(3200)
7.1 (3600)
4.0
0
Momentary operation range
2.4
2.4
Continuous operation range
3.4
3.0
0.60
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K1K030H/T (1 kW)
(N • m)
10 9.55
Power supply voltage dropped by 10%
(3800)
9.55 (4200)
5
Momentary operation range
3.18
3.18
Continuous operation range
0 1000 2000 3000 4000 5000
(r/min)
6.0
4.0
1.9
• R88M-K1K530H/T (1.5 kW)
(N • m)
Power supply voltage dropped by 10%
7.5
Momentary operation range
4.77
4.77
Continuous operation range
0
4.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K4K030H/T (400 W)
• R88M-K2K030H/T (2 kW)
(N • m)
Power supply voltage dropped by 10%
10
Momentary operation range
0
Continuous operation range
1000 2000 3000 4000
5000
(r/min)
• R88M-K3K030H/T (3 kW)
(N • m)
Power supply voltage dropped by 10%
(3100) 28.7(3400)
15
Momentary operation range
9.55
9.55
Continuous operation range
0
12.0
8.0
5.7
1000 2000 3000 4000 5000
(r/min)
• R88M-K5K030H/T (5 W)
(N • m)
30 28.6
0
Power supply voltage dropped by 10%
(3100) 28.7(3400)
15
Momentary operation range
9.55
9.55
Continuous operation range
12.0
8.0
5.7
(N • m)
40 38.2
(2800)
Momentary operation range
38.2(3100)
Power supply voltage dropped by 10%
20
12.7
12.7
10.0
Continuous operation range
1000 2000 3000 4000 5000
(r/min)
0 1000 2000 3000 4000 5000
(r/min)
Note: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
3-41
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
3,000-r/min Servomotors (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input.
• R88M-K75030F/C (750 W)
(N • m)
Power supply voltage dropped by 10%
4
Momentary operation range
0
Continuous operation range
1.6
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K030F/C (1 kW)
(N • m)
Power supply voltage dropped by 10%
(3800)
9.55 (4200)
5
Momentary operation range
3.18
3.18
Continuous operation range
0
6.0
4.0
1.9
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K530F/C (1.5 kW)
(N • m)
15 14.3
Power supply voltage dropped by 10%
(3200)
14.3 (3600)
Momentary operation range
7.5
4.77
4.77
Continuous operation range
0
4.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K2K030F/C (2 kW)
(N • m)
Power supply voltage dropped by 10%
(3300)
19.1(3700)
20 19.1
Momentary operation range
10
6.37
6.37
Continuous operation range
0
7.0
2.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K3K030F/C (3 kW)
(N • m)
30 28.6
Power supply voltage dropped by 10%
(3100)
28.7(3400)
15
0
Momentary operation range
9.55
9.55
Continuous operation range
12.0
8.0
5.7
1000 2000 3000 4000
5000
(r/min)
• R88M-K4K030F/C (4 kW)
(N • m)
40 38.2
Momentary operation range
38.2(3100)
Power supply voltage dropped by 10%
20
(2800)
12.7 12.7
10
Continuous operation range
0 1000 2000 3000 4000 5000
(r/min)
• R88M-K5K030F/C (5 kW)
(N • m)
50 47.7 47.7(3200)
Power supply
Momentary operation range voltage dropped by 10%
25
0
Continuous operation range
1000 2000 3000 4000 5000
(r/min)
Note: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-42
3-3 Servomotor Specifications
3
Precautions for Correct Use
Use the following Servomotors in the ranges shown in the graphs below. Usage outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction.
• R88M-K05030L/S/H/T
(50 W: With oil seal)
• R88M-K10030L/S/H/T
(100 W: With oil seal)
• R88M-K20030L/SH/T
(200 W: With oil seal)
Rated torque ratio [%]
100%
Without brake
With brake
75%
70%
Rated torque ratio [%]
100%
Without brake
With brake
75%
70%
Rated torque ratio [%]
100%
Without brake
With brake
80%
70%
0 10 20 30 40
Ambient temperature
[°C]
• R88M-K40030L/S/H/T
(400 W: Without oil seal)
Rated torque ratio [%]
100%
0 10
Ambient temperature
20 30 40
[°C]
• R88M-K40030L/S/H/T
(400 W: With oil seal)
With brake
90%
Rated torque ratio [%]
100%
With brake
75%
0 10 20 30 40
Ambient temperature
[°C]
• R88M-K1K530H/T/F/C
(1.5 kW)
Rated torque ratio [%]
100%
Without brake
With brake
85%
0 10 20 30 40
Ambient temperature
[°C]
• R88M-K2K030H/T/F/C
(2 kW)
0 10 20 30 40
Ambient temperature
[°C]
• R88M-K3K030H/T/F/C
(3 kW)
0
Ambient temperature
20 30 40
[°C]
10
• R88M-K4K030H/T/F/C
(4 kW)
Rated torque ratio [%]
100%
Without brake
With brake
85%
70%
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
0 10 20 30 40
Ambient temperature
[°C]
• R88M-K5K030H/T/F/C
(5 kW)
Rated torque ratio [%]
100%
With brake
70%
0 10 20 30 40
Ambient temperature
[°C]
0 10 20 30 40
Ambient temperature
[°C]
0 10 20 30 40
Ambient temperature
[°C]
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
2,000-r/min Servomotors
Model (R88M-)
K1K020H
200 VAC
K1K520H
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Unit
W
N • m r/min
Current consumption
(at 20°C)
A
Static friction torque N • m
Attraction time *
5
Release time *
5 ms ms
Backlash
Allowable work per braking
J
1,000
4.77
2,000
4.9 min.
K1K020T
80 max.
70 max. *
6
1 (reference value)
588
1,500
7.16
13.7 min.
100 max.
50 max. *
6
1,176
K1K520T
Maximum rotation speed r/min
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
3,000
14.3
5.7
21.5
*
Power rate
1
Without brake
9.4
Momentary maximum current *
1
Rotor inertia
Applicable load inertia
Torque constant *
1
-
A (rms)
Without brake kg • m
2
With brake kg • m
2
N • m/A
24
4.60×10
5.90×10
0.63
-4
-4
40
6.70×10
0.58
-4
7.99×10
-4
10 times the rotor inertia max. *
2 kW/s 49.5
76.5
38.6
0.80
64.2
0.66
Mechanica l time constant
Electrical time constant ms
Allowable radial load *
3
N
Allowable thrust load *
3
N
Weig ht
With brake kW/s
Without brake
Without brake
With brake ms
With brake ms kg kg
1.02
9.4
490
196
Approx. 5.2
Approx. 6.7
275 × 260 × t15 (AI)
0.80
10
490
196
Approx. 6.7
Approx. 8.2
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
Brake inertia kg • m
2
Excitation voltage *
4
V
Power consumption
(at 20°C)
W
KN10H-ECT-R
1.35×10
24 VDC ± 10%
14
-4
KN15H-ECT-R
1.35×10
19
-4
0.59±10% 0.79±10%
2,000
9.55
K2K020H
K2K020T
28.6
11.5
49
8.72×10
-4
10.0×10
-4
0.64
105
91.2
0.66
0.76
10
490
196
Approx. 8.0
Approx. 9.5
KN20H-ECT-R
1.35×10
-4
19
0.79±10%
13.7 min.
100 max.
50 max. *
6
1,176
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-44
3
3-3 Servomotor Specifications
Model (R88M-)
Item Unit
s Allowable total work
J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
-
-
-
7.8×10
5
10,000
K1K020H
K1K020T
10 million times min.
Continuous
Type F
200 VAC
K1K520H
1.5×10
6
K1K520T
1.5×10
6
K2K020H
K2K020T
Model (R88M-)
K3K020H
200 VAC
K4K020H
Item
Rated output *
Rated torque *
1
1
Unit
W
N • m
Rated rotation speed r/min
Maximum rotation speed r/min
3,000
14.3
2,000
3,000
K3K020T
4,000
19.1
K4K020T
Momentary maximum torque *
1
Rated current *
1
N • m 43.0
A (rms) 17.4
57.3
21.0
Momentary maximum current *
1
Rotor inertia
Applicable load inertia
Torque constant *
1
-
A (rms)
Without brake kg • m
2
With brake kg • m
2
N • m/A
74
12.9×10
14.2×10
0.59
-4
-4
89
37.6×10
0.70
-4
38.6×10
-4
10 times the rotor inertia max. *
2
159 97.1
*
Power rate
1
Without brake kW/s
With brake kW/s
Mechanica l time constant
Without brake ms
With brake ms
Electrical time constant ms
Allowable radial load *
3
N
Allowable thrust load *
3
N
Weig ht
Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
144
0.57
0.63
12
784
343
Approx. 11.0
Approx. 12.6
380 × 350 × t30 (AI)
KN30H-ECT-R
94.5
0.65
0.66
20
784
343
Approx. 15.5
Approx. 18.7
470 × 440 × t30 (AI)
KN50H-ECT-R
5,000
23.9
K5K020H
K5K020T
KN50H-ECT-R
71.6
25.9
110
48.0×10
-4
48.8×10
-4
0.70
119
117
0.63
0.64
19
784
343
Approx. 18.6
Approx. 21.8
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Model (R88M-)
Item
kg • m
V
W
Unit
Brake inertia
Excitation voltage *
4
Power consumption
(at 20°C)
Current consumption
(at 20°C)
A
Static friction torque N • m
Attraction time *
5 ms
Release time *
5 ms
Backlash
Allowable work per braking
J
2
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
16.2 min.
110 max.
50 max. *
6
1 (reference value)
1470
2.2×10
10,000
6
K3K020H
K3K020T
1.35×10
-4
24 VDC ± 10%
22
0.90±10%
10 million times min.
Continuous
Type F
200 VAC
K4K020H
K4K020T
4.7×10
-4
31
1.3±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9×10
6
K5K020H
K5K020T
4.7×10
-4
31
1.3±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9×10
6
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-46
3-3 Servomotor Specifications
3
Model (R88M-)
Item Unit
Rated output *
1
Rated torque *
1
Rated rotation speed
Maximum rotation speed
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
Rotor inertia Without brake
With brake
W
N • m r/min r/min
N • m
A (rms)
A (rms) kg • m
2
Applicable load inertia
Torque constant *
1
Power rate
*
1
Without brake
With brake
Mechanical time constant
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
With brake
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Insulation class kg • m
2
-
N • m/A kW/s kW/s ms
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
2
V
Power consumption (at
20°C)
Current consumption (at
20°C)
W
A ms ms
N
N kg kg
N • m ms ms
J
J rad/s
-
-
2
K40020F
K40020C
400
1.91
5.73
1.2
4.9
K60020F
K60020C
600
2.86
400 VAC
K1K020F
K1K020C
1,000
4.77
2,000
3,000
8.59
1.5
6.5
14.3
2.8
12
K1K520F
K1K520C
1,500
7.16
21.5
4.7
20
1.61×10
1.90×10
1.27
22.7
19.2
0.70
−4
−4
2.03×10
−4
4.60×10
−4
2.35×10
−4
5.90×10
−4
10 times the rotor inertia max. *
2
1.38
1.27
40.3
34.8
0.62
49.5
38.6
0.79
6.70×10
7.99×10
1.16
76.5
64.2
0.66
−4
−4
0.83
5.7
490
196
Approx. 3.1
Approx. 4.1
0.72
5.9
490
196
Approx. 3.5
Approx. 4.5
1.01
10
490
196
Approx. 5.2
Approx. 6.7
0.79
10
490
196
Approx. 6.7
Approx. 8.2
320 × 300 × t20 (AI)
KN06F-ECT-R
1.35×10
−4
KN06F-ECT-R
1.35×10
−4
24 VDC ± 10%
275 × 260 × t15 (AI)
KN10F-ECT-R
1.35×10
−4
KN15F-ECT-R
1.35×10
−4
17 17 14 19
0.70±10%
2.5 min.
50 max.
15 max. *
7
392
4.9×10
5
0.70±10% 0.59±10%
2.5 min.
50 max.
15 max. *
7
4.9 min.
80 max.
70 max. *
6
1° (reference value)
392
4.9×10
5
588
7.8×10
5
10,000
10 million times min.
Type F
0.79±10%
13.7 min.
100 max.
50 max. *
6
1176
1.5×10
6
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
K2K020F K3K020F
Item Unit
Rated output *
1
Rated torque *
1
Rated rotation speed
W
N • m r/min
Maximum rotation speed r/min
K2K020C
2,000
9.55
2,000
3,000
3,000
14.3
K3K020C
Momentary maximum torque *
1
Rated current *
1
N • m 28.7
A (rms) 5.9
43.0
8.7
Momentary maximum current *
1
Rotor inertia
Applicable load inertia
Torque constant *
1
-
A (rms)
Without brake kg • m
2
With brake kg • m
2
N • m/A
25
8.72×10
10.0×10
1.27
-4
-4
37
12.9×10
1.18
-4
14.2×10
-4
10 times the rotor inertia max. *
2
*
Power rate
1
Without brake kW/s 105 159
91.2
0.68
144
0.56
Mechanica l time constant
With brake kW/s
Without brake ms
With brake ms
Electrical time constant ms
Allowable radial load *
3
N
Allowable thrust load *
3
N
0.78
10
490
196
0.61
12
784
343
Weig ht
Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
Approx. 8.0
Approx. 9.5
275 × 260 × t15
(AI)
KN20F-ECT-R
Approx. 11.0
Approx. 12.6
380 × 350 × t30
(AI)
KN30F-ECT-R
19.1
57.3
10.6
45
37.6×10
38.6×10
1.40
97.1
94.5
0.60
0.61
21
784
343
K4K020F
K4K020C
4,000
-4
-4
KN50F-ECT-R
K5K020F
5,000
23.9
71.6
13.0
55
1.46
119
117
0.60
0.61
19
784
343
K5K020C
48.0×10
48.8×10
-4
-4
Approx. 15.5
Approx. 18.7
470 × 440 × t30 (AI)
Approx. 18.6
Approx. 21.8
KN50F-ECT-R
3
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3-48
3
3-3 Servomotor Specifications
Model (R88M-)
Item
kg • m
V
W
Unit
Brake inertia
Excitation voltage *
4
Power consumption
(at 20°C)
Current consumption
(at 20°C)
A
Static friction torque N • m
Attraction time *
5
Release time *
5 ms ms
Backlash
2
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit -
Rating
Insulation class -
-
K2K020F
K2K020C
1.35×10
24 VDC ± 10%
19
1176
1.5×10
10,000
6
-4
0.79±10%
13.7 min.
100 max.
50 max. *
6
1 (reference value)
K3K020F
K3K020C
1.35×10
22
0.90±10%
16.2 min.
110 max.
50 max. *
6
1470
2.2×10
6
-4
400 VAC
31
K4K020F
K4K020C
4.7×10
-4
1.3±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9×10
6
K5K020F
K5K020C
4.7×10
-4
31
1.3±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9×10
6
10 million times min.
Continuous
Type F
*1. These are the values when the motor is combined with a drive at normal temperature (20°C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
If the dynamic brake is activated frequently with high load inertia, the Dynamic Brake Resistor may burn. Do not repeatedly turn the servo ON/OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
*7. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Torque-Rotation Speed Characteristics for 2,000-r/min Motors
2,000-r/min Servomotors (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K1K020H/T (1 kW) • R88M-K1K520H/T (1.5 kW) • R88M-K2K020H/T (2 kW)
(N • m)
15 14.3
Power supply voltage dropped by 10%
(2000)
14.3 (2200)
10
Momentary operation range
5
4.77
4.77
Continuous operation range
0 1000 2000
6.0
4.0
3.2
3000
(r/min)
(N • m)
21.5
Power supply voltage dropped by 10%
(2000)
21.5 (2300)
20
Momentary operation range
10
7.16
7.16
Continuous operation range
10.0
6.0
4.8
0 1000 2000 3000
(r/min)
(N • m)
30 28.6
15
0
9.55
Continuous operation range
1000
(2000)
Momentary operation range
9.55
2000
28.6(2200)
Power supply voltage dropped by 10%
15.0
11.0
6.4
3000 (r/min)
• R88M-K3K020H/T (3 kW) • R88M-K4K020H/T (4 kW) • R88M-K5K020H/T (5 kW)
(N • m)
(N • m)
(N • m)
50 43.0
25
0
Power supply voltage dropped by 10%
(2200) 43.0(2400)
50
57.3
(1900)
Momentary operation range
57.3(2100)
Power supply voltage dropped by 10%
70
71.6
(1900) 71.6(2100)
Momentary operation range
Power supply voltage dropped by 10%
Momentary operation range
14.3
14.3
28.0
20.0
25
19.1
19.1
25.0
35
23.9
23.9
20.0
Continuous operation range
9.5
Continuous operation range
13.0
Continuous operation range
3.0
1000 2000 3000 (r/min)
0 1000 2000 3000 (r/min)
0 1000 2000 3000 (r/min)
Note: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
3
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3-50
3
3-3 Servomotor Specifications
2,000-r/min Servomotors (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input.
• R88M-K40020F/C (400 W) • R88M-K60020F/C (600 W) • R88M-K1K020F/C (1 kW)
(N • m)
6 5.73
Power supply voltage dropped by 10%
(2400) 5.73(2700)
(N • m)
10 8.59
Momentary operation range
3
1.91
1.91
Continuous operation range
0 1000 2000
3.5
2.0
1.3
3000 (r/min)
5
2.86
2.86
Continuous operation range
0
Momentary operation range
1000
Power supply voltage dropped by 10%
(2100)
2000
8.59(2400)
4.5
1.9
3000 (r/min)
(N • m)
15 14.3
10
(2000)
Momentary operation range
14.3(2200)
Power supply voltage dropped by 10%
5
4.77
4.77
Continuous operation range
6.0
4.0
3.2
0 1000 2000 3000 (r/min)
• R88M-K1K520F/C (1.5 kW) • R88M-K2K020F/C (2 kW) • R88M-K3K020F/C (3 kW)
(N • m)
21.5
Power supply voltage dropped by 10%
(2000) 21.5(2300)
20
Momentary operation range
10
7.16
7.16
Continuous operation range
10.0
6.0
4.8
0 1000 2000 3000 (r/min)
(N • m)
30 28.6
15
0
(2000)
Momentary operation range
9.55
Continuous operation range
1000
9.55
2000
28.6(2200)
Power supply voltage dropped by 10%
15.0
11.0
6.4
3000 (r/min)
(N • m)
50 43.0
25
0
Momentary operation range
14.3
14.3
Continuous operation range
1000
Power supply voltage dropped by 10%
(2200)
2000
43.0(2400)
28.0
20.0
9.5
3000 (r/min)
• R88M-K4K020F/C (4 kW) • R88M-K5K020F/C (5 kW)
(N • m)
50
57.3
(1900) 57.3(2100)
Power supply voltage dropped by 10%
Momentary operation range
25
19.1
19.1
25.0
13.0
Continuous operation range
0
(N • m)
70
71.6
(1900) 71.6(2100)
Momentary operation range
Power supply voltage dropped by 10%
35
23.9
23.9
Continuous operation range
20.0
3.0
1000 2000 3000 (r/min)
0 1000 2000 3000 (r/min)
Note: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction.
• R88M-K5K020H/T/F/C (5 kW)
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
0 10 20 30 40
Ambient temperature
[
°
C]
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
1,000-r/min Servomotors
Model (R88M-)
K90010H
200 VAC
K2K010H
Item
Rated output *
1
Rated torque *
1
Unit
W
N • m
Rated rotation speed r/min
Maximum rotation speed r/min
900
8.59
1,000
2,000
K90010T
2,000
19.1
K2K010T
Momentary maximum torque *
1
Rated current *
1
*
Power rate
1
Without brake
N • m 19.3
A (rms) 7.6
47.7
17.0
Momentary maximum current *
1
Rotor inertia
Applicable load inertia
Torque constant *
1
-
A (rms)
Without brake kg • m
2
With brake kg • m
2
N • m/A
24
6.70×10
7.99×10
0.86
-4
-4
60
30.3×10
0.88
-4
31.4×10
-4
10 times the rotor inertia max. *
2 kW/s 110 120
92.4
0.66
116
0.75
Mechanica l time constant
Electrical time constant ms
Allowable radial load *
3
N
Allowable thrust load *
3
N
Weig ht
With brake kW/s
Without brake
Without brake
With brake ms
With brake ms kg kg
0.78
11
686
196
Approx. 6.7
Approx. 8.2
270 × 260 × t15 (AI)
0.78
18
1176
490
Approx. 14.0
Approx. 17.5
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
Brake inertia kg • m
2
Excitation voltage *
4
V
W Power consumption
(at 20°C)
Current consumption
(at 20°C)
A
KN15H-ECT-R
1.35×10
-4
24 VDC ± 10%
19
0.79±10%
KN30H-ECT-R
4.7×10
31
-4
1.3±10%
Static friction torque N • m
Attraction time *
5 ms
Release time *
5 ms
Backlash
13.7 min.
100 max.
50 max. *
6
1 (reference value)
24.5 min.
80 max.
25 max. *
7
3,000
28.7
K3K010H
K3K010T
71.7
22.6
80
48.4×10
-4
49.2×10
-4
0.96
170
167
0.63
0.64
21
1470
490
Approx. 20.0
Approx. 23.5
KN50H-ECT-R
4.7×10
-4
34
1.4±10%
58.8 min.
150 max.
50 max. *
7
3
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3-3 Servomotor Specifications
3
Model (R88M-)
Item Unit
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
-
-
-
1176
1.5×10
6
10,000
K90010H
K90010T
10 million times min.
Continuous
Type F
1372
2.9×10
6
200 VAC
K2K010H
K2K010T
1372
2.9×10
6
K3K010H
K3K010T
Model (R88M-)
K90010F
400 VAC
K2K010F
Item
Rated output *
1
Rated torque *
1
Unit
W
N • m
Rated rotation speed r/min
Maximum rotation speed r/min
900
8.59
1,000
2,000
K90010C
2,000
19.1
K2K010C
Momentary maximum torque *
1
Rated current *
1
*
Power rate
1
Without brake
N • m 19.3
A (rms) 3.8
47.7
8.5
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake kg • m
2
Applicable load inertia -
A (rms) 12
6.70×10
7.99×10
-4
-4
30
30.3×10
-4
31.4×10
-4
10 times the rotor inertia max. *
2
Torque constant *
1
N • m/A 1.72
1.76
kW/s 110 120
92.4
0.66
116
0.76
Mechanica l time constant
Electrical time constant ms
Allowable radial load *
3
N
Allowable thrust load *
3
N
Weig ht
With brake kW/s
Without brake
Without brake
With brake ms
With brake ms kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
0.79
11
686
196
Approx. 6.7
Approx. 8.2
270 × 260 × t15 (AI)
KN15F-ECT-R
0.78
18
1176
490
Approx. 14.0
Approx. 17.5
470 × 440 × t30 (AI)
KN30F-ECT-R
3,000
28.7
K3K010F
K3K010C
KN50F-ECT-R
71.7
11.3
40
48.4×10
-4
49.2×10
-4
1.92
170
167
0.61
0.62
22
1470
490
Approx. 20.0
Approx. 23.5
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Model (R88M-)
K90010F
400 VAC
K2K010F K3K010F
Item
kg • m
V
W
Unit
Brake inertia
Excitation voltage *
4
Power consumption
(at 20°C)
Current consumption
(at 20°C)
A
Static friction torque N • m
Attraction time *
5 ms
Release time *
5 ms
2
Backlash
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
-
-
-
1.35×10
13.7 min.
100 max.
50 max. *
6
1 (reference value)
1176
-4
24 VDC ± 10%
19
K90010C
0.79±10%
1.5×10
10,000
6
4.7×10
31
K2K010C
-4
1.3±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9×10
6
4.7×10
34
K3K010C
-4
1.4±10%
58.8 min.
150 max.
50 max. *
7
1372
2.9×10
6
10 million times min.
Continuous
Type F
*1. These are the values when the motor is combined with a drive at normal temperature (20°C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
If the dynamic brake is activated frequently with high load inertia, the Dynamic Brake Resistor may burn. Do not repeatedly turn the servo ON/OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
*7. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-54
3
3-3 Servomotor Specifications
Torque-Rotation Speed Characteristics for 1,000-r/min Servomotors
1,000-r/min Servomotors (200/400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K90010H/T/F/C
(900 W)
• R88M-K2K010H/T/F/C
(2 kW)
• R88M-K3K010H/T/F/C
(3 kW)
(N • m)
20
19.3
Power supply voltage dropped by 10%
(1600)
10
Momentary operation range
8.59
8.59
Continuous operation range
19.3(1800)
14.0
8.0
4.3
0
(N • m)
50
25
47.7
(1400)
Momentary operation range
47.7(1600)
Power supply voltage dropped by 10%
28.0
19.1
19.1
18.0
Continuous operation range
9.6
(N • m)
70
71.7
(1400)
Momentary operation range
71.7(1600)
Power supply voltage dropped by 10%
35
28.7
28.7
40.0
Continuous operation range
20.0
14.0
1000 2000 (r/min)
0 1000 2000 (r/min)
0 1000 2000 (r/min)
Note: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Temperature Characteristics of the Motor and Mechanical System
OMNUC G5-Series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approx. −0.13%/
°
C.
As the temperature drops, the motor's momentary maximum torque increases, and as the temperature rises, the motor's momentary maximum torque decreases.
The momentary maximum torque rises by 4% at a normal temperature of 20
°
C compared to a temperature of −10
°
C. Conversely, the momentary maximum torque decreases about 8% when the magnet warms up to 80
°
C from the normal temperature.
Generally, when the temperature drops in a mechanical system, the friction torque and the load torque increase. For that reason, overloading may occur at low temperatures.
In particular, in systems that use a Decelerator, the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures.
Check whether overloading may occur during starting at low temperature.
Also check to see whether abnormal motor overheating or errors occur at high temperatures.
An increase in load friction torque seemingly increases load inertia.
Therefore, even if the drive gains are adjusted at a normal temperature, the motor may not operate properly at low temperatures. Check to see whether optimal operation can be obtained even at low temperatures.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-3 Servomotor Specifications
Encoder Specifications
Incremental Encoder Specifications
Item Specifications
Encoder system
Number of output pulses
Optical encoder
20 bits
Phases A and B: 262,144 pulses/rotation
Phase Z: 1 pulse/rotation
Power supply voltage 5 VDC ± 5%
Power supply current 180 mA (max.)
Output signal
Output interface
+S, −S
RS485 compliant
Absolute Encoder Specifications
Item Specifications
Encoder system Optical encoder
Number of output pulses
17 bits
Phases A and B: 32,768 pulses/rotation
Phase Z: 1 pulse/rotation
Maximum rotations
−32,768 to +32,767 rotations or 0 to 65,535 rotations
Power supply voltage
5 VDC ± 5%
Power supply current 110 mA (max.)
Applicable battery voltage
3.6 VDC
Current consumption of battery
265 µA (for a maximum of 5 s right after power interruption)
100 µA (for operation during power interruption)
3.6 µA (when power is supplied to the drive)
Output signal
Output interface
+S, −S
RS485 compliant
Note: Multi-rotation Data Backup
• The multi-rotation data will be lost if the battery cable connector is disconnected at the motor when connecting the battery cable for the absolute encoder and battery.
• The multi-rotation data will be lost if CN2 is disconnected when connecting the battery to CN1.
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3-4 Cable and Connector Specifications
3-4 Cable and Connector Specifications
3
Encoder Cable Specifications
These cables are used to connect the encoder between the Servo Drive and the Servomotor.
Select the cable matching the Servomotor. The cables listed are flexible, shielded and have
IP67 protection.
Encoder Cables (European Flexible Cables)
R88A-CRKA
@
CR-E
Cable types
(For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min
Servomotors of 50 to 750 W)
Model Length (L)
Outer diameter of sheath
R88A-CRKA001-5CR-E 1.5 m
R88A-CRKA003CR-E
R88A-CRKA005CR-E
3 m
5 m
R88A-CRKA010CR-E
R88A-CRKA015CR-E
R88A-CRKA020CR-E
10 m
15 m
20 m
6.9 dia.
Connection configuration and external dimensions
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
3
4
5
6
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
[Servo Drive side connector]
Connector model
55100-0670 (Molex Japan)
Cable
0.34 mm
2 ×
2C
+
0.22 mm
2 ×
2P or
AWG22
×
2C
+
AWG24
×
2P
Servomotor side
Number
6
3
Symbol
E5V
5
2
7
4
1
E0V
BAT
+
BAT
−
S
+
S
−
FG
[Servomotor side connector]
Angle clamp model
JN6FR07SM1 (Japan Aviation Electronics)
Connector pin model
LY10-C1-A1-1000 (Japan Aviation Electronics)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
R88A-CRKC
@
NR
Cable types
(For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min
Servomotors of 1 kW or more, [400 V] 3,000-r/min Servomotors, 2,000-r/min Servomotors and
1,000-r/min Servomotors)
Model Length (L)
Outer diameter of sheath
R88A-CRKC001-5NR-E 1.5 m
R88A-CRKC003NR-E
R88A-CRKC005NR-E
3 m
5 m
R88A-CRKC010NR-E
R88A-CRKC015NR-E
R88A-CRKC020NR-E
10 m
15 m
20 m
7.6 dia.
Connection configuration and external dimensions
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
3
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
[Servo Drive side connector]
Connector model
55100-0670 (Molex Japan)
Cable
1 mm
2
×
2C
+
0.22 mm
2
×
2P or
AWG17
×
2C
+
AWG24
×
2P
Servomotor side
Number
4
1
6
5
3
7
9
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
[Servomotor side connector]
Straight plug model
JN2DS10SL2-R (Japan Aviation Electronics)
Cable clamp model
JN1-22-22S-10000 (Japan Aviation Electronics)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3-4 Cable and Connector Specifications
3
Absolute Encoder Battery Cable Specifications
Use the following Cable when using an absolute encoder.
Cable Model
Model
R88A-CRGD0R3C 0.3 m
Length (L) Weight
Approx. 0.1 kg
Connection Configuration and External Dimensions
43.5
90±5
300
110
43.5
Servo Drive side
R88D-K @ t=12 t=27.2
Battery holder t=12
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
Battery holder
Symbol Number
BAT
+
BAT
−
1
2
Connector plug: 55100-0670 (Molex Japan)
Servomotor side
R88M-K @
Servomotor side
Number
1
2
3
4
5
6
Shell
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Connector socket:
54280-0609 (Molex Japan)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
Motor Power Cable Specifications
These cables connect the Servo Drive and the Servomotor. Select the cable matching the
Servomotor.
The cables listed are flexible, shielded and have IP67 protection.
Power Cables without Brakes (European Flexible Cables)
R88A-CAKA
@
SR-E
Cable types
[100 V and 200 V] (For 3,000-r/min Servomotors of 50 to 750 W)
Model Length (L)
Outer diameter of sheath
R88A-CAKA001-5SR-E 1.5 m
R88A-CAKA003SR-E
R88A-CAKA005SR-E
3 m
5 m
R88A-CAKA010SR-E
R88A-CAKA015SR-E
R88A-CAKA020SR-E
10 m
15 m
20 m
6.7 dia.
3
Connection configuration and external dimensions
(50) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
M4 crimp terminal
Red
White
Blue
Green/Yellow
Cable
0.5 mm
2 ×
4C or AWG20
×
4C
Servomotor side
Number Symbol
3
4
1
2
Phase U
Phase V
Phase W
FG
[Servomotor side connector]
Angle plug model
JN8FT04SJ1 (Japan Aviation Electronics)
Connector pin model
ST-TMH-S-C1B-3500-A534G (Japan Aviation Electronics)
Note: For servomotors with brake a separate cable R88A-CAKA@@@BR-E is needed.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3
3-4 Cable and Connector Specifications
R88A-CAGB
@
SR-E
Cable types
200 V:
(For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min
Servomotors of 900 W)
400 V:
(For 3,000-r/min Servomotors of 750W to 2 kW, 2,000-r/min Servomotors of 400 W to 2 kW,
1,000-r/min Servomotors of 900 W)
Model Length (L)
Outer diameter of sheath
R88A-CAGB001-5SR-E 1.5 m
R88A-CAGB003SR-E
R88A-CAGB005SR-E
3 m
5 m
R88A-CAGB010SR-E
R88A-CAGB015SR-E
R88A-CAGB020SR-E
10 m
15 m
20 m
12.7 dia.
Connection configuration and external dimensions
(70)
L
Servo Drive side
R88D-K
@
Servomotor side
R88M-K
@
Wiring
Servo Drive side
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
Cable
2.5 mm
2
×
4C or AWG14
×
4C
Servomotor side
Number Symbol
A
B
Phase U
Phase V
C
D
Phase W
FG
[Servomotor side connector]
Right angle plug model
N/MS3108B20-4S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
R88A-CAGD
@
SR-E
Cable types
(For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min
Servomotors of 2 to 3 kW)
Model Length (L)
Outer diameter of sheath
R88A-CAGD001-5SR-E 1.5 m
R88A-CAGD003SR-E
R88A-CAGD005SR-E
3 m
5 m
R88A-CAGD010SR-E
R88A-CAGD015SR-E
R88A-CAGD020SR-E
10 m
15 m
20 m
13.2 dia.
3
Connection configuration and external dimensions
(70) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-1
Black-2
Black-3
Green/Yellow
M5 crimp terminal
Cable
4 mm
2
×
4C or AWG11
×
4C
Servomotor side
Number Symbol
A
B
Phase U
Phase V
C
D
Phase W
FG
[Servomotor side connector]
Right angle plug model
N/MS3108B22-22S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3
3-4 Cable and Connector Specifications
Power Cables with Brakes (European Flexible Cables)
R88A-CAGB @ BR-E
Cable types
200 V:
(For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min
Servomotors of 900 W)
Model Length (L)
Outer diameter of sheath
R88A-CAGB001-5BR-E 1.5 m
R88A-CAGB003BR-E 3 m
R88A-CAGB005BR-E
R88A-CAGB010BR-E
5 m
10 m
R88A-CAGB015BR-E
R88A-CAGB020BR-E
15 m
20 m
12.5 dia.
Connection configuration and external dimensions
(150)
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
2.5
2.5
2.5
2.5
Cable
2.5 mm
2
×
4C + 0.5 mm
2
×
2C
or
AWG14
×
4C + AWG20
×
2C
Servomotor side
Number Symbol
G
H
Brake
Brake
A
F
I
NC
Phase U
Phase V
B
E
D
C
Phase W
FG
FG
NC
[Servomotor side connector]
Right angle plug model
N/MS3108B20-18S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
R88A-CAKF
@
BR-E
Cable types
400 V:
(For 3,000-r/min Servomotors of 750W to 2 kW, 2,000-r/min Servomotors of 400 W to 2 kW,
1,000-r/min Servomotors of 900 W)
Model Length (L)
Outer diameter of sheath
R88A-CAKF001-5BR-E 1.5 m
R88A-CAKF003BR-E
R88A-CAKF005BR-E
3 m
5 m
R88A-CAKF010BR-E
R88A-CAKF015BR-E
R88A-CAKF020BR-E
10 m
15 m
20 m
12.5 dia.
3
Connection configuration and external dimensions
(150)
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
2.5
2.5
2.5
2.5
Cable
2.5 mm
2 ×
4C + 0.5 mm
2 ×
2C
or
AWG14
×
4C + AWG20
×
2C
Servomotor side
Number Symbol
A Brake
F
G
H
B
I
D
E
C
Brake
NC
Phase U
Phase V
Phase W
FG
FG
NC
[Servomotor side connector]
Right angle plug model
N/MS3108B24-11S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-16A (Japan Aviation Electronics)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3
3-4 Cable and Connector Specifications
R88A-CAGD
@
BR-E
Cable types
(For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min
Servomotors of 2 to 3 kW)
Model Length (L)
Outer diameter of sheath
R88A-CAGD001-5BR-E 1.5 m
R88A-CAGD003BR-E
R88A-CAGD005BR-E
3 m
5 m
R88A-CAGD010BR-E
R88A-CAGD015BR-E
R88A-CAGD020BR-E
10 m
15 m
20 m
13.5 dia.
Connection configuration and external dimensions
(150)
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-5
Black-6
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
0.5
0.5
4
4
4
4
Servomotor side
Number Symbol
A
B
I
Brake
Brake
NC
D
E
F
G
H
C
Phase U
Phase V
Phase W
FG
FG
NC
Cable
4 mm
2
×
4C + 0.5 mm
2
×
2C
or
AWG11
×
4C + AWG20
×
2C
[Servomotor side connector]
Right angle plug model
N/MS3108B24-11S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-16A (Japan Aviation Electronics)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
Brake Cables (European Flexible Cables)
R88A-CAKA @ BR-E
Cable types
100 and 200 V:
(For 3,000-r/min Servomotors of 50 to 750 W)
Outer diameter of sheath
Model
R88A-CAKA001-5BR-E 1.5 m
R88A-CAKA003BR-E 3 m
R88A-CAKA005BR-E
R88A-CAKA010BR-E
5 m
10 m
R88A-CAKA015BR-E
R88A-CAKA020BR-E
15 m
20 m
Length (L)
6.0 dia.
Connection configuration and external dimensions
(50) L
Servo Drive side
R88D-K @
Wiring
Servo Drive side
Black-1
Black-2
0.5
0.5
Cable
0.5 mm
2
×
2C
or
AWG20
×
2C
Servomotor side
R88M-K @
Servomotor side
Number Symbol
1
2
Brake
Brake
[Servomotor side connector]
Connector model
JN4FT02SJ1-R (Japan Aviation Electronics)
Contact model
ST-TMH-S-C1B (Japan Aviation Electronics)
3
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3-4 Cable and Connector Specifications
3
Connector Specifications
Control I/O Connector (R88A-CNW01C)
This is the connector to be connected to the drive's control I/O connector (CN1).
Use this connector when preparing a control cable by yourself.
Dimensions
39
Connector plug model
10126-3000PE (Sumitomo 3M)
Connector case model
10326-52A0-008 (Sumitomo 3M) t = 18
Encoder Connectors
These connectors are used for encoder cables.
Use them when preparing an encoder cable by yourself.
Dimensions
R88A-CNW01R (Drive's CN2 side)
This connector is soldered.
Use the following cable.
Applicable wire: AWG16 max.
Insulating cover outer diameter: 2.1 mm dia. max.
Outer diameter of sheath: 6.7 ± 0.5 mm dia.
43.5
Connector plug model
55100-0670 (Molex Japan) t = 12
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
R88A-CNK02R (Servomotor side)
Use the following cable.
Applicable wire: AWG22 max.
Insulating cover outer diameter: 1.3 mm dia. max.
Outer diameter of sheath: 5 ± 0.5 mm dia.
Applicable motors
100-V, 3,000-r/min Servomotors of 50 to 400 W
200-V, 3,000-r/min Servomotors of 50 to 750 W
12.5
8
Angle plug direction can be reversed.
11
21.5
Angle plug model JN6FR07SM1
(Japan Aviation Electronics)
Connector pin model LY10-C1-A1-10000
(Japan Aviation Electronics)
R88A-CNK04R (Servomotor side)
Use the following cable.
Applicable wire: AWG20 max.
Outer diameter of sheath: 6.5 to 8.0 mm dia.
Applicable motors
200-V, 3,000-r/min Servomotors of 1.0 to 5.0 kW
200-V, 2,000-r/min Servomotors of all capacities
200-V, 1,000-r/min Servomotors of all capacities
400-V, 3,000-r/min Servomotors of all capacities
400-V, 2,000-r/min Servomotors of all capacities
400-V, 1,000-r/min Servomotors of all capacities
3
7
3 1
4
10
J A E
8
Straight plug model JN2DS10SL2-R
(Japan Aviation Electronics)
Contact model JN1-22-22S-R-PKG100
(Japan Aviation Electronics)
MAX
52
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3-68
3-4 Cable and Connector Specifications
Power Cable Connector (R88A-CNK11A)
This connector is used for power cables.
Use it when preparing a power cable by yourself.
R5.5
17.6
12
14.7
Angle plug direction can be reversed.
11
3
28.8
Angle plug model JN8FT04SJ1
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
Brake Cable Connector (R88A-CNK11B)
This connector is used for brake cables.
Use it when preparing a brake cable by yourself.
29.6
17
12.3
12.7
R6
Angle plug direction can be reversed.
R4
Angle plug model JN4FT02SM-R
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
EtherCAT Communications Cable Specifications
For the EtherCAT communications cable, use a cable with double, aluminum tape and braided shielding of category 5 or higher.
Precautions for Correct Use
The maximum length between nodes is 100 m. However, some cables are specified for less than 100 m. Generally speaking, if the conductors are twisted wire rather than solid wire, transmission performance will be lower, and reliable communications may not be possible at
100 m. Confirm details with the cable manufacturer.
Reference
If an Ethernet cable of category 5 or higher is used, communications will be possible even if the cable is not shielded. However, we recommend a cable with double, aluminum tape and braided shielding to ensure sufficient noise immunity.
3
Recommended Connector (Modular Plug)
Use a shielded connector of category 5 or higher.
Precautions for Correct Use
When selecting a connector, confirm that it is applicable to the cable that will be used. Confirm the following items: Conductor size, conductor type (solid wire or twisted wire), number of twisted pairs (2 or 4), outer diameter, etc.
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3
3-4 Cable and Connector Specifications
Attaching the Connectors to the Cable
Use straight wiring for the communications cable, as shown below.
Pin No.
1
2
5
6
3
4
7
8
Connector hood
Wire color
White-Green
Green
White-Orange
Blue
White-Blue
Orange
White-Brown
Brown
Shield
Wire color
White-Green
Green
White-Orange
Blue
White-Blue
Orange
White-Brown
Brown
Shield
Pin No.
1
2
5
6
3
4
7
8
Connector hood
Note 1: Connect the cable shield to the connector hood at both ends of the cable.
Note 2: There are two connection methods for Ethernet: T568A and T568B. The T568A connection method is shown above, but the T568B connection method can also be used.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
Wiring
This example shows how to connect a CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882
Position Control Unit to Servo Drives using EtherCAT Communications Cables.
Connect the EtherCAT master to the ECAT IN connector on the first Servo Drive. Connect the
ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo
Drive. Do not connect the ECAT OUT connector on the last Servo Drive.
Power
Supply Unit
CJ-series
CPU Unit
Position
Control Unit
L1 L2 Ln
3
Precautions for Correct Use
Always turn OFF the power supply to the Position Control Unit and Servo Drives before connecting or disconnecting the EtherCAT Communications Cables.
The cable between the two nodes (L1, L2 ... Ln) must be 100 m or less.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3-4 Cable and Connector Specifications
3
Analog Monitor Cable Specifications
Analog Monitor Cable (R88A-CMK001S)
Connection Configuration and External Dimensions
Symbol
SP
IM
GND
No.
1
2
3
4
5
6
Red
Black
White
Cable: AWG24 × 3C UL1007
Connector housing: 51004-0600 (Molex Japan)
Connector terminal: 50011-8100 (Molex Japan)
1,000 mm (1 m)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
External Encoder Connector (R88A-CNK41L)
Use this connector to connect to an external encoder in fully-closed control.
(42.5)
13.6
10.4
(10.5)
7.2
Connector plug model
MUF-PK10K-X (J.S.T. Mfg. Co., Ltd.)
Pin Arrangement
View from Inserted Portion View from Soldered Housing Surface
10 9 8 7 6 5 4 3 2 1
1
2
3
4
5
6
7
8
9
10
Safety I/O Signal Connector (R88A-CNK81S)
Use this connector to connect to a safety device.
11
33
φ6.7
Pin arrangement
8
7
Note: For information on wiring, refer to Safety Connector Specifications (CN8) in 3-1 Servo Drive
3
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3-4 Cable and Connector Specifications
3
Control Cable Specifications
Cables for Servo Drives (XW2Z-
@J-B34)
These cables connect to the connector terminal blocks on G5-series Servo Drives with Builtin EtherCAT Communications.
Cable Models
Model
XW2Z-100J-B34
XW2Z-200J-B34
Length (L)
1 m
2 m
Outer diameter of sheath
8.8 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and Dimensions
Connector-
Terminal Block
Conversion Unit side
XW2B-20G4
XW2B-20G5
XW2D-20G6
6 L 39
Servo Drive side
R88D- KN
@ t = 14
Wiring
Terminal block connector
Signal No.
+24 V
0 V
+24 V
0 V
3
4
1
2
+24 V
0 V
STOP
DEC
POT
NOT
EXT1
9
10
11
12
7
8
5
6
EXT2
EXT3
BATGND
BAT
BKIRCOM
BKIR
ALMCOM
ALM
FG
13
14
15
16
17
18
19
20
Servo Drive connector (CN1)
No.
6
Signal
+24 VIN
15
14
2
1
4
3
Shell
8
10
11
12
5
9
7
STOP
DEC
POT
NOT
EXT1
EXT2
EXT3
BATGND
BAT
BKIRCOM
BKIR
ALMCOM
ALM
FG
Servo Drive Connector
Connector plug:
10126-3000PE (Sumitomo 3M)
Connector case:
10326-52A0-008 (Sumitomo 3M)
Terminal Block Connector
Connector socket:
XG4M-2030 (OMRON)
Strain relief:
XG4T-2004 (OMRON)
Cable
AWG28 × 3P + AWG28 × 7C UL2464
* Before you use the Servo Drive, confirm that the signals of Servo Drive connector are set as shown above.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
Connector-Terminal Block Conversion Unit (XW2B-20G @)
The Unit is used with a Connector Terminal Block Cable (XW2Z-@J-B34). They convert the control input signal (CN1) of the G5-series Servo Drive into a terminal block.
Terminal Block Models
Model
XW2B-20G4
XW2B-20G5
XW2D-20G6
XW2B-20G4
Description
M3 screw terminal block
M3.5 screw terminal block
M3 screw terminal block
Dimensions
3
3.5
Flat cable connector (MIL type plug)
67.5
3.5
2
1
1
2
20
19
19
20
2-
φ
3.5
Terminal block
5.08
Precautions for Correct Use
Use 0.3 to 1.25 mm
2
wire (AWG22 to 16).
The wire inlet is 1.8 mm (height) × 2.5 mm (width).
Strip the insulation from the end of the wire for 6 mm as shown below.
6 mm
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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3
3-4 Cable and Connector Specifications
XW2B-20G5
2-
φ
3.5
Dimensions
3.5
7
1
2
2
1
112.5
20
19
Flat cable connector
(MIL type plug)
3.5
7
19
20
8.5
7.3
Terminal block
Note: The pitch of terminals is 8.5 mm.
Precautions for Correct Use
When using crimp terminals, use crimp terminals with the following dimensions.
Fork terminal
Round terminal
φ3.7 mm
6.8
mm max.
3.7 mm 6.8
mm max.
Applicable crimp terminals
Round terminals
Fork terminals
1.25 to 3
2 to 3.5
1.25Y to 3
2 to 3.5
Applicable wires
AWG22 to 16 (0.30 to 1.25 mm
2
)
AWG16 to 14 (1.25 to 2.0 mm
2
)
AWG22 to 16 (0.30 to 1.25 mm
2
)
AWG16 to 14 (1.25 to 2.0 mm
2
)
When connecting wires and crimp terminals to a terminal block, tighten them to a tightening torque of 0.59 N·m.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-4 Cable and Connector Specifications
XW2D-20G6
Dimensions
79
57
2-
φ4.5
(39.1)
17.6
3
39
Precautions for Correct Use
When using crimp terminals, use crimp terminals with the following dimensions.
Fork terminal Round terminal
φ3.2mm
5.8 mm max.
3.2 mm 5.8 mm max.
Applicable crimp terminals
Round terminals
Fork terminals
1.25 to 3
1.25Y to 3
Applicable wires
AWG22 to 16 (0.30 to 1.25 mm
2
)
AWG22 to 16 (0.30 to 1.25mm
2
)
When connecting wires and crimp terminals to a terminal block, tighten them to a tightening torque of 0.7 N·m.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-78
3
3-4 Cable and Connector Specifications
Terminal Block Wiring Example
The example is for the XW2B-20G4, XW2B-20G5, and XW2D-20G6.
+ 24 V
0 V
+ 24 V
0 V
+ 24 V
0 V
STOP
DEC
POT
NOT
EXT1 EXT3 BAT
*1
BKIR ALM
EXT2 BATGND BKIRCOM ALMCOM FG
*2
XB
*3
X1
24 VDC 24 VDC
*1. Assign the brake interlock output (BKIR) to pin CN1-1.
*2. This is the absolute encoder backup battery of 2.8 to 4.5 V. Secure the battery in place using cable clips with double-sided adhesive tape. Connect the battery to either the connector terminal block or the absolute encoder backup battery cable (with a battery). The absolute encoder backup battery is not required when the Servomotor is equipped with an incremental encoder.
*3. The XB contact is used to turn ON/OFF the electromagnetic brake.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-5 External Regeneration Resistor Specifications
3-5 External Regeneration Resistor
Specifications
External Regeneration Resistor Specifications
R88A-RR08050S
Model
R88A-
RR08050S
Resistance value
50 Ω
Nominal capacity
Regeneration absorption for
120
°C tempera-
ture rise
Heat radiation condition
80 W 20 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150°C ± 5%
NC contact
Rated output (resistive load)
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
3
R88A-RR080100S
Model
R88A-
RR080100S
Resistance value
100 Ω
Nominal capacity
Regeneration absorption for
120
°C tempera-
ture rise
Heat radiation condition
80 W 20 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150°C ± 5%
NC contact
Rated output (resistive load)
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
R88A-RR22047S
Model
R88A-
RR22047S
Resistance value
47 Ω
Nominal capacity
220 W
Regeneration absorption for
120
°C tempera-
ture rise
Heat radiation condition
70 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
170°C ± 7°C
NC contact
Rated output (resistive load)
250 VAC, 3 A max.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-80
3
3-5 External Regeneration Resistor Specifications
R88A-RR22047S1
Model
R88A-
RR22047S1
Resistance value
47 Ω
Nominal capacity
220 W
Regeneration absorption for
120
°C tempera-
ture rise
Heat radiation condition
70 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150°C ± 5%
NC contact
Rated output (resistive load)
250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
R88A-RR50020S
Model
R88A-
RR50020S
Resistance value
20 Ω
Nominal capacity
500 W
Regeneration absorption for
120
°C tempera-
ture rise
Heat radiation condition
180 W
Thermal switch output specifications
Aluminum
600 × 600,
Thickness: 3.0
Operating temperature:
200°C ± 7°C
NC contact
Rated output (resistive load): 250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-6 EMC Filter Specifications
3-6 EMC Filter Specifications
Specifications
Applicable servo drive
Filter model
R88D-KN01H-ECT-R R88A-FIK102-RE
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R R88A-FIK104-RE
R88D-KN08H-ECT-R R88A-FIK107-RE
R88D-KN10H-ECT-R R88A-FIK114-RE
R88D-KN15H-ECT-R
R88D-KN06F-ECT-R R88A-FIK304-RE
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R R88A-FIK306-RE
R88D-KN30F-ECT-R R88A-FIK312-RE
R88D-KN50F-ECT-R
Rated current
Leakage current
2.4 A
4.1 A
6.6 A
14.2 A
3.5 mA
Rated voltage
250 VAC singlephase
4 A
400 VAC singlephase
6 A
12 A
3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
3-82
System Design
This chapter explains the installation conditions, wiring methods (including wiring conforming to EMC Directives), and regenerative energy calculation methods for the Servo Drive and Servomotor. It also explains the performance of External
Regeneration Resistors.
4
4-1 Installation Conditions .................................................4-1
4-2 Wiring.............................................................................4-6
4-3 Wiring Conforming to EMC Directives......................4-21
4-4 Regenerative Energy Absorption..............................4-40
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-1 Installation Conditions
4-1 Installation Conditions
4
Servo Drive Installation Conditions
Space Conditions around Servo Drives
Install the Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drives and convection inside the panel. If the drives are installed side by side, install a fan for air circulation to prevent uneven temperatures inside the panel.
100 mm min.
Air
Fan Fan
40 mm min.
Drive
A
Drive
B
W W
W = 10 mm min.
Drive
C
100 mm min.
Air
Side of
Drive
Mounting Direction
Mount the drive perpendicular on the panel so that the model number reads normally.
Environment Operating Conditions
The environment in which drives are operated must meet the following conditions. Drives may malfunction if operated under any other conditions.
Ambient operating temperature: 0 to 55°C (Take into account the following temperature rises in the individual drives themselves.)
Operating humidity: 90% max. (with no condensation)
Operating atmosphere: No corrosive gases.
Altitude: 1,000 m max.
Drives of 100 V or 200 V with a capacity of 750 W max. can be installed side by side with a 1-mm clearance (W in above illustration). However, the specifications for operating ambient temperature depends on the drive.
Drive A: 0 to 50°C
Drive B: 0 to 40°C
Drive C: 0 to 45°C
4-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-1 Installation Conditions
Ambient Temperature Control
Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of reliability.
When the drive is installed in a closed space, such as a box, the ambient temperature may rise due to temperature rise in each unit. Use a fan or air conditioner to prevent the drive's ambient temperature from exceeding 55°C.
Drive surface temperatures may rise to as much as 30°C above the ambient temperature. Use heat-resistant materials for wiring, and provide a distance from any devices or wiring that are sensitive to heat.
The service life of a Servo Drive is largely determined by the ambient temperature around the internal electrolytic capacitors. When an electrolytic capacitor reaches its limit, electrostatic capacity drops and internal resistance increases. This leads to overvoltage errors, malfunctioning due to noise, and damage to individual elements.
If a drive is always operated at the ambient temperature of 55°C and with a 100% output of the rated torque and rated rotation speed, its life is expected to be approx. 28,000 hours (excluding the axial-flow fan). A drop of 10°C in the ambient temperature will double the expected life of the drive.
4
Keeping Foreign Objects Out of Units
Place a cover over the drive or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the drive during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, drive's heat dissipation is blocked, which may result in malfunction.
Take measures during installation and operation to prevent foreign objects such as metal particles, oil, machining oil, dust, or water from getting inside of the drives.
Servomotor Installation Conditions
Environment Operating Conditions
The environment in which the motor is operated must meet the following conditions. Operating the motor outside of the following ranges may result in malfunction of the motor.
Ambient operating temperature: 0 to 40°C
*1
Operating humidity: 85% max. (with no condensation)
Operating atmosphere: No corrosive gases.
*1. The ambient operating temperature is the temperature at a point 5 cm from the motor.
Impact and Load
The motor is resistant to impacts of up to 98 m/s
2
. Do not apply heavy impacts or loads during transport, installation, or removal of the motor.
When transporting the motor, hold the motor body itself. And do not hold the encoder, cable, or connector areas. Failure to follow this guideline may result in damaging the motor.
Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft.
After assembly, secure cables so that there is no impact or load placed on the cable outlet.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2
4
4-1 Installation Conditions
Connecting to Mechanical Systems
For the allowable axial loads for motors,
refer to Characteristics on page 3-2. If an
axial load greater than that specified is applied to a motor, it may reduce the limit of the motor bearings and may break the motor shaft.
When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and declination.
For spur gears, an extremely large radial load may be applied depending on the gear precision. Use spur gears with a high degree of precision (for example, JIS class 2: normal line pitch error of 6 µm max. for a pitch circle diameter of 50 mm).
Motor center line
Backlash
Ball screw center line
If the gear precision is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft.
When using bevel gears, a load is applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied.
Set a movable structure.
Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may crack under the tightening force.
Set a structure in which the distance between axes can be adjusted.
Bevel gear
When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.
A radial load twice as large as the belt tension will be placed on the motor shaft. Do not allow a load that exceeds the allowable radial load to be placed on the motor shaft. If an excessive radial load is applied, the motor shaft and bearings may be damaged.
Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted.
Pulley
Tension adjustment (Set a movable structure.)
Belt
Tension
Water and Drip Resistance
The protective structure for the motors is as follows:
Equivalent to IP67 (except for through-shaft parts)
4-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-1 Installation Conditions
Oil-water Measures
Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through-shaft part. The operating conditions of the Servomotor with an oil seal are as follows:
Keep the oil level below the lip of the oil seal.
Prepare a good lubricated condition under which only oil droplets splash on the oil seal.
If you are using the Servomotor with the shaft in upward direction, make sure that no oil accumulates on the lip of the oil seal.
Radiator Plate Installation Conditions
When you mount a Servomotor onto a small device, be sure to provide enough radiation space on the mounting area. Otherwise the Servomotor temperature rises too high. One of the preventive measures is to install a radiator plate between the motor attachment area and the
motor flange. (See below) Refer to 3-3 Servomotor Specifications on page 3-32 for the radiator
plate specifications.
Radiator plate
4
The temperature rise depends on the mounting part materials and the installation environment.
Check the actual temperature rise by using a real Servomotor.
Depending on the environment, such as when the Servomotor is installed near a heating element, the Servomotor temperature may rise significantly. In this case, take any of the following measures.
Lower the load ratio.
Review the heat radiation conditions of the Servomotor.
Install a cooling fan and apply forced air cooling to the Servomotor.
Other Precautions
Take measures to protect the motor shaft from corrosion. The motor shaft is coated with anticorrosion oil when shipped, but anti-corrosion oil or grease should also be applied when connecting the components that apply load to the shaft.
Caution
Do not apply a commercial power supply directly to the motor. Failure to follow this guideline may result in fires.
Never repair the product by disassembling it.
Failure to follow this guideline may result in electric shock or injury.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-4
4
4-1 Installation Conditions
Decelerator Installation Conditions
Using Another Company's Decelerator (Reference)
If the system configuration requires another company's decelerator to be used in combination with an OMNUC G5-series Servomotor, select the decelerator so that the loads on the motor shaft (i.e., both the radial and thrust loads) are within the allowable ranges. (Refer to
on page 3-2 for details on the allowable loads for the motors.)
Also, select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded.
4-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
4-2 Wiring
Peripheral Equipment Connection Examples
R88D-KNA5L-ECT-R/-KN01L-ECT-R-KN02L-ECT-R/-KN04L-ECT-R
R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/
R88D-KN10H-ECT-R/-KN15H-ECT-R (Single-phase Input)
R T
Single-phase 100 to 120 VAC, 50/60Hz: R88D-KN @@L-ECT-R
Single-phase 200 to 240 VAC, 50/60Hz: R88D-KN @@H-ECT-R
NFB
Main circuit power supply
OFF ON 1MC 2MC
Main circuit contactor (*1)
2MC
1MC
X
1MC 2MC
Surge suppressor (*1)
X
PL
Servo error display
1MC
OMNUC G5-Series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
1
E NF
3
2
4
Ground to 100
Ω or less
Regeneration Resistor
24 VDC
(*5)
X
X
CNB
U
V
CNA
L1
L3
CNB
B1
W
CN2
(*4)
B3
B2
CN1
3 /ALM
4 ALMCOM
CN1
BKIR 1
User-side control device
Control cables
CN1
BKIRCOM 2
24 VDC
XB
Ground to 100
(*2)
Ω
or less
Encoder cables
M
E
*1. A recommended product is listed in 4-3, Wiring Confirming to
EMC Directives.
*2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its rated inductive
24 VDC load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. Models with a built-in Regeneration Resistor (KN04L-ECT-R,
KN08H-ECT-R, KN10H-ECT-R and KN15H-ECT-R) have B2 and B3 connected. When the amount of regeneration is large, remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2.
*5. There is no Internal Regeneration Resistor for KNA5L-ECT-R to KN02L-ECT-R, and KN01H-ECT-R to KN04H-ECT-R.
When the amount of regeneration is large, connect the necessary Regeneration Resistor between B1 and B2.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-6
4
4-2 Wiring
4
R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/
-KN10H-ECT-R/-KN15H-ECT-R (3-phase Input)
R S T
3-phase 100 to 120 VAC, 50/60 Hz: R88D-KN@@L-ECT-R
3-phase 200 to 240 VAC, 50/60 Hz: R88D-KN@@H-ECT-R
NFB
Main circuit power supply
OFF ON 1MC 2MC
Main circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge suppressor (*1)
PL
Servo error display
1MC
OMNUC G5-Series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
24 VDC
X
CNA
L1
L2
(*4)
L3
CNB
B1
B3
B2
CN1
3 /ALM
4 ALMCOM
X
CNB
U
V
W
CN2
CN1
BKIR 1
24 VDC
User-side control device
Control cables
CN1
BKIRCOM 2
Ground to 100
Ω
or less
Encoder cables
M
E
XB
(*2)
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its
24 VDC rated inductive load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. Models with a built-in Regeneration
Resistor (KN08H-ECT-R to KN15H-ECT-R) have B2 and B3 connected. When the amount of regeneration is large, remove the connection between B2 and B3 and connect a Regeneration Resistor between B1 and B2.
4-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
R88D-KN20H-ECT-R
R S T
3-phase 200 to 240 VAC, 50/60 Hz: R88D-KN @@ H-ECT-R
NFB
Main circuit power supply
OFF ON 1MC 2MC
Main circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge suppressor (*1)
PL
Servo alarm display
1MC
OMNUC G5-series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-series
AC Servomotor
B
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
CNA
L1
L2
(*4)
L3
CNC
B1
B3
24 VDC
X
B2
CN1
37 /ALM
36 ALMCOM
X
CNB
U
V
W
CN2
CN1
BKIR 11
24 VDC
User-side control device
Control cables
CN1
BKIRCOM 10
Ground to 100
Ω
or less
Encoder cables
M
E
XB
(*2)
*1. Recommended products are listed in 4-3,
Wiring Conforming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
24 VDC
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type
(KN20H-ECT-R) shorts B2 and B3. When the amount of regeneration is large, remove the connection between B2 and B3 and connect the Regeneration Resistor between
B1 and B2.
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-8
4-2 Wiring
4
R88D-KN30H-ECT-R/-KN50H-ECT-R
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
Main circuit power supply
OFF ON 1MC 2MC
Main circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge suppressor (*1)
PL
Servo alarm display
OMNUC G5-series
AC Servo Drive
TB1
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-series
AC Servomotor
B
1MC
TB1
U
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
24 VDC
TB1
L1
L2
X
L3
B1
(*4)
B3
B2
CN1
37 /ALM
36 ALMCOM
X
V
W
CN2
CN1
BKIR 11
24 VDC
User-side control device
Control cables
CN1
BKIRCOM 10
Ground to 100
Ω
or less
Encoder cables
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in 4-3,
Wiring Conforming to EMC Directives.
*2. Recommended relay: MY relay by OMRON
(24-V) For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2
A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type
(KN30H-ECT-R and KN50H-ECT-R) connects B2 and B3. When the amount of regeneration is large, remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2.
4-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R
R S T
3-phase 380 to 480 VAC 50/60Hz
NFB
Main circuit power supply
OFF ON 1MC 2MC
Main circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge suppressor (*1)
PL
Servo error display
1MC
OMNUC G5-Series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
24 VDC
X
CNA
L1
L2
(*4)
L3
CNC
B1
B3
B2
CN1
3 /ALM
4 ALMCOM
X
CNB
U
V
W
CN2
CN1
BKIR 1
24 VDC
User-side control device
Control cables
CN1
BKIRCOM 2
Ground to 100
Ω
or less
Encoder cables
M
E
XB
(*2)
24 VDC
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its rated inductive load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. Models with a built-in Regeneration
Resistor (KN06F-ECT-R to
KN20F-ECT-R) have B2 and B3 connected. When the amount of regeneration is large, remove the connector between B2 and B3 and connect a Regeneration Resistor between B1 and B2.
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-10
4
4-2 Wiring
R88D-KN30F-ECT-R/-KN50F-ECT-R
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
Main circuit power supply
OFF ON 1MC 2MC
Main circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge suppressor (*1)
PL
Servo alarm display
OMNUC G5-series
AC Servo Drive
TB2
24 V
1MC
0 V
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
24 VDC
TB1
L1
L2
TB1
U
V
W
Regeneration
Resistor
24 VDC
X
L3
B1
(*4)
B3
B2
CN1
37 /ALM
36 ALMCOM
CN2
24 VDC
User-side control device
X
Control cables
CN1
CN1
BKIR 11
BKIRCOM 10
XB
Power cables
(*3)
OMNUC G5-series
AC Servomotor
Ground to 100
Ω
or less
Encoder cables
B
M
E
XB
(*2)
*1. Recommended products are listed in 4-3,
Wiring Conforming to EMC Directives.
*2. Recommended relay: MY relay by OMRON
(24-V) For example, MY2 relay by OMRON can be used with all G5-Series motors with brakes because its rated induction load is 2 A
(24 VDC).
24 VDC
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type
(KN30F-ECT-R and KN50F-ECT-R) connects
B2 and B3. When the amount of regeneration is large, remove the connection between B2 and B3 and connect the Regeneration
Resistor between B1 and B2.
4-11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
Main Circuit and Motor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R/
R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/
R88-KN10H-ECT-R/-KN15H-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name Function
Main circuit power supply input
Control circuit power supply input
R88D-KN@L-ECT-R
50 to 400 W : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
200 to 400 W: 3-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KN@H-ECT-R
100 W to 1.5 kW : Single-phase 200 to 240 VAC (170 to 264 V) 50/
60 Hz
100 W to 1.5 kW: 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
R88D-KN@L-ECT-R :
Single-phase 100 to 120 VAC (85 to 132 V) 50/60Hz
R88D-KN@H-ECT-R :
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
4
Motor Connector Specifications (CNB)
Symbol
B1
B2
B3
Name
External Regeneration
Resistor connection terminals
U
V
W
Motor connection terminals
Frame ground
Function
50 to 400 W: These terminals normally do not need to be connected.
If there is high regenerative energy, connect an External
Regeneration Resistor between B1 and B2.
750 W to 1.5 kW: Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and
B3 and connect an External Regeneration Resistor between B1 and
B2.
Red These are the output terminals to the Servomotor.
Be sure to wire them correctly.
White
Blue
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-12
4
4-2 Wiring
R88D-KN20H-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KN@H-ECT-R (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253
V) 50/60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Function
Red
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
External Regeneration Resistor Connector Specifications (CNC)
Symbol
B1
B2
B3
N
Name
External Regeneration
Resistor connection terminals
Function
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
When using terminal N, make sure not to exceed the fuse's rated voltage (360 VDC, 60 A).
4-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
R88D-KN30H-ECT-R/-KN50H-ECT-R
Terminal Block Specifications
Symbol
L1C
L2C
B1
B2
L1
L2
L3
B3
U
V
W
Name
Main circuit power supply input
Control circuit power supply input
External Regeneration
Resistor connection terminals
Motor connection terminals
Function
R88D-KN@H-ECT-R (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN@H-ECT-R: Single-phase 200 to 230 VAC (170 to 253
V) 50/60 Hz
Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
4
Frame ground This is the ground terminal. Ground to 100 Ω or less.
R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
Name
Main circuit power supply input
Function
R88D-KN@F-ECT-R
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/
60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Function
Red
White
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-14
4
4-2 Wiring
R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R
Main Circuit Connector Specifications (CNA)
Symbol
Name
L1 Main circuit power supply
L2 input
L3
Function
R88D-KN@F-ECT-R
600 W to 1.5 kW: 3-phase: 380 to 480 VAC (323 to 528 V) 50/60
Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Function
Red
White
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
Control Circuit Connector Specifications (CNC)
Symbol
Name
24 V Control circuit power
0 V supply input
24 VDC (21.6 to 26.4 V)
Function
External Regeneration Resistor Connector Specifications (CND)
Symbol
Name
B1 External Regeneration
B2
Resistor connection terminals
B3
N
Function
Normally B2 and B3 are connected.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
When using terminal N, make sure not to exceed the fuse's rated voltage (660 VDC, 20 A).
4-15
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
R88D-KN30F-ECT-R/-KN50F-ECT-R
Terminal Block Specifications (TB1)
Symbol
L1
L2
L3
B1
B2
U
V
W
NC
24 V
0 V
Name
Main circuit power supply input
Function
R88D-KN@F-ECT-R (3 to 5 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
External Regeneration
Resistor connection terminals
Motor connection terminals
Frame ground
−
Control circuit power supply input
A Regeneration Resistor is not built in.
Connect an External Regeneration Resistor between B1 and B2, if necessary.
Red
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
Do not connect.
R88D-KN@F-ECT-R: 24 VDC (21.6 to 26.4 V)
NC
−
This is the ground terminal. Ground to 100 Ω or less.
Do not connect.
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-16
4
4-2 Wiring
Terminal Block Wire Sizes
100-VAC Input Drive Wire Sizes: R88D-KN @@L-ECT-R
Item
Model (R88D-)
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Control circuit power supply input
(L1C and L2C)
Wire size
Motor connection terminals (U, V, W, and FG)
*1*2
Rated current
Wire size
Frame ground (FG) Wire size
Screw size
Tightening torque
Unit
kVA
A
−
−
A
−
−
−
N•m
KNA5L-
ECT-R
0.4
1.4
1.2
KN01L-
ECT-R
0.4
2.6
AWG 14 to 18
1.7
KN02L-
ECT-R
AWG 18
0.5
4.3
2.5
AWG 14 to 18
AWG 14
M4
1.2
*1. Connect OMRON Power Cables to the motor connection terminals.
*2. Use the same wire size for B1 and B2.
KN04L-
ECT-R
0.9
7.6
4.6
200 VAC Input Drive Wire Sizes: R88D-KN @@H-ECT-R
Model (R88D-)
Item
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Screw size
Tightening torque
Control circuit power supply input
(L1C and L2C)
Motor connection terminals (U, V, W, and FG)
*2 *3
Wire size
Screw size
Tightening torque
Rated current
Frame ground
(FG)
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Unit
kVA
A
−
−
N·m
−
−
N·m
−
−
N·m
−
−
N·m
A
KN01H-
ECT-R
0.5
1.3
−
−
−
−
1.2
−
−
KN02H-
ECT-R
KN04H-
ECT-R
0.5
2.4/1.3
*1
0.9
4.1/2.4
*1
AWG14 to 18
−
−
−
−
AWG18
−
−
1.6
−
−
2.6
AWG14 to 18
−
−
−
−
AWG14
M4
1.2
KN08H-
ECT-R
1.3
6.6/3.6
*1
−
−
−
−
4.1
−
−
KN10H-
ECT-R
1.8
9.1/5.9
*1
AWG14
−
−
−
−
5.9
AWG14
−
−
4-17
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-2 Wiring
Model (R88D-)
Item
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Screw size
Tightening torque
Control circuit power supply input (L1C and
L2C)
Wire size
Screw size
Tightening torque
Motor connection terminals (U, V,
W, and FG)
*2 *3
Frame ground
(FG)
Rated current
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Unit
kVA
A
−
−
N·m
−
−
N·m
A
−
−
N·m
−
−
N·m
KN15H-
ECT-R
2.3
14.2/8.1
*1
AWG14
−
−
−
−
9.4
−
−
AWG14
AWG14
M4
1.2
KN20H-
ECT-R
3.3
11.8
−
−
−
−
13.4
−
−
AWG18
KN30H-
ECT-R
4.5
15.1
18.6
AWG12
M5
2.0
M5
2.0
AWG12
M5
2.0
AWG12
M5
2.0
KN50H-
ECT-R
7.5
21.6
33.0
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. Connect an OMRON power cable to the motor connection terminals.
*3. Use the same wire size for B1 and B2.
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-18
4-2 Wiring
4
4-19
400 VAC Input Drive Wire Sizes: R88D-KN
@@F-ECT-R
Model (R88D-)
KN06F-
ECT-R
KN10F-
ECT-R
KN15F-
ECT-R
KN20F-
ECT-R
Item
Main circuit power supply input
(L1 and L3, or L1, L2 and L3)
Control circuit power supply input
(L1C and
L2C)
Motor connection terminals
(U, V, W, and FG)
*1 *2
Frame ground (FG)
Rated current
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Rated current
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Unit
A
−
−
−
−
N·m
−
−
N·m
A
N·m
−
−
N·m
2.8
−
−
−
−
2.9
−
−
2.8
−
−
−
AWG20 to 24
−
−
2.9
−
−
AWG14
AWG14
AWG14
M4
1.2
3.9
−
−
−
4.7
−
−
*1. Use the same wire sizes for B1 and B2.
*2. Connect an OMRON power cable to the motor connection terminals.
5.9
−
−
−
−
6.7
−
−
KN30F-
ECT-R
7.6
AWG12
M5
2.0
AWG18
M5
12.1
2.0
KN50F-
ECT-R
9.4
AWG12
M5
2.0
AWG12
M5
2.0
16.5
Wire Sizes and Allowable Current (Reference)
The following table shows the allowable current when there are 3 power supply wires. Use a current below these specified values.
600-V Heat-resistant Vinyl Wire (HIV)
AWG size
20
−
18
16
14
12
10
8
6
Nominal crosssectional area
(mm
2
)
2.0
3.5
5.5
8.0
14.0
0.5
0.75
0.9
1.25
Configuration (wires/ mm
2
)
19/0.18
30/0.18
37/0.18
50/0.18
7/0.6
7/0.8
7/1.0
7/1.2
7/1.6
Conductive resistance
(
Ω/km)
9.53
5.41
3.47
2.41
1.35
39.5
26.0
24.4
15.6
Allowable current (A) for ambient temperature
30
°C
6.6
8.8
9.0
12.0
23
33
43
55
79
40
°C
5.6
7.0
7.7
11.0
20
29
38
49
70
50
°C
4.5
5.5
6.0
8.5
16
24
31
40
57
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Terminal Block Wiring Procedure
On a Servo Drive with 2.0 kW or less, connector-type terminal blocks are used.
The procedure for wiring these terminal blocks is explained below.
4-2 Wiring
Connector-type terminal blocks
(Example of R88D-KN02H-ECT-R)
1. Remove the terminal block from the Servo Drive before wiring.
The Servo Drive may be damaged if the wiring is done with the terminal block in place.
2. Strip off 8 to 9 mm of the covering from the end of each wire.
Refer to Terminal Block Wire Sizes on page 4-17 for applicable wire sizes.
8 to 9 mm
3. Open the wire insertion slots in the terminal block using a tool.
There are 2 ways to open the wire insertion slots, as follows.
Pry the slot open using the lever that comes with the Servo Drive. (Figure A)
Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the driver on the terminal block, and press down firmly to open the slot. (Figure B)
4
Figure A
Figure B
4. With the wire insertion slot held open, insert the end of the wire.
After inserting the wire, let the slot close by releasing the pressure from the lever or the screwdriver.
5. Mount the terminal block to the Servo Drive.
After all of the terminals have been wired, return the terminal block to its original position on the Servo Drive.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-20
4
4-3 Wiring Conforming to EMC Directives
4-3 Wiring Conforming to EMC Directives
Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2
(EMS)) can be ensured by wiring under the conditions described in this section.
These conditions are for conformance of OMNUC G5-series products to the EMC directives.
EMC-related performance of these products, however, may be influenced by the configuration, wiring, and other conditions of the equipment in which the products are installed. The EMC conformance of the system as a whole must be confirmed by the customer.
The following are the requirements for EMC Directive conformance.
The Servo Drive must be installed in a metal case (control panel). (The motor does not, however, have to be covered with a metal plate.)
Noise filters and lightening surge absorptive elements (surge absorbers) must be installed on power supply lines.
Braided shielded cables must be used for all I/O signal cables and encoder cables. (Use tinplated, mild steel wires for the shielding.)
All cables, I/O wiring, and power lines connected to the Servo Drive must have clamp filters installed to improve the noise immunity.
The shields of all cables must be directly connected to a ground plate.
Wiring Method
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R/-KN01H-ECT-R/
-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/-KN10H-ECT-R/-KN15H-ECT-R/
-KN20H-ECT-R/-KN30H-ECT-R/-KN50H-ECT-R
4-21
Single-phase: 100 VAC
3-phase: 200 VAC
FC2
(1)
SG
*1
(2)
NF
(6)
(5)
FC1
FC1
L1
L2
L3
L1C
CNA
SD
CNB
L2C
CN2
U
V
W
FC1
FC1
FC3
CN1
ECAT
IN
(3)
(4)
(7)
SM
TB
Single-phase:
100 VAC
Controller
(8)
*1. Not required for single-phase models with a 100-VAC input.
Note: For models with a single-phase power supply input (R88D-KNA5L-ECT-R/-KN01L-ECT-R/-
KN02L-ECT-R/-KN04L-ECT-R/-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-
R), the main circuit power supply input terminals are L1 and L3.
Ground the motor's frame to the machine ground when the motor is on a movable shaft.
Use a ground plate for the frame ground for each unit, as shown in the above diagrams, and
ground to a single point.
Use ground lines with a minimum thickness of 3.5 mm
2
, and arrange the wiring so that the ground lines are as short as possible.
A no-fuse breaker, surge absorber, and noise filter should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R/-KN30F-ECT-R/
-KN50F-ECT-R
3-phase:
400 VAC
(1)
SG
(2)
FC2 FC1
L1
SD
NF
(6)
(5)
L2
L3
24 VDC
FC1
L1C
L2C
CNA
U
CNB
V
W
CN2
FC1
CN1
ECAT
IN
(7)
FC1
FC3
FC1
(4)
(3)
Single-phase:
100 VAC
(8)
TB
Controller
SM
4
Unit Details
Symbol Name Manufacturer Model Comment
SG
NF
SD
SM
FC1
FC2
FC3
TB
-
Surge absorber
(optional)
Noise filter
Servo Drive
Servomotor
Clamp core
Clamp core
Clamp core
Switch box
Controller
Okaya Electric
Industries Co., Ltd.
Okaya Electric
Industries Co., Ltd.
OMRON
OMRON
TDK
Schaffner
NEC TOKIN
Corporation
−
−
RAV781BWZ-4
RAV781BXZ-4
SUP-EK5-ER-6
3SUP-HQ10-ER-6
3SUP-HU30-ER-6
3SUP-HL50-ER-6B 3-phase 200 VAC (50 A)
−
−
ZACT305-1330
RJ8035
ESD-SR-250
−
−
*1. A specified combination of Servo Drive and Servomotor must be used.
Single-phase 100 VAC
3-phase 200 VAC
Single-phase 100/200
VAC (5 A)
3-phase 200 VAC (10 A)
3-phase 200 VAC (30 A)
*1
*1
−
−
−
−
−
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-22
4
4-3 Wiring Conforming to EMC Directives
Noise Filter for Power Supply Input
We recommend using a noise filter for the Servo Drive.
Noise filter for power supply input
Drive model
Model
Rated current
Phase
Leakage current
(60 Hz) max
Manufacturer
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R SUP-EK5-ER-6
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R 3SUP-HQ10-ER-6
5 A
Singlephase
1.0 mA
(at 250 VAC)
10 A 3-phase
3.5 mA
(at 500 VAC)
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
SUP-EK5-ER-6
R88D-KN08H-ECT-R 3SUP-HQ10-ER-6
5 A
10 A
Singlephase
3-phase
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
R88D-KN10H-ECT-R
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
R88D-KN06F-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
3SUP-HU30-ER-6
3SUP-HL50-ER-6B
3SUP-HQ10-ER-6
3SUP-HL50-ER-6B
30 A
50 A
10 A
50 A
3-phase
3-phase
3-phase
3-phase
3.5 mA
(at 500 VAC)
8.0 mA
(at 500 VAC)
3.5 mA
(at 500 VAC)
8.0 mA
(at 500 VAC)
Okaya
Electric
Industries
Co., Ltd.
If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
The noise filter must be installed as close as possible to the entrance of the control panel. Wire as shown at the left in the following illustration.
Separate the input and output.
AC input
1
2
3
NF
E
4
5
6
AC output
Ground
The effect of the noise filter is small.
AC input
1
2
3
NF
E
4
5
6
Ground
AC output
4-23
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
Use twisted-pair cables for the power supply cables, or bind the cables.
Twisted-pair cables Bound cables
Servo Drive
L1C
L2C
Binding
Separate power supply lines and signal lines when wiring.
Servo Drive
L1
L2
L3
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-24
4
4-3 Wiring Conforming to EMC Directives
Control Panel Structure
Openings in the control panel, such as holes for cables, panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this, observe the recommendations described below when designing or selecting a control panel.
Case Structure
Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces are electrically conductive.
If assembly is required, strip the paint off the joint areas (or mask them during painting), to make them electrically conductive.
The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws.
Do not leave any conductive part unconnected.
Ground all units within the case to the case itself.
Door Structure
Use a metal door.
Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams.)
Use a conductive gasket between the door and the case. (Refer to the diagrams.)
Strip the paint off the sections of the door and case that will be in contact with the conductive gasket (or mask them during painting), so that they are electrically conductive.
The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws.
Case
A
B
Door
Control Panel
Door side
Oil-resistant gasket Conductive gasket
A-B Cross-section Diagram
Oil-resistant gasket
Conductive gasket
4-25
Door (Interior Side)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
Selecting Connection Component
This section explains the criteria for selecting the connection components required to improve noise resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components.
For more details, contact the manufacturers directly.
No-fuse Breaker (NFB)
When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
Maximum Input Current
The momentary maximum output of Servo Drive is approx. 3 times the rated output, and can be output for up to 3 seconds.
Therefore, select no-fuse breakers with an operation time of at least 5 seconds at 300% of the rated current ratio. General and low-speed no-fuse breakers are generally suitable.
Select a no-fuse breaker with a rated current greater than the total effective load current of all the motors (when multiple Servo Drives are used). (The rated current of the power supply input for
each motor is provided in "Main Circuit and Motor Connections"(P.4-12).)
Add the current consumption of other controllers, and any other components when selecting.
4
Inrush Current
The following table lists the Servo Drive inrush currents.
With low-speed no-fuse breakers, an inrush current 10 times the rated current can flow for 0.02
second.
When the power of multiple Servo Drives are turned ON simultaneously, select a no-fuse breaker with a 20-ms allowable current that is greater than the total inrush current, shown in the following table.
Servo Drive model
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
R88D-KN08H-ECT-R
R88D-KN10H-ECT-R
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
Inrush current (Ao-p)
14
14
14
7
7
15
29
29
29
29
22
22
7
Main circuit power supply
28
28
28
14
14
14
28
28
28
14
14
14
Control circuit power supply
14
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-26
4
4-3 Wiring Conforming to EMC Directives
Servo Drive model
R88D-KN06F-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
Inrush current (Ao-p)
Main circuit power supply
28
28
28
32
32
32
Control circuit power supply
48
48
48
48
48
48
Leakage Breaker
Select leakage breakers designed for protection against ground faults.
Because switching takes place inside the Servo Drives, high-frequency current leaks from the SW elements of the Servo Drive, the armature of the motor, and the cables.
High-frequency, surge-resistant leakage breakers, because they do not detect high-frequency current, can prevent operation with high-frequency leakage current.
When using a general leakage breaker, use 3 times the total of the leakage current given in the following table as a reference value.
When selecting leakage breakers, remember to add the leakage current from devices other than the motor, such as devices using a switching power supply, noise filters, inverters, and so on.
To prevent malfunction due to inrush current, we recommend using a leakage breaker of 10 times the total of all current values.
The leakage breaker is activated at 50% of the rated current. Select a leakage breaker with enough capacity.
For details on leakage breakers selection method, refer to the manufacturer's catalog.
Surge Absorber
Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines.
When selecting surge absorbers, take into account the varistor voltage, the surge immunity and the energy tolerated dose.
For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.
The surge absorbers shown in the following table are recommended.
Manufacturer
Okaya Electric
Industries Co.,
Ltd.
Okaya Electric
Industries Co.,
Ltd.
Model
R•A•V-781BWZ-4
R•A•V-781BXZ-4
Surge immunity
700 V ± 20% 2500 A
700 V ± 20% 2500 A
Type
Block
Comment
Single-phase 100/
200 VAC
3-phase 200 VAC
Note 1. Refer to the manufacturers' catalog for operating details.
Note 2. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber.
4-27
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
External Dimensions
For single-phase (BWZ series)
φ4.2
4-3 Wiring Conforming to EMC Directives
φ4.2
For 3-phase (BXZ series)
1 2
41
Equalizing Circuits
For single-phase (BWZ series)
(1) (2)
1 2 3
41
For 3-phase (BXZ series)
(1) (2) (3)
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-28
4
4-3 Wiring Conforming to EMC Directives
Noise Filter for Power Supply Input
We recommend using a noise filter for the Servo Drive.
Noise filter for power supply input
Drive model
Model
Rated current
Phase
Leakage current
(60 Hz) max
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R SUP-EK5-ER-6
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R 3SUP-HQ10-ER-6
5 A
10 A
Singlephase
3-phase
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
SUP-EK5-ER-6
R88D-KN08H-ECT-R 3SUP-HQ10-ER-6
5 A
10 A
Singlephase
3-phase
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
R88D-KN10H-ECT-R
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
R88D-KN06F-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
3SUP-HU30-ER-6
3SUP-HL50-ER-6B
3SUP-HQ10-ER-6
3SUP-HL50-ER-6B
30 A
50 A
10 A
50 A
3-phase
3-phase
3-phase
3-phase
3.5 mA
(at 500 VAC)
8.0 mA
(at 500 VAC)
3.5 mA
(at 500 VAC)
8.0 mA
(at 500 VAC)
Manufacturer
Okaya
Electric
Industries
Co., Ltd.
4-29
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
7.0
External Dimensions
SUP-EK5-ER-6/3SUP-HQ10-ER-6
53.1±2.0
100±2.0
88.0
75.0
5.0
2.0
2-
φ4.5×6.75
2-
φ4.5
6-M4
11.6
13.0
M4
115
105
95
3SUP-HU30-ER-6
115
105
95
5.5
Ground terminal
M4
Attachment screw for cover M3
150
2-
φ
5.5×7
M6
M6
M4
Circuit Diagram
R Cx
SUP-EK5-ER-6
L
Cy
Cy
L
Cx
Cover
Noise filter unit
IN
3SUP-HQ10-ER-6
L1
286
±3.0
270
255
±1.0
240
2-
φ5.5
OUT
R Cx1 Cx1
Cy1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-30
5.5
Ground terminal
M4
Attachment screw for cover M3
Cover
Noise filter unit
4
4
4-3 Wiring Conforming to EMC Directives
IN
3SUP-HU30-ER-6
L1
OUT
R Cx1 Cx1
Cy1
Noise Filter for the Brake Power Supply
Use the following noise filter for the brake power supply.
Model
Rated current
Rated voltage
Leakage current Manufacturer
SUP-EK5-ER-6 5 A 250 V 1.0 mA (at 250 Vrms, 60 Hz)
Okaya Electric
Industries Co., Ltd.
Note: Noise can also be reduced by 1.5 turns with the ZCAT3035-1330 (TDK) Radio Noise Filter.
Radio Noise Filter and Emission Noise Prevention Clamp Core
Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit.
Model
3G3AX-ZCL1
*1
3G3AX-ZCL2
*2
ESD-R-47B
*3
ZCAT3035-1330
*4
Manufacturer
OMRON
OMRON
NEC TOKIN
TDK
Application
For Drive output and power cable
For Drive output and power cable
For Drive output and power cable
For Encoder cable and I/O cable
*1. Generally used for 1.5 kW or higher.
*2. Generally used for 1.5 kW or lower. The maximum number of windings is 3 turns.
*3. Generally used for 50/100 W. The maximum number of windings is 2 turns.
*4. Also used on the Drive output power lines to comply with the EMC Directives. Only a clamp is used.
This clamp can also be used to reduce noise current on a FG line.
4-31
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
External Dimensions
3G3AX-ZCL1
130
85
3G3AX-ZCL2
3-M4
180±2
160±2
7×14 Long hole
ESD-R-47B
3.0
φ
7
17.5
φ5.1
ZCAT3035-1330
39
34
50
95
80
2-M5
26
30
13
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-32
4-3 Wiring Conforming to EMC Directives
4
Impedance Characteristics
3G3AX-ZCL1
60
80
20
40
100
0.1
4T
15T
1 10
Frequency (kHz)
100
ESD-R-47B
10000
1000
100
10
1
1 10 100
Frequency (MHz)
1000
3G3AX-ZCL2
1000
100
10
1
0.1
1
ZCAT3035-1330
1000
10 100
Frequency (kHz)
1000 10000
100
10
10 100
Frequency (MHz)
1000
4-33
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
Surge Suppressors
Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows the types of surge suppressors and recommended products.
Type
Diodes
Thyristors and varistors
Capacitor
+ resistor
Feature
Diodes are used for relatively small loads such as relays when the reset time is not a critical issue.
At power shutoff the surge voltage is the lowest, but the reset time takes longer.
Used for 24/48-VDC systems.
Thyristors and varistors are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is critical.
The surge voltage at power shutoff is approx. 1.5 times the varistor voltage.
The capacitor plus resistor combination is used to absorb vibration in the surge at power supply shutoff.
The reset time can be shortened by selecting the appropriate capacitance and resistance.
Recommended product
Use a fast-recovery diode with a short reverse recovery time.
(e.g. RU2 of Sanken Electric Co., Ltd.).
Select the varistor voltage as follows.
24-VDC systems: varistor voltage 39 V
100-VDC systems: varistor voltage 200 V
100-VAC systems: varistor voltage 270 V
200-VAC systems: varistor voltage 470 V
Okaya Electric Industries Co., Ltd.
XEB12002 0.2 µF-120 Ω
XEB12003 0.3 µF-120 Ω
Thyristors and varistors are made by the following manufacturers. Refer to manufacturer's documentation for details on these components.
Thyristors: Ishizuka Electronics Co.
Varistor: Ishizuka Electronics Co., Panasonic Corporation
4
Contactors
Select contactors based on the circuit's inrush current and the maximum momentary phase current.
The drive inrush current is covered in the preceding explanation of no-fuse breaker selection.
And the maximum momentary phase current is approx. twice the rated current.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-34
4
4-3 Wiring Conforming to EMC Directives
Improving Encoder Cable Noise Resistance
Take the following steps during wiring and installation to improve the encoder's noise resistance.
Always use the specified encoder cables.
If cables are joined midway, be sure to use connectors. And do not remove more than 50 mm of the cable insulation. In addition, always use shielded cables.
Do not roll cables. If cables are long and are rolled, mutual induction and inductance will increase and cause malfunctions. Always use cables fully extended.
When installing noise filters for encoder cables, use clamp filters.
The following table shows the recommended clamp filters.
Manufacturer
NEC TOKIN
TDK
Product name
Clamp filters
Clamp filters
Model
ESD-SR-250
ZCAT3035-1330
Specifications
13 mm dia. max.
13 mm dia. max.
Do not place the encoder cable with the following cables in the same duct.
Control cables for brakes, solenoids, clutches, and valves.
External Dimensions
ESD-SR-250 to
φ
13
31.5
Impedance Characteristics
ESD-SR-250
10000
1000
100
10
1
1
38.0
10
Frequency (MHz)
100 1000
4-35
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
Improving Control I/O Signal Noise Resistance
Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.
Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, do not connect the 2 power supply ground wires.
Install a noise filter on the primary side of the control power supply.
If motors with brakes are being used, do not use the same 24-VDC power supply for both the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the ground wires may cause I/O signal errors.
If the control power supply wiring is long, noise resistance can be improved by adding 1-
µ
F laminated ceramic capacitors between the control power supply and ground at the drive input section or the controller output section.
Reactor to Reduce Harmonic Current
Harmonic Current Measures
Use a Reactor to suppress harmonic currents. The Reactor functions to suppress sudden and quick changes in electric currents.
The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose
Components
requires that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines.
Select the proper Reactor model according to the Servo Drive to be used.
4
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-36
4
4-3 Wiring Conforming to EMC Directives
Selecting Other Parts for Noise Resistance
This section explains the criteria for selecting the connection components required to improve noise resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components.
For more details, contact the manufacturers directly.
Noise Filter for Power Supply Input
A noise filter is used to attenuate external noise and noise radiated by the Servo Drive.
Select a noise filter with a rated current that is at least twice the effective load current (i.e., the
Noise filter for power supply input
Drive model
Model
Rated current
Phase
Leakage current
(60 Hz) max
Manufacturer
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R SUP-EK5-ER-6
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R 3SUP-HQ10-ER-6
5 A
Singlephase
1.0 mA
(at 250 VAC)
10 A 3-phase
3.5 mA
(at 500 VAC)
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
SUP-EK5-ER-6
R88D-KN08H-ECT-R 3SUP-HQ10-ER-6
5 A
10 A
Singlephase
3-phase
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
R88D-KN10H-ECT-R
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
R88D-KN06F-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
3SUP-HU30-ER-6
3SUP-HL50-ER-6B
3SUP-HQ10-ER-6
30 A
50 A
10 A
3-phase
3-phase
3-phase
3.5 mA
(at 500 VAC)
8.0 mA
(at 500 VAC)
3.5 mA
(at 500 VAC)
Okaya
Electric
Industries
Co., Ltd.
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R 3SUP-HL50-ER-6B 50 A 3-phase
8.0 mA
(at 500 VAC)
R88D-KN50F-ECT-R
Note 1: To attenuate low-frequency noise (200 kHz or lower), use an isolating transformer and noise filter.
Note 2: To attenuate high-frequency noise (30 MHz or higher), use a high-frequency noise filter with a feed-through capacitor and a ferrite core.
Note 3: When connecting more than one Servo Drive to the same noise filter, select a noise filter with a rated current that is at least twice the total of the rated currents of the Servo Drives.
4-37
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-3 Wiring Conforming to EMC Directives
Noise Filters for Motor Output
Use noise filters without built-in capacitors on the motor output lines.
Select a noise filter with a rated current at least twice the Servo Drive's continuous output current.
The following table shows the noise filters that are recommended for motor output lines.
Manufacturer
OMRON
Model
3G3AX-NF001
3G3AX-NF002
3G3AX-NF003
3G3AX-NF004
3G3AX-NF005
3G3AX-NF006
Rated current
6 A
12 A
25 A
50 A
75 A
100 A
Comment
For inverter output
Note 1. Motor output lines cannot use the same noise filters for power supplies.
Note 2. General noise filters are made for power supply frequencies of 50/60 Hz. If these noise filters are connected to output of the Servo Drive, a very large (about 100 times larger) leakage current may flow through the noise filter's capacitor. This may damage the Servo Drive.
4
External Dimensions
3G3AX-NF001/-NF002
4-M
C
B
A
P
M4
H
J
Model
3G3AX-NF001
3G3AX-NF002
A B C E
140 125 110 70
Dimensions (mm)
F G H
95 22 50
160 145 130 80 110 30 70
J
20
25
M
4.5 dia.
5.5 dia.
P
156
176
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-38
4
4-3 Wiring Conforming to EMC Directives
3G3AX-NF003/-NF004/-NF005/-NF006
6-O
2-N
4-
φ6.5
C
B
A
Model
3G3AX-NF003
3G3AX-NF004
3G3AX-NF005
3G3AX-NF006
50
Dimensions (mm)
A B C E F H J N O P
160 145 130 80 112 120
− −
M4 154
200 180 160 100 162 150 120 M5 M5 210
220 200 180 100 182 170 140 M6 M6 230
220 200 180 100 182 170 140 M8 M8 237
4-39
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-4 Regenerative Energy Absorption
4-4 Regenerative Energy Absorption
The Servo Drives have internal regeneration process circuitry, which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the motor is too large. If this occurs, remedies must be taken to reduce the regenerative energy by changing operating patterns, or to increase the regeneration process capacity by connecting an External
Regeneration Unit.
Calculating the Regenerative Energy
Horizontal Axis
+N
1
Motor operation
−N
2
T
D2
E g2
Motor output torque
T
D1
E g1 t
1 t
2
T
In the output torque graph, acceleration in the forward direction is shown as positive, and acceleration in the reverse direction is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
4
N
1
, N 2
: Rotation speed at start of deceleration [r/min]
T
D1
, T D2
:
Deceleration torque [N·m] t
1
, t 2
: Deceleration time [s]
Note: Due to the loss of motor winding resistance and PWM, the actual regenerative energy will be approx. 90% of the values derived from these equations.
For
Servo Drive
models with internal capacitors used for absorbing regenerative energy (i.e.,
Servo Drive models of 400 W or less), the values Eg
1
and Eg
2
(unit: J) must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model. For details, refer to the next section.)
For
Servo Drive
models with an Internal Regeneration Resistor used for absorbing regenerative energy (i.e., Servo Drive models of 500 W or more), the average amount of regeneration Pr (unit:
W) must be calculated, and this value must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model. For details, refer to the next section.)
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
P r
= ( E g 1
+ E g 2
) / T[W]
T: Operation cycle [s]
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-40
4
4-4 Regenerative Energy Absorption
Vertical Axis
+N
1
Downward movement
Motor operation
Upward movement
−N
2
T
D2
E g2
T
L2
E g3
Motor output torque
T
D1
E g1 t
1 t
2 t
3
T
In the output torque graph, acceleration in the forward direction (rising) is shown as positive, and acceleration in the reverse direction (falling) is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
N
1
, N 2
:
Rotation speed at start of deceleration [r/min]
T
D1
, T D2
: Deceleration torque
T
L2
:
[N·m]
Torque during downward movement [N·m] t
1
, t 3
: Deceleration time [s] t
2
:
Constant-speed driving time during downward movement [s]
Note: Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the values derived from these equations.
For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e.,
Servo Drive models of 400 W or less), the values Eg
1
and Eg
2
+ Eg
3
(unit: J) must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model. For details, refer to the next section.)
For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy (i.e., Servo Drive models of 500 W or more), the average amount of regeneration Pr (unit:
W) must be calculated, and this value must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model.For details, refer to the next section.)
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
P r
=
( E g 1
+
E g 2
+ E g 3
) / T [W]
T: Operation cycle [s]
4-41
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-4 Regenerative Energy Absorption
Servo Drive Regeneration Absorption Capacity
Amount of Internal Regeneration Absorption in Servo Drives
This
Servo Drive
absorbs regenerative energy internally with built-in capacitors.
If the regenerative energy is too large to be processed internally, an overvoltage error occurs and operation cannot continue.
The following table shows the regenerative energy (and amount of regeneration) that each drive can absorb. If these values are exceeded, take the following processes.
Connect an External Regeneration Unit. (Regeneration process capacity improves.)
Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.)
Lengthen the deceleration time. (Regenerative energy per unit time decreases.)
Lengthen the operation cycle, i.e., the cycle time. (Average regenerative power decreases.)
4
Servo Drive model
R88D-KNA5L-ECT-R
R88D-KN01L-ECT-R
R88D-KN02L-ECT-R
R88D-KN04L-ECT-R
R88D-KN01H-ECT-R
R88D-KN02H-ECT-R
R88D-KN04H-ECT-R
R88D-KN08H-ECT-R
R88D-KN10H-ECT-R
R88D-KN15H-ECT-R
R88D-KN20H-ECT-R
R88D-KN30H-ECT-R
R88D-KN50H-ECT-R
R88D-KN06F-ECT-R
R88D-KN10F-ECT-R
R88D-KN15F-ECT-R
R88D-KN20F-ECT-R
R88D-KN30F-ECT-R
R88D-KN50F-ECT-R
99
99
99
150
150
85
25
25
36
62
16
16
22
32
85
85
85
142
142
Regenerative energy absorbable by built-in capacitor (J)
Internal regeneration resistor
Average amount of regenerative energy absorbable (W)
21
21
29
60
60
18
18
72
60
60
21
−
−
−
12
−
−
−
17
Allowable minimum regeneration resistance (
Ω)
25
25
10
7
5
100
34
34
34
25
17
17
17
13
100
100
40
40
29
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-42
4-4 Regenerative Energy Absorption
4
Regenerative Energy Absorption with an External Regeneration
Resistor
If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive, connect an External Regeneration Resistor.
Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive.
Double-check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals.
The surface of the External Regeneration Resistor will heat up to approx. 200°C. Do not place it near equipment and wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions.
External Regeneration Resistor
Characteristics
Model
R88A-
RR08050S
R88A-
RR080100S
R88A-
RR22047S
R88A-
RR22047S1
R88A-
RR50020S
Resistance value
50 Ω
Nominal capacity
80 W
The amount of regeneration absorption for 120
°C
temperature rise
20 W
100 Ω
47 Ω
47 Ω
20 Ω
80 W
220 W
220 W
500 W
20 W
70 W
70 W
180 W
Heat radiation condition
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
600 × 600,
Thickness: 3.0
Operating temperature:
150°C ± 5%
NC contact
Rated output (resistive load):
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
Operating temperature:
150°C ± 5%
NC contact
Rated output (resistive load):
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
Operating temperature:
170°C ± 7°C
NC contact
Rated output: 250 VAC, 3 A max.
Operating temperature:
150°C ± 5%
NC contact
Rated output (resistive load):
250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
Operating temperature
200°C ± 7°C
NC contact
Rated output: 250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
4-43
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-4 Regenerative Energy Absorption
Connecting an External Regeneration Resistor
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN01H-ECT-R/
R88D-KN02H-ECT-R/-KN04H-ECT-R
Normally B2 and B3 are open.
If an External Regeneration Resistor is necessary, connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
B1
θ >
Thermal switch output
External Regeneration Resistor
B2
4
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
R88D-KN04L-ECT-R/-KN08H-ECT-R/-KN10H-ECT-R/-KN15H-ECT-R/-KN20H-
ECT-R/-KN30H-ECT-R/-KN50H-ECT-R/-KN06F-ECT-R/-KN10F-ECT-R/-
KN15F-ECT-R/-KN20F-ECT-R/-KN30F-ECT-R/-KN50F-ECT-R
Normally B2 and B3 are shorted.
If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3, and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
θ >
Thermal switch output
B1
B3
B2
External Regeneration Resistor
Remove the short-circuit bar between B2 and B3.
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
4-44
4
4-4 Regenerative Energy Absorption
Combining External Regeneration Resistors
Regeneration absorption capacity
*1
Model
Resistance value
*2
20 W
R88A-RR08050S
R88A-RR080100S
50 Ω/100 Ω
Connection method
R
40 W
R88A-RR08050S
R88A-RR080100S
25 Ω/50 Ω
70 W
R88A-RR22047S
R88A-RR22047S1
47 Ω
R
140 W
R88A-RR22047S
R88A-RR22047S1
94 Ω
R R
Regeneration absorption capacity
*1
Model
Resistance value
*2
140 W
R88A-RR22047S
R88A-RR22047S1
23.5 Ω
Connection method
280 W
R88A-RR22047S
R88A-RR22047S1
47 Ω
R
R
R
R
560 W
R88A-RR22047S
R88A-RR22047S1
23.5 Ω
Regeneration absorption capacity
*1
Model
Resistance value
*2
180 W
R88A-RR50020S
20 Ω
R
Connection method
360 W
R88A-RR50020S
10 Ω
1440 W
R88A-RR50020S
10 Ω
4-45
*1. Select a combination that has an absorption capacity greater than the average regeneration power
(Pr).
*2. Do not use a combination with resistance values lower than the allowable minimum regeneration resistance of each drive. For information on the allowable minimum regeneration resistance, refer to
Servo Drive Regeneration Absorption Capacity
Precautions for Safe Use
Surface temperatures on regeneration resistance can reach 200°C.
Do not place objects that tend to catch fire nearby. To prevent people from touching them, install a cover that enables heat dissipation.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
EtherCAT Communications
This chapter describes EtherCAT communications under the assumption that the
Servo Drive is connected to a CJ1W-NC281/NC481/NC881/NCF81/NC482/
NC882 Position Control Unit.
5-1 Display Area and Settings ...........................................5-1
Application Protocol over EtherCAT ..........................5-3
5-3 EtherCAT State Machine ..............................................5-4
5-4 Process Data Objects (PDOs)......................................5-5
5-5 Service Data Objects (SDOs).......................................5-7
5-6 Synchronization with Distributed Clocks...................5-8
5-7 Emergency Messages ..................................................5-9
5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-1 Display Area and Settings
5-1 Display Area and Settings
Status indicators
@ RUN
@ ERR
@ L/A IN
@ L/A OUT
ADR
CN5 x10 x1
Rotary switches for node address setting
5
Node Address Setting
The rotary switches in the display area are used to set the EtherCAT node address.
Rotary switch setting
00
01 to 99
Description
Connection to CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882
The Position Control Unit sets the node address.
The rotary switch setting is used as the node address.
Precautions for Correct Use
Do not change the rotary switch setting after the turning ON the power supply.
The node address rotary switches can be set to between 00 and 99.
The node address used over the network is determined by the value set on the rotary switches.
If the node address is not between 00 and 99, a Node Address Setting Error (Error 88.0) will occur.
Reference
EtherCAT Slave Information File
Information on EtherCAT slave settings is stored in the ESI (EtherCAT Slave Information) file.
Information in this file is used by the master to configure the network and set communications parameters. This information is in an XML file.
5-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-1 Display Area and Settings
Status Indicators
The following table shows the EtherCAT status indicators and their meaning.
Name
RUN
Color
Green
Status
OFF
Blinking
Single flash
ON
OFF
Blinking
Single flash
ERR Red
L/A IN
L/A OUT
Green
Green
Double flash
Flickering
ON
OFF
ON
Flickering
OFF
ON
Flickering
Indicator status is described below.
50 ms
Description
Init state
Pre-Operational state
Safe-Operational state
Operational state
No error
Communications setting error
Synchronization error or communications data error
Application WDT timeout
Boot error
PDI WDT timeout
Link not established in physical layer
Link established in physical layer
In operation after establishing link
Link not established in physical layer
Link established in physical layer
In operation after establishing link
ON
Flickering
OFF
ON
Blinking
OFF
ON
Single flash
OFF
ON
Double flash
OFF
200 ms
200 ms
200 ms
200 ms
200 ms
200 ms
1000 ms
1000 ms
200 ms
200 ms
5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-2
5
5-2 Structure of the CAN Application Protocol over EtherCAT
5-2 Structure of the CAN Application
Protocol over EtherCAT
The structure of the CAN application protocol over EtherCAT (CoE) for an OMNUC G5-series
Servo Drive with built-in EtherCAT communications is described in this section.
Servo Drive
Application layer
Servo drive application
Communications status transitions
Object dictionary
SDO (mailbox)
PDO mapping
PDO (cyclic)
Registers Mailbox
SyncManager
EtherCAT data link layer
EtherCAT physical layer
Process data
FMMU
Normally, multiple protocols can be transmitted using EtherCAT. The IEC 61800-7 (CiA 402) drive profile is used for OMNUC G5-series Servo Drives with Built-in EtherCAT
Communications.
The object dictionary in the application layer contains parameters and application data as well as information on the PDO mapping between the process data servo interface and Servo Drive application.
The process data object (PDO) consists of objects in the object dictionary that can be mapped to the PDO. The contents of the process data are defined by the PDO mapping.
Process data communications cyclically reads and writes the PDO. Mailbox communications
(SDO) uses asynchronous message communications where all objects in the object dictionary can be read and written.
5-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-3 EtherCAT State Machine
5-3 EtherCAT State Machine
The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT
Master.
Init
Pre-Operational
Safe-Operational
Operational
Init
State
Pre-Operational
(Pre-Op)
Safe-Operational
(Safe-Op)
Operational (Op)
SDO communications
Not possible.
Possible.
Possible.
Possible.
PDO reception
Not possible.
Not possible.
Not possible.
Possible.
PDO transmission
Not possible.
Not possible.
Possible.
Possible.
Description
Communications are being initialized.
Communications are not possible.
Only mailbox communications are possible in this state. This state is entered after initialization has been completed. It is used to initialize network settings.
In this state, PDO transmissions are possible in addition to mailbox communications. DC mode cyclic communications can be used to send information such as status from the Servo
Drive.
This is a normal operating state. DC mode cyclic communications can be used to control the motor.
5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-4
5-4 Process Data Objects (PDOs)
5-4 Process Data Objects (PDOs)
The process data objects (PDOs) are used to transfer data during cyclic communications in realtime. PDOs can be reception PDOs (RxPDOs), which receive data from the controller, or transmission PDOs (TxPDOs), which send status from the Servo Drive to the host controller.
RxPDO
Operation command, target position, etc.
Host
Controller
Servo Drive
TxPDO
Operation status, actual position, etc
The EtherCAT application layer can hold multiple objects to enable transferring Servo Drive process data. The contents of the process data are described in the PDO Mapping object and the Sync manager PDO assignment object.
OMNUC G5-series Servo Drives support PDO mapping for position control.
5
PDO Mapping Settings
The PDO mapping indicates the mapping for application objects (realtime process data) between the object dictionary and PDO. The number of mapped objects is described in subindex 0 of the mapping table. In this mapping table, 1600 hex to 17FF hex are for RxPDOs and
1A00 hex to 1BFF hex are for TxPDOs.
G5-series Servo Drives use 1701 hex for RxPDOs and 1B01 hex for the TxPDOs.
The following table is an example of PDO mapping.
Object Dictionary
Index Sub
1ZZZh 01h
1ZZZh
1ZZZh
02h
03h
Object contents
6TTTh TTh 8
6UUUh UUh
YYYYh YYh
8
16
PDO-Length: 32 bits
PDO_1
Object A Object B Object D
6TTTh
6UUUh
6VVVh
6YYYh
6ZZZh
TTh
UUh
VVh
YYh
ZZh
Object A
Object B
Object C
Object D
Object E
5-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-4 Process Data Objects (PDOs)
Sync Manager PDO Assignment Settings
A Sync manager channel consists of several PDOs. The Sync manager PDO assignment objects describe how these PDOs are related to the Sync Manager. The number of PDOs is given in sub-index 0 of the Sync manager PDO assignment table. In this table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The following table is an example of sync manager PDO mapping.
Object Dictionary
Index Sub Object contents
1C1zh
1C1zh
1C1zh
1
2
3
1A00h
1A01h
1A03h
Sync Manager Entity z
PDO A PDO B PDO D
1A00h
1A01h
1A02h
1A03h
1A04h
1A05h
1A06h
PDO A
PDO B
PDO C
PDO D
PDO E
PDO F
PDO G
5
Fixed PDO Mapping
This section describes the contents of fixed PDO mapping for G5-series Servo Drives. This contents cannot be changed.
PDO Mapping for Position Control
RxPDO
(1701h)
TxPDO
(1B01h)
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex), and Digital outputs (60FE hex)
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex),
Torque actual value (6077 hex), Following error actual value (60F4 hex), Touch probe status (60B9 hex), Touch probe pos1 pos value (60BA hex), Touch probe pos2 pos value(60BC hex), and Digital inputs (60FD hex)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-6
5-5 Service Data Objects (SDOs)
5-5 Service Data Objects (SDOs)
OMNUC G5-series Servo Drives support SDO communications. SDO communications are used for setting objects and monitoring the status of G5-series Servo Drives. Objects can be set and the status monitored by reading and writing data to the entries in the object dictionary of the host controller.
5
Abort Codes
The following table lists the abort codes for when an SDO communications error occurs.
Code
0503 0000 hex
0504 0000 hex
0504 0001 hex
0504 0005 hex
0601 0000 hex
0601 0001 hex
0601 0002 hex
0602 0000 hex
0604 0041 hex
0604 0042 hex
0604 0043 hex
0604 0047 hex
0606 0000 hex
0607 0010 hex
0607 0012 hex
0607 0013 hex
0609 0011 hex
0609 0030 hex
0609 0031 hex
0609 0032 hex
0609 0036 hex
0800 0000 hex
0800 0020 hex
0800 0021 hex
0800 0022 hex
0800 0023 hex
Meaning
Toggle bit not changed
SDO protocol timeout
Client/Server command specifier not valid or unknown
Out of memory
Unsupported access to an object
Attempt to read a write only object
Attempt to write to a read only object
The object does not exist in the object directory
The object can not be mapped into the PDO.
The number and length of the objects to be mapped would exceed the
PDO length.
General parameter incompatibility reason
General internal incompatibility in the device.
Access failed due to a hardware error.
Data type does not match, length of service parameter does not match
Data type does not match, length of service parameter too high
Data type does not match, length of service parameter too low
Subindex does not exist
Value range of parameter exceeded (only for write access)
Value of parameter written too high
Value of parameter written too low
Maximum value is less than minimum value
General error
Data cannot be transferred or stored to the application
Data cannot be transferred or stored to the application because of local control
Data cannot be transferred or stored to the application because of the present device state
Object dictionary dynamic generation fails or no object dictionary is present
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-7
5-6 Synchronization with Distributed Clocks
5-6 Synchronization with Distributed
Clocks
A mechanism called a distributed clock (DC) is used to synchronize EtherCAT communications.
The DC mode is used for OMNUC G5-series Servo Drives to perform highly accurate control in a multi-axis system.
In DC mode, the master and slaves are synchronized by sharing the same clock.
Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock.
Servo Drive control is carried out at this precise timing.
Communications Cycle (DC Cycle)
The communications cycle is determined by setting the Sync0 signal output cycle.
Setting range: 250 µs/500 µs/1 ms/2 ms/4 ms
Precautions for Correct Use
Set 6091 hex (Gear ratio) to 1:1 for 250 µs or 500 µs. If it is not set to 1:1, a Function Setting
Error (Error 93.4) will occur.
5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-8
5
5-7 Emergency Messages
5-7 Emergency Messages
When an error or warning occurs in a OMNUC G5-series Servo Drive, an emergency message is sent to the master using mailbox communications. An emergency message is not sent for a communications error.
You can select whether to send emergency messages setting Diagnosis history (10F3 hex).
The default setting is to not send emergency messages. (10F3 hex, Sub: 05 hex (Flags) = 0)
Set the sub-index 05 hex (Flags) in object 10F3 hex to 1 every time the power is turned ON to send emergency messages.
Emergency messages consist of 8 bytes of data.
Byte
Contents
0 1
Emergency Error
Code
*1
2
Error register (1001 hex)
3 4 5 6 7
Manufacturer Specific Error Field
(reserved)
*1 Error codes (FF00 hex to FFFF hex) in the manufacturer-specific area are used.
Note: For details on errors and warnings of the Servo Drive, refer to Chapter 12 Troubleshooting and
.
5-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Drive Profile
This chapter describes the profile that is used to control the Servo Drive.
6-1 Controlling the State Machine of the Servo Drive .....6-1
6-2 Modes of Operation ......................................................6-4
6-3 Cyclic Synchronous Position Mode............................6-5
6-4 Torque Limit ..................................................................6-8
6-5 Touch Probe Function (Latch Function) ....................6-9
6-6 Fully-closed Control ...................................................6-12
6-7 Object Dictionary ........................................................6-19
6-8 Connecting with OMRON Controllers.......................6-53
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-1 Controlling the State Machine of the Servo Drive
6-1 Controlling the State Machine of the
Servo Drive
The state of OMNUC G5-series Servo Drives with built-in EtherCAT communications is controlled by using the Controlword (6040 hex). Control state is given in the Statusword (6041 hex).
6
State Machine
The state of an OMNUC G5-series Servo Drive changes as shown below.
Each box indicates a state, while numbers 2 to 10 and 15 indicate the state control commands.
For details on the states, refer to State Descriptions on page 6-2 and Command Coding on page 6-2.
Power turned OFF or Reset
Start
0: After the control power is turned ON
Control circuit power supply
Main circuit power supply
Servo
ON/OFF
Not ready to switch on
1: After initialization is completed
Switch on disabled
15: Error reset
Fault
ON
ON or
OFF
OFF
Shutdown: 2 7: Disable voltage
Ready to switch on
Switch on: 3
6: Shutdown
Switched on
14: Error response operation completed
Disable voltage: 10
ON ON OFF
Enable operation: 4
Fault reaction active
5: Disable
operation
Operation enabled
8: Shutdown
ON ON ON
13: Error occurs
9: Disable voltage
Note 1: Quick stop active state is not supported. Even if a Quick stop command is received, it will be ignored.
Note 2: The operation to perform when the main circuit power is turned OFF while the Servo is ON can be set using the Undervoltage Error Selection (3508 hex).
3508h=0: Moves to a state where the main circuit power supply is turned OFF and stops according to the setting of the Shutdown option code (605B hex).
3508h=1: Moves to an error processing state and stops according to the setting of the Fault reaction option code (605E hex).
6-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-1 Controlling the State Machine of the Servo Drive
State Descriptions
States
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
Fault
Description
The control circuit power supply is turned ON and initialization is being executed.
Initialization has been completed.
Servo Drive parameters can be set.
The main circuit power supply can be turned ON.
Servo Drive parameters can be set.
The main circuit power supply is ON.
Servo Drive parameters can be set.
The Servo is ON.
Servo Drive parameters can be set.
There was an error in the Servo Drive and the cause is being determined.
Servo Drive parameters can be set.
There is an error in the Servo Drive.
Servo Drive parameters can be set.
Command Coding
State is controlled by combining the bits in the Controlword (6040 hex) as shown in the following table.
fr = fault reset, eo = enable operation, qs = quick stop, ev = enable voltage, so = switch on
Controlword Bit
Command
Bit 7 fr
Bit 3 eo
Bit 2 qs
Bit 1 ev
Bit 0 so
Move to
Shutdown
Switch on
Switch on + enable operation
Disable voltage
Quick stop
×
×
×
×
×
0
1
×
1
1
1
×
1
1
1
0
0
1
1
×
2, 6, 8
3
3 + 4
*1
7, 9, 10
× ×
0 1
×
Not supported
*2
Disable operation
Enable operation
Fault reset
×
×
0 → 1
*3*4
0
1
×
1
1
×
1
1
×
1
1
×
5
4
15
*1 The state automatically moves to Operation enabled state after Switched on state.
*2 Quick stop commands are not supported. Even if a quick stop command is received, it will be ignored.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-2
6
6-1 Controlling the State Machine of the Servo Drive
*3 Bit 7: Operation when Fault reset bit turns ON.
Fault state: Errors are reset and the Servo Drive returns to its initialized state.
If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.
State other than Fault state:
If there are any warnings (Warning (6041 hex: Statusword bit 7), they are reset.
The state will change according to command bits 0 to 3.
*4 When an error reset is executed with bit 7, set the bit back to 0 before giving the next command.
State Coding
State is indicated by the combination of bits in Statusword (6041 hex), as shown in the following table.
State
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Fault reaction active
Fault
*1 sod = switch on disabled
*2 qs = quick stop
*3 ve = voltage enabled
*4 f = fault
*5 oe = operation enabled
*6 so = switched on
*7 rtso = ready to switch on
Bit 6 sod
*1
0
0
0
0
0
0
1
Bit 5 qs
*2
1
1
1
1
1
0
1
Bit 4 ve
*3
×
×
×
×
×
×
×
Bit 3 f
*4
0
1
1
0
0
0
0
Bit 2 oe
*5
1
1
0
0
0
0
0
Bit 1 so
*6
1
1
0
0
1
0
0
Bit 0 rtso
*7
1
1
0
1
1
0
0
6-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-2 Modes of Operation
6-2 Modes of Operation
OMNUC G5-series Servo Drives with built-in EtherCAT communications support the following
Modes of operation.
csp: Cyclic synchronous position mode
The operation mode is set in Modes of operation (6060 hex). It is also given in Modes of operation display (6061 hex).
The operation modes supported by the Servo Drive can be checked in Supported drive modes
(6502 hex).
If an unsupported operation mode is specified, a Function Setting Error (Error 93.4) will occur.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-4
6
6-3 Cyclic Synchronous Position Mode
6-3 Cyclic Synchronous Position Mode
In this mode of operation, the controller has a path generation function (an operation profile calculation function) and it gives the target position to the Servo Drive using cyclic synchronization. Position control, speed control, and torque control are performed by the
Servo Drive.
The Velocity offset (60B1 hex) and Torque offset (60B2 hex) can be used as speed feedforward and torque feed-forward amounts.
Cyclic Synchronous Position Mode Configuration
The following diagram shows the configuration of the Cyclic synchronous position mode.
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Position offset (60B0 hex)
+
Target position (607A hex)
+
Position
Control
+
+
Speed
Control
+
+
Torque
Control
M
Following error actual value (60F4 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
(=Torque demand)
Position actual value (6064 hex)
S
The following diagram shows the configuration of the control function of the Cyclic synchronous position mode.
Position offset (60B0 hex)
+
Target position (607A hex)
+
Limit function
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Software position limit (607D hex)
Following error window (6065 hex)
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)
Control function
Velocity actual value (606C hex)
Torque actual value (6077 hex) (=Torque demand)
6-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-3 Cyclic Synchronous Position Mode
Related Objects
Index
Subindex
Name Access Size Unit Setting range
Default setting
6040 hex 0
Controlword
RW U16
0 to FFFF hex
0 to FFFF hex 0000h
6060 hex
607A hex
6065 hex
*1
6072 hex
60B0 hex
60B1 hex
60B2 hex
6041 hex
6064 hex
606C hex
6077 hex
0
0
0
0
0
0
0
0
0
0
0
Modes of operation
Target position
Following error window
Max torque
Position offset
Velocity offset
Torque offset
Statusword
Position actual value
Velocity actual value
Torque actual value
Following error actual value
RW
RW
RW
RW
RW
RW
RW
RO
RO
RO
RO
INT8
INT32
U32
U16
INT32
INT32
INT16
U16
INT32
INT32
INT16
−
Command units
Command units
0.1%
Command units
Command units/s
0.1%
0 to FFFF hex
Command units
Command units/s
0.1%
0 to 10
−2,147,483,648 to
2,147,483,647
0 to 134,217,728, or
4,294,967,295
0 to 5,000
−2,147,483,648 to
2,147,483,647
−2,147,483,648 to
2,147,483,647
−5,000 to 5,000
0 to FFFF hex
−2,147,483,648 to
2,147,483,647
−2,147,483,648 to
2,147,483,647
−5,000 to 5,000
0
0000h
100000
5000
0000h
0000h
0
0000h
0000h
0000h
0000h
60F4 hex 0 RO INT32
Command units
−2,147,483,648 to
2,147,483,647
0000h
*1 The Following error window object can be set to between 0 and 134,217,728, or 4,294,967,295. If the object is set to 4,294,967,295, the detection of Following error will be disabled. If it is set to 0, a
Following error will always occur. If the set value is between 134,217,729 and 4,294,967,294, it is set to 134,217,728. In this case, 134,217,728 will be returned when the object is read.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6
6-3 Cyclic Synchronous Position Mode
6
Block Diagram for Position Control Mode
The following block diagram is for position control using an R88D-KN@@@-ECT-series Servo
Drive.
607A hex
Target position
[command units]
6081 hex
Profile velocity
[command units/s]
606C hex
Velocity actual value [command units/s]
6062 hex
Position demand value [command units]
Generate
Position
Command
Electronic gear reverse conversion
4015 hex
Velocity Demand
Value [command units/s]
Gear ratio forward conversion
Numerator
6091(01)
Denominator
6091(02)
60BA or 60BC hex
Touch probe pos
1/2 pos value
[command units]
6064 hex
Position actual value
[command units]
4016 hex
Motor Velocity
Demand Value
[r/min]
60FC hex
Position demand internal value
[encoder pulses]
Smoothing filter
FIR
3818
First-order
Lag
3222
Damping Control
Switch
Selection
3213
Frequency
Filter
1
3214 3215
2
3216
3
3218
3217
3219
4
3220 3221
4017 hex
Motor Velocity
Demand Value After
Filtering [r/min]
Gain Switching
Setting 2
3114
Setting 3
3605
Mode
3115
Delay Time
3116
Level
3117
Hysteresis
3118
Switching Time
3119
Ratio
3606
60F4 hex
Following error actual value
[command units]
4018 hex
Position Demand
Value After Filtering
[command units]
401F hex
Velocity Demand Value
After Filtering
[command units/s]
−
+ Electronic gear reverse conversion
60B2 hex
Torque offset
[0.1%]
Speed FF unit conversion
60B1 hex
Velocity offset
[command units/s]
+
−
Speed
Feed-forward
Gain
Filter
3110
3111
Position
Control
1
2
3100
3105
4019 hex
Following Error Actual
Internal Value
[encoder pulses]
+
+
60FA hex
Control effort
[command units/s]
+
+
401A hex
Motor Control
Effort [r/min]
Torque
Feed-forward
Gain
Filter
3112
3113
+
+
1
Speed Control
Linear Integral
3101 3102
+
1
−
Speed
Detection Filter
3103
2
3108
Expansion
Setting
3610
2 3106
Inertia Ratio
3107
3004
+
+
6063 hex
Position actual internal value
[encoder pulses]
401B hex
Motor Velocity
Actual Value
[r/min]
Speed detection
Encoder
Motor
Current control
Response
Setting
3611
Load
Main power supply
Friction compensation
Offset Value
3607
Forward
3608
Reverse 3609
+
+
+
Disturbance
Observer
Gain
Filter
Notch Filter
1
Frequency
3201
Width
3202
Depth
3203
2
3
3204
3207
3205
3208
4 3210 3211
Adaptive Filter Selection 3200
3206
3209
3212
3623
3624
1
2
Torque
Filter
3104
3109
6074 or 6077 hex
Torque demand or
Torque actual value
[0.1%]
Torque Limit
Selection 3521
Positive 60E0
Negative
60E1
MAX 6072
Note 1: Numbers within parentheses are sub-index numbers.
Note 2: Numbers within boxes are hexadecimal index numbers.
6-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-4 Torque Limit
6-4 Torque Limit
OMNUC G5-series Servo Drives can limit the torque using various methods. The following objects are used to limit the torque using EtherCAT communications.
For details refer to Torque Limit Switching on page 7-21.
Related Objects
Index Name Description
6072 hex Max torque Torque limit for forward and reverse rotation.
60E0 hex Positive torque limit value Torque limit for forward rotation.
60E1 hex
Negative torque limit value
Torque limit for reverse rotation.
Note 1: The smaller of the two limits is applied.
Note 2: The torque limit state is given in Internal Limit Active (bit 11) in the Statusword (6041 hex).
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-8
6-5 Touch Probe Function (Latch Function)
6-5 Touch Probe Function (Latch
Function)
The latch function latches the position actual value when an external latch input signal or the encoder's phase-Z signal turns ON. OMNUC G5-series Servo Drives can latch two positions.
6
Related Objects
Index
60B8 hex
60B9 hex
60BA hex
60BC hex
3404 hex
3405 hex
3406 hex
3758 hex
Name
Touch probe function
Touch probe status
Touch probe pos1 pos value
Touch probe pos2 pos value
Input Signal Selection 5
Input Signal Selection 6
Input Signal Selection 7
Touch Probe Trigger
Selection
Description
Controls the latch function.
Gives the state of latches 1 and 2.
Latch position of latch 1.
Latch position of latch 2.
Set the function for general-purpose input 5 (IN5).
Set the function for general-purpose input 6 (IN6).
Set the function for general-purpose input 7 (IN7).
Select the trigger signals for latch 1 and 2.
Trigger Signal Settings
The latch trigger can be selected from general-purpose inputs 5 to 7 or the encoder's phase-
Z signal. The functions of general-purpose signals 5 to 7 from the control I/O connector are set with the Input Signal Selection 5 to 7 (3404 to 3406 hex). External latch input signals used by
Latches 1 and 2 are set with the Touch Probe Trigger Selection (3758 hex).
Bits 2 and 10 of the Touch probe function (60B8 hex) are used to specify weather to latch with an external signal or the phase-Z signal.
60B8 hex (Bit 10)
Position actual value
IN5/6/7
(1)
3404 to 3406 hex
EXT1/2/3
Phase-Z signal
(2)
EXT#1
Phase-Z signal
(3)
Latch trigger
LT1
Latch 1
Phase-Z signal
3758 hex
(TP1_SEL)
(2)
EXT#2
60B8h (Bit 2)
Position actual value
Latch trigger
Phase-Z signal
(3)
LT2
Latch 2
3758 hex
(TP2_SEL)
60BA hex
Touch probe pos1 pos value
60BC hex
Touch probe pos2 pos value
6-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-5 Touch Probe Function (Latch Function)
General-purpose Input Assignment in (1)
Signal
IN5
IN6
IN7
Index
3404 hex
3405 hex
3406 hex
Assignment
Select either EXT1, EXT2, or EXT3.
Select either EXT1, EXT2, or EXT3.
Select either EXT1, EXT2, or EXT3.
*1 The same function cannot be assigned more than once.
Touch Probe Trigger Selection (3758 hex) in (2)
Latch 1 Latch 2
TP1_SEL
Bit 0
0
1
0
Bit 1
0
0
1
1 1
EXT#1
EXT1
EXT2
EXT3
Phase-Z signal
Touch probe function (60B8 hex) in (3)
TP2_SEL
Bit 8
0
1
0
Bit 9
0
0
1
1 1
Bit 2
0
1
LT1
EXT#1
Phase-Z signal
Bit 10
0
1
EXT#2
LT2
EXT#2
Phase-Z signal
EXT1
EXT2
EXT3
Phase-Z signal
6
Operation Sequences
Trigger first event (60B8 Hex Bit 1/9 = 0: Trigger first event)
60B8 hex
Bit 0/8
Trigger input
60B9 hex
Bit 0/8
60B9 hex
Bit 1/9
60BA
/60BC hex
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-10
6
6-5 Touch Probe Function (Latch Function)
Continuous (60B8 Hex Bit 1/9 = 1: Continuous)
60B8 hex
Bit 0/8
Trigger input
60B9 hex
Bit 0/8
60B9 hex
Bit 1/9
60B9 hex
Bit 6/14
60B9 hex
Bit 7/15
60BA
/60BC hex
6-11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6 Fully-closed Control
6-6 Fully-closed Control
An externally provided encoder is used to directly detect the position of the control target and feedback the detected machine position to perform position control. This way, controls can be performed without being affected by ball screw error, temperature changes, etc. You can achieve highly accurate positioning by configuring a fully-closed control system.
Outline of Operation
Host Controller with
EtherCAT Communications
Position Control Unit
CJ1W-NC
@8@ Target position
(607A hex)
[command units]
Servo Drive
R88D-KN
@-ECT-R
Electronic gear forward conversion
------
6091h-02h
Internal circuits
External feedback pulse dividing ratio
------
3325h
Position actual value
(6064 hex)
[command units]
Electronic gear reverse conversion
------
6091h-01h
Motor current
Motor
Encoder
Load
Position actual internal value (6063 hex)
[external encoder units]
External encoder
Reference
If the Gear ratio (6091-01 and 6091-02 hex) is 1:1, 1 command unit from the Target position (607A hex) is equivalent to a movement of 1 external encoder pulse.
Example for an External Encoder with a Resolution of 0.1 µm
Gear ratio (6091-01 and 6091-02 hex) of 1:1:
The external encoder executes positioning for 10 µm when 100 command units are applied as the Target position (607A hex).
100 command units × 1:1 (Gear ratio) × 0.1 µm = 10 µm
Here, 100 command units are returned to the host controller as the Position actual value
(6064 hex).
Gear ratio (6091-01 and 6091-02 hex) of 1:2:
The external encoder executes positioning for 10 µm when 200 command units are applied as the Target position (607A hex).
200 command units × 1:2 (Gear ratio) × 0.1 µm = 10 µm
Here, 200 command units are returned to the host controller as the Position actual value
(6064 hex).
Set the External Feedback Pulse Dividing Ratio (3324 and 3325 hex) according to External
Feedback Pulse Dividing Ratio Setting (3324 Hex, 3325 Hex)
Set the Hybrid Following Error Counter Overflow Level (3328 hex) and Hybrid Following Error
Counter Reset (3329 hex) according to Hybrid Error Setting (3328 Hex, 3329 Hex) on page 6-17
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-12
6
6-6 Fully-closed Control
6
Objects Requiring Settings
Index Sub-index
0
3000 hex
3001 hex 0
6091 hex 1
6091 hex
3323 hex
3324 hex
3325 hex
3326 hex
3327 hex
3328 hex
2
0
0
0
0
0
0
3329 hex 0
Name
Rotation Direction
Switching
Description
Set the relation between the command direction and the motor rotation direction.
Select the control mode.
Reference
Control Mode
Selection
Motor revolutions
Shaft revolutions
Set the numerator of the electronic gear ratio for the Target position (607A hex).
Set the denominator of the electronic gear ratio for the Target position (607A hex).
Select the external encoder type.
External Feedback
Pulse Type
Selection
External Feedback
Pulse Dividing
Numerator
External Feedback
Pulse Dividing
Denominator
External Feedback
Pulse Direction
Switching
External Feedback
Pulse Phase-Z
Setting
Hybrid Following
Error Counter
Overflow Level
Hybrid Following
Error Counter Reset
Set the numerator of the external feedback pulse divider setting.
Set the denominator of the external feedback pulse divider setting.
Set the polarity of the external encoder feedback pulse.
Set whether to enable or disable the disconnection detection function for phase Z when an external encoder with a 90° phase difference output is used.
Set the threshold for the Excessive
Hybrid Deviation Error (Error 25.0) in the command unit.
The hybrid error becomes 0 every time the motor rotates by the set value.
Rotation Direction Switching (3000 Hex)
Set the relation between the command direction and the motor rotation direction.
0: Counterclockwise when viewed from the end of the shaft for positive commands
1: Clockwise when viewed from the end of the shaft for positive commands
When object 3000 hex is set to 1, opposite directions will be used for the external encoder counting direction and the total external encoder feedback pulses and other monitor counts.
Control Mode Selection (3001 Hex)
Select the fully-closed control (set value: 6).
6-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6 Fully-closed Control
Electronic Gear Function (6091-01 Hex, 6091-02 Hex)
This function sets the position command for the position control part to the value that is calculated by multiplying the command from the Host Controller with the electronic gear ratio.
Index
6091-01 hex
6091-02 hex
Name
Motor revolutions
Shaft revolutions
Description
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
Setting range
0 to
1,073,741,824
1 to
1,073,741,824
−
−
Unit
For details on the electronic gear function, refer to Electronic Gear Function on page 7-18
External Feedback Pulse Type Selection (3323 Hex, 3326 Hex)
Set the external encoder output type and direction.
Index
3323 hex
3326 hex
Name
External
Feedback Pulse
Type Selection
External
Feedback Pulse
Direction
Switching
Description
Select the type of the external encoder to be used.
0: Encoder with 90° phase difference output
1: Incremental encoder with serial communications
2: Absolute encoder with serial communications
If the count directions of the external encoder feedback pulse and the encoder total feedback pulses do not match, reverse the external encoder feedback pulse direction in this setting.
0: Not reversed, 1: Reversed
Setting range Unit
0 to 2 −
0 to 1
−
6
Supported External Encoders
The corresponding external encoders for each output type are given in the following table.
Set value of
3323 hex
0
1
2
External encoder type
Encoder with 90° phase difference output
*2*3
Incremental encoder with serial communications
*3
Absolute encoder with serial communications
*3
Corresponding external encoder examples
Maximum input frequency
*1
External encoder with phase-AB outputs 0 to 4 Mpps (After x4)
Sony Manufacturing Systems
Corporation
SR75, SR85
Mitutoyo Corporation
AT573, ST771A, ST773A
Sony Manufacturing Systems
Corporation
SR77, SR87
0 to 400 Mpps
0 to 400 Mpps
*1 These are the feedback speeds from the external encoder at which Servo Drive can respond. Check the external encoder operation manual for its maximum output frequency.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-14
6
6-6 Fully-closed Control
*2 These are the directions in which the Servo Drive counts the pulses from an external encoder with a 90° phase difference outputs.
Count-down direction t1
Count-up direction t1
EXA
EXA
EXB
EXB t2 t2
EXB is 90
° ahead of EXA. t1 > 0.25
µs t2 > 1.0
µs
EXB is 90
° behind EXA. t1 > 0.25
µs t2 > 1.0
µs
*3 For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or any other reason, the count direction can be reversed using External
Feedback Pulse Direction Switching (3326 hex).
Precautions for Correct Use
If 3000 hex = 1, the encoder count direction becomes opposite to the count direction used for monitoring, e.g., for the total external encoder feedback pulses.
If 3000 hex = 0, the count direction matches the count direction for monitoring.
Even when the speed command is within the Servo Drive's speed command range, an acceleration alarm will occur if the speed command exceeds the maximum speed of the motor.
To confirm that the installation direction is correct, use the front-panel monitor or the CX-Drive monitor function to check the counting direction of the total external encoder feedback pulses and the total encoder feedback pulses. If the counting directions are the same, the connections are correct.
Reference
Maximum Input Frequency
The maximum speed when an external encoder with a resolution of 0.01 µm is used for the serial communications is 0.01 µm × (400 × 10 speed.
6
) pps = 4.00 m/s.
An overspeed error will occur, however, if the motor shaft rotation speed exceeds the maximum
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6 Fully-closed Control
External Feedback Pulse Dividing Ratio Setting (3324 Hex, 3325 Hex)
Set the dividing ratio for the encoder resolution and external encoder resolution.
Index
3324 hex
3325 hex
Name
External
Feedback Pulse
Dividing
Numerator
External
Feedback Pulse
Dividing
Denominator
Description
Set the numerator of the external feedback pulse divider setting. Normally, set the number of encoder output pulses per motor rotation. If the set value is 0, the encoder resolution is set automatically.
Set the denominator of the external feedback pulse divider setting. Normally, set the number of external encoder output pulses per motor rotation.
Setting range
0 to 1,048,576
1 to 1,048,576
−
−
Unit
Check the number of encoder feedback pulses and the number of external encoder output pulses per motor rotation, and set the External Feedback Pulse Dividing Numerator (3324 hex) and External Feedback Pulse Dividing Denominator (3325 hex) the so that the following equation is true.
Object 3324 hex
=
Object 3325 hex
Encoder resolution per motor rotation [pulses]
External encoder resolution per motor rotation [pulses]
Precautions for Correct Use
If this divider setting is wrong, there will be error between the position calculated from encoder pulses and the position calculated from external encoder pulses. If the movement distance is long, this error accumulates and causes a Excessive Hybrid Deviation Error (error 25.0).
The recommended divider setting is 1/40 ≤ External Feedback Pulse Ratio ≤ 160. If the ratio is set too small, control to the unit of 1 external feedback pulse may be disabled. On the other hand, if the external feedback pulse ratio is increased, operating noise may increase.
6
Setting Example
Ball screw pitch: 10 mm
External encoder resolution: 0.1 µm
Encoder resolution: 20 bits
Servomotor
Encoder resolution: 20 bits/rotation
10 mm
Ball screw
Ball screw pitch: 10 mm
1 rotation
Encoder Output Pulses per Motor Rotation (3324 hex)
20 bits = 1,048,576
External encoder resolution: 0.1
µm
External Encoder Output Pulse per Motor Rotation (3325 hex)
10 [mm]/0.1 [
µm/pulse] = 100,000 [pulses]
Object 3324 hex
Object 3325 hex
=
Encoder resolution per motor rotation [pulses]
External encoder resolution per motor rotation [pulses]
=
1048576
100000
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-16
6
6-6 Fully-closed Control
Hybrid Error Setting (3328 Hex, 3329 Hex)
The difference between the encoder position and external encoder position is detected, and if the difference exceeds the value of Hybrid Following Error Counter Overflow Level (3328 hex), an error occurs.
Index
3328 hex
3329 hex
Name
Hybrid Following
Error Counter
Overflow Level
Hybrid Following
Error Counter Reset
Description
Set the allowable difference
(hybrid error) between the encoder-detected position and external encoder-detected position in command units.
The hybrid error becomes 0 every time the motor rotates by the set value.
If the set value is 0, the hybrid error is not cleared.
Setting range
1 to 2
27
0 to 100
Unit
Command units
Rotations
3329 Hex: Hybrid Following Error Counter Reset
The hybrid error is cleared every time the motor rotates by the amount set in object 3329 hex.
This function can be used when there is error between the position calculated from encoder pulses and the position calculated from external encoder because hybrid error accumulated due to slipping or other factors.
Amount of hybrid error
[Command units]
Error detected
3328 hex: Hybrid Following Error Counter Overflow Level
Cleared to 0.
Cleared to 0.
3329 hex
Hybrid Following Error
Counter Reset
3329 hex
Hybrid Following Error
Counter Reset
3329 hex
Hybrid Following
Error Counter Reset
Number of motor rotations
[rotations]
Precautions for Correct Use
The machine may run out of control and be damaged if the external encoder breaks down or the motor or load coupling becomes disconnected. To prevent this from happening, set the Hybrid
Following Error Counter Overflow Level (3328 hex) and Hybrid Following Error Counter Reset
(3329 hex).
If the Hybrid Following Error Counter Overflow Level (3328 hex) is set too high, detection is delayed and error detection will be ineffective. If an extremely small value is set, the amount of motor or machine torsion during normal operation may be detected as an error. Be sure to set an appropriate value.
Take sufficient safety measures, such as installing limit sensors.
6-17
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-6 Fully-closed Control
Parameter Block Diagram for Fully-closed Control Mode
The following is a block diagram for fully-closed control using an R88D-KN@@@-ECT-Series
Servo Drive.
607A hex
Target position
[command units]
6081 hex
Profile Velocity
[command units/s]
606C hex
Velocity actual value [command units/s]
6062 hex
Position demand value [command units]
Generate
Position
Command
Electronic gear reverse conversion
4015 hex
Velocity Demand
Value [command units/s]
Gear ratio forward conversion
Numerator
Denominator
6091(01)
6091(02)
60BA or 60BC hex
Touch probe pos
1/2 pos value
[command units]
6064 hex
Position actual value [command units]
4016 hex
Motor Velocity
Demand Value
[r/min]
60FC hex
Position demand internal value
[encoder pulses]
60F4 hex
Following error actual value
[command units]
Smoothing filter
FIR
3818
First-order
Lag
3222
4018 hex
Position Demand
Value After Filtering
[command units]
Damping Control
Switch
Selection
3213
1
2
3
4
Frequency
Filter
3214 3215
3216 3217
3218 3219
3220 3221
4017 hex
Motor Velocity
Demand Value After
Filtering [r/min]
Setting 2
Mode
Delay Time
Level
Hysteresis
Switching Time
Gain Switching
3114
3115
Setting 3 3605
Ratio
3606
3116
3117
3118
3119
401F hex
Velocity Demand
Value After Filtering
[command units/s]
-
+ Electronic gear reverse conversion
60B2 hex
Torque offset
[0.1%]
Speed FF unit conversion
60B1 hex
Velocity offset
[command units/s]
6063 hex
Position actual internal value
[external encoder pulses]
-
+
Input setting
Type 3323
Reverse
Phase Z disabled
3326
3327
Speed
Feed-forward
Gain
3110
Filter
3111
+
+
Position
Control
1
2
3100
3105
401D hex
Fully-closed Following
Error [external encoder pulses]
401E hex
Hybrid Following
Error [command units]
+
+
401A hex
Motor Control
Effort [r/min]
401B hex
Motor Velocity Actual
Value [r/min]
+
-
Speed
Detection Filter
1
3103
2 3108
Expansion
Setting
3610
Speed Control
1
Linear Integral
3101
2
3106
Inertia Ratio
3102
3107
3004
+
+
Electronic gear reverse conversion
External Encoder reverse dividing
Denominator 3325
Numerator
3324
Speed detection
Torque
Feed-forward
Gain
Filter
3112
3113
+
+
Friction
Compensation
Offset Value
3607
Forward
3608
Reverse
3609
+
+
+
Disturbance
Observer
Gain
3623
Filter
3624
1
Notch Filter
Frequency Width
3201 3202
Depth
3203
2
3
3204
3207
3205 3206
3208 3209
4
3210 3211
Adaptive Filter Selection 3200
3212
+
60FA hex
Control effort
[command units/s]
1
Torque
Filter
3104
2
3109
Encoder
External encoder
Motor
Current control
Response
3611
Setting
Main power supply
6074 or 6077 hex
Torque demand or
Torque actual value
[0.1%]
Torque Limit
Selection
3521
Positive
Negative
MAX
60E0
60E1
6072
Note 1: Numbers within parentheses are sub-index numbers.
Note 2: Numbers within boxes are hexadecimal index numbers.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-18
6-7 Object Dictionary
6-7 Object Dictionary
6
Object Dictionary Area
CAN application protocol over EtherCAT (CoE) uses the object dictionary as its base. All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.
Index Area
0000 to 0FFF hex Data Type Area
1000 to 1FFF hex CoE Communication Area
2000 to 2FFF hex Manufacturer Specific Area 1
3000 to 5FFF hex Manufacturer Specific Area 2
6000 to 9FFF hex Device Profile Area
A000 to FFFF hex Reserved Area
Description
Definitions of data types.
Definitions of variables that can be used by all servers for designated communications.
Variables with common definitions for all OMRON products.
Variables with common definitions for all OMNUC
G5-series Servo Drives (servo parameters).
Variables defined in the Servo Drive's CiA402 drive profile.
Area reserved for future use.
Data Types
Data types shown in the following table are used in this profile.
Data Types
Boolean
Unsigned 8
Unsigned 16
Unsigned 32
Integer 8
Integer 16
Integer 32
Visible string
Code
BOOL
U8
U16
U32
INT8
INT16
INT32
VS
Size
1 bit
1 byte
2 bytes
4 bytes
1 byte
2 bytes
4 bytes
−
Range
0 or 1
0 to 255
0 to 65,535
0 to 4,294,967,295
−128 to 127
−32,768 to 32,767
−2,147,483,648 to 2,147,483,647
−
6-19
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
Object Description Format
In this manual, objects are described in the following format.
Object Description Format
The object format is shown below.
<Index>
Range
Size
<Object name>
<Range>
<Size>
Unit
<Unit>
Access
Default
<Access>
<Default>
PDO map
Modes of Operation
Attribute
<Attribute>
<Possible/Not possible>
Data is indicated in pointed brackets <>.
Possible data are listed below.
Index:
Object name:
Modes of
Operation:
Object index given by a four-digit hexadecimal number.
The object name.
Range:
Unit:
Default:
Attribute:
Size:
Access:
PDO map:
Related operation modes.
Common: All operation modes csp: Cyclic synchronous position mode csp (Semi): Only operation modes related to semi-closed control.
csp (Full): Only operation modes related to fully-closed control.
The possible range of settings.
Physical units.
Default value set before shipment.
The timing when a change in the contents is updated for a writable object.
A: Always updated
B: Changing prohibited during motor rotation or commands.
If a change is made during motor rotation or commands, the update timing is unknown.
C: Updated after the control power is reset, or after a Config command is executed via EtherCAT communications.
R: Updated after the control power is reset.
It is not updated for a Config command via EtherCAT communications.
-: Write prohibited.
The object size is given in bytes.
Indicates whether the object is read only, or read and write.
RO: Read only.
RW: Read and write.
Indicates the PDO mapping attribute.
Possible (RxPDO): Reception PDOs can be mapped.
Possible (TxPDO): Transmission PDOs can be mapped.
Not possible: PDOs cannot be mapped.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-20
6-7 Object Dictionary
6
Format When There Is Sub-indexing
The object description format with subindices is shown below.
<Index>
<Object name>
Sub-index 0
Range
<Range>
Size
Sub-index 1
<Size>
Range
Size
Sub-index 2
Range
<Range>
<Size>
<Range>
Size
:
Sub-index N
Range
Size
<Size>
<Range>
<Size>
Number of entries
Unit
<Unit>
Default
Access
<Sub-index name>
<Access>
Unit
<Unit>
Access
<Sub-index name>
<Access>
Unit
<Unit>
Access
Default
Default
<Access>
<Sub-index name>
Unit
<Unit>
Access
Default
<Access>
<Default >
PDO map
<Default >
PDO map
<Default >
PDO map
<Default >
PDO map
The data remains the same even with sub-indexing.
Modes of Operation
Attribute
<Attribute>
<Possible/Not possible>
Attribute <Attribute>
<Possible/Not possible>
Attribute
<Attribute>
<Possible/Not possible>
Attribute
<Attribute>
<Possible/Not possible>
Communication Objects
1000 hex
Range
Size
Device type
−
4 bytes (U32)
Unit
−
Access
Gives the CoE device profile number.
Description of Set Values
Bit Name
0 to 15 Device profile number
16 to 23 Type
25 to 31 Mode
RO PDO map
Contents
402 (192 hex): Drive Profile
02: Servo Drive
0: Manufacturer specific
All
Attribute
Not possible
−
6-21
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
1001 hex
Range
Size
Error register
−
1 byte (U8)
Unit -
Access
Default 0
RO PDO map
Gives the error type that has occurred in the Servo Drive.
Description of Set Values
Bit
2
3
0
1
Description
Generic error
Current error
Voltage error
Temperature error
Bit
6
7
4
5
Description
Communication error
Device profile specific error
(Reserved)
Manufacturer specific error
All
Attribute
Not possible
−
1008 hex
Manufacturer device name
Range
Size
−
20 bytes (VS)
Unit −
Access
*1. The following table shows the default settings.
Default
RO
Specifications
Single-phase 100 VAC
Single-phase/3-phase
200 VAC
3-phase 400 VAC
Model
50 W R88D-KNA5L-ECT
100 W R88D-KN01L-ECT
200 W R88D-KN02L-ECT
400 W R88D-KN04L-ECT
100 W R88D-KN01H-ECT
200 W R88D-KN02H-ECT
400 W R88D-KN04H-ECT
750 W R88D-KN08H-ECT
1 kW R88D-KN10H-ECT
1.5 kW R88D-KN15H-ECT
600 W R88D-KN06F-ECT
1 kW R88D-KN10F-ECT
1.5 kW R88D-KN15F-ECT
Gives the Servo Drive model number.
*1
PDO map
All
Attribute
Not possible
−
1009 hex
Range
Size
Manufacturer hardware version
−
20 bytes (VS)
Unit
−
Access
Default
RO
Gives the version of the Servo Drive hardware.
−
PDO map
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
All
Attribute
Not possible
−
6-22
6
6
6-7 Object Dictionary
This is not used by OMNUC G5-series Servo Drives.
100A hex
Manufacturer software version
Range
Size
−
20 bytes (VS)
Unit
*1. The version number is saved in “V*.**”.
-
Access
Gives the version of the Servo Drive software.
Default
RO
*1
PDO map
All
Attribute
Not possible
−
1010 hex
Store parameters
All
Range
Size
Range
Size
Sub-index 0
−
1 byte (U8)
Number of entries
Unit −
Access
Sub-index 1
−
4 bytes (U32)
Save all parameters
Unit
−
Access
RO
RW
PDO map
PDO map
Attribute
Not possible
−
Attribute
Not possible
A
All savable parameters are saved in the Servo Drive EEPROM.
Saving is executed only when a specific value is written to sub-index 1. This prevents parameter values from being accidentally overwritten.
The specific value means “save”.
MSB LSB e v a s
65 hex 76 hex 61 hex 73 hex
A value of 0000 0001 hex (command valid) is given when reading.
Nothing can be saved to the EEPROM while there is a Control Power Supply Undervoltage Error
(Error 11.0).
Objects with attribute C are enabled for Config (4100 hex) or when the control power supply is reset.
Objects with attribute R are enabled when the control power supply is reset.
In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 6576 6173 hex.
Writing when there is a Control Power Supply Undervoltage Error (Error 11.0).
Writing to the EEPROM may take up to 10 seconds. (This is when all objects are changed.)
There is a limit to the number of times you can write to the EEPROM.
The following objects are saved.
Index
2200 hex
3000 to 3999 hex
605B hex
605C hex
605E hex
6065 hex
Sub-index
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
Description
Communications Error Setting
All OMNUC G5-series Servo Drive parameters
Shutdown option code
Disable operation option code
Fault reaction option code
Following error window
6-23
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
Index
607C hex
607D hex
607D hex
6091 hex
6091 hex
60E0 hex
60E1 hex
Sub-index
00 hex
01 hex
02 hex
01 hex
02 hex
00 hex
00 hex
Home offset
Min position limit
Max position limit
Motor revolutions
Shaft revolutions
Positive torque limit value
Negative torque limit value
Description
1011 hex
Restore default parameters
All
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
−
4 bytes (U32)
Number of entries
Unit
−
Access RO
Restore all default parameters
Unit
−
Access RW
PDO map
PDO map
Attribute
Not possible
−
Attribute
Not possible
A
Parameters are returned to their default values.
A restoration operation is executed only when a specific value is written to sub-index 1. This prevents parameter values from being accidentally overwritten.
The specific value means “load.”
MSB d a
64 hex 61 hex o
6f hex
LSB l
6c hex
A value of 0000 0001 hex (command valid) is given when reading.
EEPROM contents cannot be reset to default values if there is a Control Power Supply
Undervoltage Error (error 11.0).
Reset the control power supply to enable the objects.
In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 6461 6F6C hex.
Writing when there is a Control Power Supply Undervoltage Error (error 11.0).
Writing in operation enabled state.
Writing to the EEPROM may take up to 10 seconds. (This is when all objects are changed.)
There is a limit to the number of times you can write to the EEPROM.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-24
6
6-7 Object Dictionary
1018 hex
Identity object
Range
Size
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
Number of entries
Unit
−
Access
Vender ID
−
4 bytes (U32)
Unit
−
Access
Sub-index 2
−
4 bytes (U32)
Product code
Unit
−
Access
Sub-index 3 Revision number
Range
Size
Range
Size
−
4 bytes (U32)
Unit
−
Access
Sub-index 4
−
4 bytes (U32)
Serial number
Unit
−
Access
RO
RO
RO
RO
PDO map
PDO map
PDO map
PDO map
RO PDO map
This object contains device information.
Sub-index 1 (Vendor ID) gives the manufacturer identifier.
Sub-index 2 (Product code) gives the value assigned to each device.
All
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Specifications
Single-phase 100 VAC
Single-phase/3-phase
200 VAC
3-phase 400 VAC
Model
50 W R88D-KNA5L-ECT
100 W R88D-KN01L-ECT
200 W R88D-KN02L-ECT
400 W R88D-KN04L-ECT
100 W R88D-KN01H-ECT
200 W R88D-KN02H-ECT
400 W R88D-KN04H-ECT
750 W R88D-KN08H-ECT
1 kW R88D-KN10H-ECT
1.5 kW R88D-KN15H-ECT
600 W R88D-KN06F-ECT
1 kW R88D-KN10F-ECT
1.5 kW R88D-KN15F-ECT
Product code
0000 0001 hex
0000 0002 hex
0000 0003 hex
0000 0004 hex
0000 0005 hex
0000 0006 hex
0000 0007 hex
0000 0008 hex
0000 0009 hex
0000 000A hex
0000 000B hex
0000 000C hex
0000 000D hex
Sub-index 3 (Revision number) gives the device revision number.
Bits
0 to 15
16 to 31
Description
Device's minor revision number
Device's major revision number
Sub-index 4 (Serial number) is not used. A value of 0000 0000 hex is always given.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
10F0 hex
Backup parameter mode
All
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
−
4 bytes (U32)
Number of entries
Unit
−
Access RO
Backup parameter checksum
Unit
−
Access
Default
RO
PDO map
−
PDO map
Range
Size
Sub-index 2
−
1 bit (BOOL)
Backup parameter changed
Unit
−
Default 0
Access RW PDO map
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
A
This object gives the state of EEPROM changes.
Sub-index 1 (Backup parameter checksum) gives the EEPROM's checksum value. The checksum value is calculated based on objects saved for Store parameters (1010 hex).
Sub-index 2 (Backup parameter changed) gives 1 when the EEPROM is changed. After you have checked that it is 1, write 0 to it from the Master.
10F3 hex
Diagnosis history
All
Range
Size
Sub-index 0
−
1 byte (U8)
Number of entries
Unit
−
Access RO
Range
Size
Range
Size
Sub-index 1
00 to 0E hex
Sub-index 2
1 byte (U8)
06 to 13 hex
1 byte (U8)
Maximum messages
Unit
−
Access
Newest message
−
Access
RO
Range
Sub-index 5
0000 to 0001 hex
Size 2 bytes (U16)
Sub-indexes 6 to 19
Flags
Unit
−
Access
Diagnosis messages 1 to 14
RW
Range
Size
−
16 bytes (VS)
Unit
Unit
−
Access
RO
Default
RO
PDO map
PDO map
PDO map
PDO map
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
A
−
PDO map
Attribute
Not possible
−
This object gives up to 14 error history items. It also enables/disables emergency messages.
Sub-index 1 (Maximum messages) gives the number of error messages.
Sub-index 2 (Newest message) gives the sub index where the latest error history is saved.
Sub-index 5 (Flags) sets whether or not to notify the error history as an emergency message. It is set to Emergency Message Disabled (0000 hex) when power is turned ON. Write 0001 hex from the master to enable this function.
Sub-indexes 6 to 19 (Diagnosis messages 1 to 14) give the error history. The error history is saved in Diagnosis messages 1 to 14 in ascending order. When the 15th error is reached, it is saved as
Diagnosis message 1 and the sequence starts again.
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6
PDO Mapping Objects
Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex are used for Transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the application object being mapped.
31
MSB
16
Index
15 8 7 0
Sub-index Bit length
LSB
Bits 0 to 7:
Bits 8 to 15:
Bits 16 to 31:
Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
Sub-index of the mapped object.
Index of the mapped object.
1701 hex
258th RxPDO mapping parameter
All
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
−
4 bytes (U32)
Number of objects
Unit
−
Access
1st object
Unit −
Access
Range
Size
Range
Size
Range
Size
Sub-index 2
−
4 bytes (U32)
2nd object
Unit
Sub-index 3 3rd object
−
Access
−
4 bytes (U32)
Unit
Sub-index 4
−
4 bytes (U32)
4th object
Unit
−
Access
−
Access
RO
RO
Default
RO
Default
RO
Default
RO
PDO map
PDO map
607A 0020 hex
PDO map
60B8 0010 hex
PDO map
60FE 0020 hex
PDO map
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
This object gives the mapping for an application that uses only cyclic synchronous position control.
Touch probe function is available.
The following objects are mapped.
Controlword (6040 hex), Target position (607A hex), Touch probe function (60B8 hex), and
Digital outputs (60FE hex)
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1B01 hex
Range
Size
258th TxPDO mapping parameter
Sub-index 0
−
1 byte (U8)
Number of objects
Unit −
Access
Range
Size
Sub-index 1
−
4 bytes (U32)
1st object
Unit −
Access
Range
Size
Sub-index 2 2nd object
− Unit
Sub-index 3
4 bytes (U32)
3rd object
−
Access
Range
Size
−
Access
Range
Size
Range
Size
Range
Size
−
4 bytes (U32)
Unit
Sub-index 4
−
4 bytes (U32)
4th object
Unit
Sub-index 5
−
4 bytes (U32)
5th object
Unit
Sub-index 6 6th object
− Unit
Sub-index 7
4 bytes (U32)
7th object
−
Access
−
Access
−
Access
Range
Size
Range
Size
Range
Size
−
4 bytes (U32)
Unit
Sub-index 8
−
4 bytes (U32)
8th object
Unit
Sub-index 9
−
4 bytes (U32)
9th object
Unit
−
Access
−
Access
−
Access
RO
RO
RO
RO
RO
RO
RO
RO
Default
RO
PDO map
PDO map
PDO map
PDO map
PDO map
PDO map
PDO map
PDO map
60BC 0020 hex
PDO map
All
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
RO PDO map
Attribute
Not possible
−
This object gives the mapping for an application that uses only cyclic synchronous position control.
Touch probe status is available.
The following objects are mapped.
Error code (603F hex), Statusword (6041 hex), Position actual value (6064 hex), Torque actual value (6077 hex), Following error actual value (60F4 hex), Touch probe status (60B9 hex),
Touch probe pos1 pos value (60BA hex), Touch probe pos2 pos value (60BC hex), and Digital inputs (60FD hex)
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6
Sync Manager Communication Objects
Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
1C00 hex
Sync manager communication type
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
Range
Size
Range
Size
Sub-index 2
−
1 byte (U8)
−
1 byte (U8)
Sub-index 3
Range
Size
Sub-index 4
−
1 byte (U8)
Range
Size
−
1 byte (U8)
Number of used sync manager channels
Unit −
Access RO
Communication type SM0
Unit
−
Access
Communication type SM1
Unit −
Access
RO
RO
Communication type SM2
Unit
−
Access
Communication type SM3
Unit −
Access
RO
RO
The sync manager has the following settings.
SM0: Mailbox receive (Master to Slave)
SM1: Mailbox send (Slave to Master)
SM2: Process data output (Master to Slave)
SM3: Process data input (Slave to Master)
PDO map
PDO map
PDO map
PDO map
PDO map
All
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
1C10 hex
Sync manager 0 PDO assignment
All
Range
Size
Sub-index 0
−
1 byte (U8)
Number of assigned PDOs
Unit
−
Access RO PDO map
Attribute
Not possible
−
The PDO mapping used by this sync manager is given. Mailbox reception sync manager does not have PDOs.
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1C11 hex
Sync manager 1 PDO assignment
All
Range
Size
Sub-index 0
−
1 byte (U8)
Number of assigned PDOs
Unit −
Access RO PDO map
Attribute
Not possible
−
The PDO mapping used by this sync manager is given. Mailbox reception sync manager does not have PDOs.
1C12 hex
Sync manager 2 PDO assignment
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
−
2 bytes (U16)
Number of assigned RxPDOs
Unit
−
Access
Assigned PDO 1
RO
Unit
−
Access RO
The reception PDOs used by this sync manager are given.
Use the default value of 1701 hex.
PDO map
PDO map
1C13 hex
Sync manager 3 PDO assignment
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
−
2 bytes (U16)
Number of assigned TxPDOs
Unit
−
Access
Assigned PDO 1
RO
Unit
−
Access RO
PDO map
PDO map
The transmission PDOs used by this sync manager are given.
Use the default value of 1B01 hex.
All
Attribute
Not possible
−
Attribute
Not possible
−
All
Attribute
Not possible
−
Attribute
Not possible
−
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1C32 hex
SM2 synchronization
All
Range
Size
Range
Size
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
Number of synchronization parameters
Unit
−
Access
Synchronization type
RO
−
2 bytes (U16)
−
2 bytes (U16)
Unit
Unit
−
Access
Sub-index 2
−
4 bytes (U32)
Sub-index 4
Cycle time
Unit ns
Access RO
Synchronization types supported
−
Access
RO
RO
Range
Size
Sub-index 5
−
4 bytes (U32)
Minimum cycle time
Unit ns
Access
Sub-index 6 Calc and copy time
−
4 bytes (U32)
Unit ns
Access
Range
Size
Range
Size
Sub-index 9
−
4 bytes (U32)
Delay time
Unit ns
Access
Sub-index 32 Sync error
Range
Size
−
1 bit (BOOL)
Unit
−
Access
RO
RO
RO
PDO map
PDO map
PDO map
PDO map
PDO map
PDO map
PDO map
Default 0
RO PDO map
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
The Synchronization type indicates the synchronization mode of Sync Manager 2.
0002 hex: DC mode 0
The Cycle time indicates the sync 0 event cycle in nanoseconds.
The Synchronization types supported indicates the types of synchronization supported.
0004 hex: DC mode 0
The Sync error is 1 when there is a synchronization error.
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6-7 Object Dictionary
1C33 hex
SM3 synchronization
All
Range
Size
Range
Size
Sub-index 0
Sub-index 1
−
1 byte (U8)
−
2 bytes (U16)
Number of synchronization parameters
Unit
−
Access
Synchronization type
RO
Unit
−
Access RO
Range
Size
Sub-index 2
−
4 bytes (U32)
Sub-index 4
Cycle time
Unit ns
Access
Default
RO
Synchronization types supported
Range
Size
−
2 bytes (U16)
Unit
−
Access RO
Range
Size
Sub-index 5
−
4 bytes (U32)
Minimum cycle time
Unit ns
Access
Sub-index 6 Calc and copy time
Range
Size
−
4 bytes (U32)
Unit ns
Access
Range
Size
Sub-index 9
−
4 bytes (U32)
Delay time
Unit ns
Access
Sub-index 32 Sync error
Range
Size
−
1 bit (BOOL)
Unit
−
Access
RO
Default
RO
Default
RO
PDO map
PDO map
0000 0000 hex
PDO map
PDO map
PDO map
0006 06F8 hex
PDO map
0000 0000 hex
PDO map
Default 0
RO PDO map
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
Attribute
Not possible
−
The Synchronization type indicates the synchronization mode of Sync Manager 3.
0002 hex: DC mode 0
The Cycle time indicates the sync 0 event cycle in nanoseconds.
The Synchronization types supported indicates the types of synchronization supported.
0004 hex: DC mode 0
The Delay time is not supported. It reads as 0000 0000 hex.
The Sync error is 1 when there is a synchronization error.
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6
Manufacturer Specific Objects
This section describes objects specific to OMNUC G5-series Servo Drives with built-in
EtherCAT communications. OMNUC G5-series Servo Drive parameters (Pn@@@) are allocated to objects 3000 to 3999 hex. Index 3@@@ hex corresponds to OMNUC G5-series
Servo Drive parameter Pn@@@. For example, object 3504 hex is the same as parameter
Pn504.
For details on servo parameters, refer to Chapter 9 Details on Servo Parameter Objects.
Precautions for Correct Use
Pn@@@ uses decimal numbers but object 3 @@@ is a hexadecimal number.
2100 hex
Range
Size
Error History Clear
All
0000 0000 to FFFF FFFF hex
4 bytes (U32)
Unit
−
Default
0000 0000 hex
PDO map
Attribute A
Access RW Not possible
This object clears the contents of Diagnosis history (10F3 hex).
This function can be executed by writing 6c63 6861 hex using SDO mailbox communications.
The error history is saved in the EEPROM. If there is a Control Power Supply Undervoltage Error
(Error 11.0), you cannot make write access to the EEPROM. This means that the diagnosis history cannot be cleared.
In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 6c63 6861 hex.
Writing when there is a Control Power Supply Undervoltage Error (Error 11.0).
2200 hex
Range
Size
Communications Error Setting
All
0 to 15
1 byte (U8)
Unit Times
Access
Default
RW
1
PDO map
Attribute
Not possible
C
This object sets the number of times communications errors can occur consecutively before being detected as an error.
It can be set to between 0 and 15. The detection value will be set to one value higher than the set value.
Reference
The default setting is 1, i.e., an error is detected when two communications errors occur consecutively.
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6-7 Object Dictionary
4000 hex
Range
Size
Statusword 1
0000 to FFFF hex
2 bytes (U16)
Unit
−
Access
This object gives the present state of the Servo Drive.
RO
Bit Descriptions
Bit
0
1
2
3
Name
Origin Position
Distribution Completed
Zero Speed Detected*
Torque Limit Applied
*1
Symbol
ZPOINT
DEN
ZSP
TLIMT
4 Speed Limit
*1
VLIMT
5
6
Forward Software Limit
Reverse Software Limit
PSOT
NSOT
7 Speed Agreement
*1
VCMP
8 Positioning Completed 2 INP2
1
9 Servo Ready
*2
CMDRDY
0
1
10 to 15 Reserved
− −
*1. Not supported in Cyclic synchronous position mode (csp).
1
0
1
0
1
0
1
0
Code
1
0
1
0
1
0
1
0
0
PDO map
Attribute
Possible
All
−
Description
Outside origin range
Within origin range
Distributing
Distribution Completed
Zero speed not detected
Zero speed detected
Torque limit not applied
Torque Limit Applied
Speed limit not detected during torque control
Speed limit detected during torque control
Outside limit range
Within limit range
Outside limit range
Within limit range
No speed agreement during speed control
Speed agreement during speed control
Outside positioning proximity range during positioning control
Within positioning proximity range during positioning control
Commands cannot be accepted during processing
Commands can be accepted
−
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6-7 Object Dictionary
*2. When Servo Ready is 0, one of the following operations is being processed. It changes to 1 when all processing has been completed.
: Writing to object using SDO mailbox communications.
: Executing Config (4100 hex).
: Resetting Warning/Error.
: Executing Error History Clear (2100 hex).
: Executing Backup parameter changed (10F0 hex, Sub: 02 hex).
: Executing Save all parameters (1010 hex, Sub: 01 hex).
: Executing Restore all default parameters (1011 hex, Sub: 01 hex).
: Executing Absolute Encoder Setup (4102 hex).
: From when a Servo ON command (Enable operation) is accepted until the Servo ON state is reached.
: From when a Servo OFF command (Disable operation, shutdown, or Disable voltage) is accepted until the Servo OFF state is reached.
4100 hex
Range
Size
Config
All
0000 0000 to FFFF FFFF hex
4 bytes (U32)
Unit
−
Default
0000 0000 hex
PDO map
Attribute
Access RW Not possible
This object enables changing objects with data attribute C.
This function can be executed by writing 666e 6f63 hex using SDO mailbox communications.
The Servo will be forced OFF if Configuration is executed in the Servo ON state.
The Servo Drive moves to a Fault state (error 27.7) after this process is completed.
In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 666e 6f63 hex.
Writing when there is a Control Power Supply Undervoltage Error (error 11.0).
B
4102 hex
Range
Size
Absolute Encoder Setup
All except full
0000 0000 to FFFF FFFF hex
4 bytes (U32)
Unit − Default
0000 0000 hex
PDO map
Attribute B
Access RW Not possible
This object clears the multi-rotation counter of the absolute encoder.
This function can be executed by writing 6a64 6165 hex using SDO mailbox communications.
The Servo Drive moves to a Fault State (error 27.7) after this process is completed.
In the following cases, an ABORT code is returned.
Writing with CompleteAccess.
Writing a value other than 6a64 6165 hex.
Writing during semi-closed control when using an absolute encoder as an absolute encoder and the Servo is not OFF.
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6-7 Object Dictionary
Servo Drive Profile Object
This section describes the CiA402 drive profile supported by OMNUC G5-series Servo Drives.
603F hex
Range
Size
Error code
All
0000 to FFFF hex
2 bytes (U16)
Unit
−
Access RO PDO map
Attribute
Possible
This object gives the latest error code or warning code in the Servo Drive.
The given error is from the manufacturer specific area FF00 to FFFF hex.
The lower word of FF00 to FFFF hex gives the main number of the error.
4001 hex: Sub Error Code (4001 hex) gives the main number and sub number of the error.
The main number and sub number are hexadecimal numbers but are combinations of 0 to 9.
−
Index Name
603F hex Error code
Data types
U16
Specifications
4001 hex Sub Error
Code
U16
0000 hex: No error
FF01 hex: Error main number 1
FF02 hex: Error main number 2
: :
FF99 hex: Error main number 99
:
FFA0 hex: Warning A0 hex
:
FFA9 hex: Warning A9 hex
FFB0 hex: Warning B0 hex
FFB1 hex: Warning B1 hex
FFB2 hex: Warning B2 hex
Others Reserved
Upper 8 bits F0 to F9 hex:
Lower 8 bits 00 to 99 hex:
Sub numbers 0 to 9
Main numbers 0 to 99
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6-7 Object Dictionary
6040 hex
Range
Size
Controlword
0000 to FFFF hex
2 bytes (U16)
Unit
−
Access RW
This object controls the state machine of the Servo Drive.
Description of Set Values
PDO map
Attribute
Possible
All
A
Bit Name Description
0
1
2
3
Switch on
Enable voltage
Quick stop
The state is controlled by these bits.
Quick stop is not supported. The Quick stop bit is ignored even if set to 0.
For details, refer to Command Coding on page 6-2.
4 to 6
Enable operation
Operation mode specific These bits are specific to the operation mode. They are not used in Cyclic synchronous position mode.
Fault reset Errors and warnings are reset when this bit turns ON.
7
8
9
10
11
12
Halt They are not used in Cyclic synchronous position mode.
Operation mode specific They are not used in Cyclic synchronous position mode.
Reserved
P_CL
N_CL
13 to 15 Manufacturer specific
These bits switch the torque limit function. They are normally set to 0.
For details, refer to Torque Limit Switching.
These are manufacturer specific bits. Always keep them at 0.
6041 hex
Range
Size
Statusword
0000 to FFFF hex
2 bytes (U16)
Unit
−
Access
This object gives the present state of the Servo Drive.
RO PDO map
Attribute
Possible
All
−
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6-7 Object Dictionary
Bit Descriptions
Bit
4
5
6
2
3
0
1
Name
Ready to switch on
Switched on
Operation enabled
Fault
Voltage enabled
*1
Quick Stop
*2
Switch on disabled
Warning
These bits give the state.
Description
For details, refer to State Coding on page 6-3.
7
8
9
10
11
12
13
Manufacturer specific
Remote
Target reached
Internal limit active
Target value ignored
Following error
14 and 15 Manufacturer specific
This bit indicates that warning status exists. Operation continues without changing the status.
These are manufacturer specific bits. This bit is not used by
OMNUC G5-series Servo Drives.
This bit indicates that the Servo Drive is being controlled by the
Controlword.
Changes to 1 (remote) after initialization has been completed.
When 0 (local) is given, it indicates that the support software has the control right to the Servo Drive.
This bit is not used in Cyclic synchronous position mode.
This bit indicates that the limit function is in effect.
This bit becomes 1 when the limit function in the Servo Drive is activated.
The limit function has four limits, the torque limit, speed limit, drive prohibition input, and software limit.
This bit indicates that the target position was ignored.
The Target Value Ignored bit becomes 0 when the Servo Drive could not move according to the host's command while in the Servo
ON state and in csp mode. This bit will not become 0 if there is an error. When the Target Position Ignored bit is 0, the target position is ignored and operation will follow the Servo Drive's internal commands. Update the target position in the controller while monitoring items such as the Position actual value for operation when the Target Value Ignored bit changes to 1 and the target position is enabled. It becomes 0 in the following cases.
Between when the drive prohibition input (PLS/NLS) is input until when the Servomotor decelerates and stops when the Drive
Prohibition Input Setting (3504 hex) is set to 0.
When a drive prohibition direction command is received while in a drive prohibition state.
When there is a change in position command that exceeds the motor's maximum speed.
The Following error (Error counter overflow) is indicated in Cyclic synchronous position mode.
Position Error Counter Overflow is set to 1 when the Position actual value (6064 hex) exceeds the Following error window (6065 hex) that is set based on Position demand value (6062 hex).
These are manufacturer specific bits. This bit is not used by
OMNUC G5-series Servo Drives.
*1. The Voltage enabled bit indicates that the main circuit power supply is ON when it is 1.
*2. Not applicable in Quick stop active state. This bit is 0 in a “Not ready to switch ON” state only. It is always 1 in all other cases.
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605B hex
Range
Size
Shutdown option code
All
−5 to 0
2 bytes (INT16)
Unit
−
Access
Default
RW
−1
PDO map
Attribute
Not possible
B
This object sets the (operation enable → ready to switch on) operation during shutdown.
Description of Set Values
Set value
-5
-4
-3
-2
-1
0
Decelerating
*1
Deceleration method
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Error
Clear
Clear
*3
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
After stopping
Operation after stopping
Free
Dynamic brake operation
Free
Dynamic brake operation
Dynamic brake operation
Free
Error
Clear
Clear
Clear
Clear
Clear
Clear
*3
*3
*3
*3
*3
*3
*1. Decelerating is the time between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status, subsequent operation is based on the after-stop status regardless of the motor speed.
*2. “Immediate Stop” means that the Servomotor stops immediately by using controls while the servo is kept ON. The torque command value at this time is restricted by the Immediate Stop Torque (3511 hex).
*3. When the error is cleared, a process which makes the Position demand value follow the Position actual value comes into effect. To operate in cyclic sync mode (csp) after the servo turns ON, reset the command coordinates in the host controller and then execute the operation. The motor may move suddenly.
Precautions for Correct Use
Position control is forced into operation during deceleration and after the motor has stopped (main power supply OFF). The internal position command generation process is also forced to stop.
If an error occurs while the main power supply is OFF, operation will follow the Fault reaction option code (605E hex).
If the main power supply turns OFF while the Servo is ON and the Undervoltage Error Selection
(3508 hex) is set to 1, a Main Power Supply Undervoltage (Error 13.1) will occur. Operation will then follow the Fault reaction option code (605E hex). The default value is 1.
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605C hex
Range
Size
Disable operation option code
All
−5 to 0
2 bytes (INT16)
Unit
−
Access
Default
RW
−1
PDO map
Attribute
Not possible
B
This object sets the operation during Disable operation (operation enable → switched on).
Description of Set Values
Set value
Decelerating
*1
After stopping
-5
-4
-3
-2
-1
0
Deceleration method
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Immediate Stop
*2
Immediate Stop Torque = 3511 hex
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Error
Clear
Clear
*3
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
Operation after stopping
Free
Dynamic brake operation
Free
Dynamic brake operation
Dynamic brake operation
Free
Error
Clear
Clear
Clear
Clear
Clear
Clear
*3
*3
*3
*3
*3
*3
*1. Decelerating is the time between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status, subsequent operation is based on the after-stop status regardless of the motor speed.
*2. “Immediate Stop” means that the Servomotor stops immediately by using controls while the servo is kept ON. The torque command value at this time is restricted by the Immediate Stop Torque (3511 hex).
*3. When the error is cleared, a process which makes the Position demand value follow the Position actual value comes into effect. To execute interpolation feeding commands after the servo turns ON, reset the command coordinates in the host controller before executing them. The motor may move suddenly.
6
Precautions for Correct Use
Position control is forced into operation during deceleration and after the motor has stopped
(during servo OFF). The internal position command generation process is also forced to stop.
If an error occurs while the servo is OFF, operation will follow the Fault reaction option code (605E hex).
If the main power supply turns OFF while the servo is OFF, the Shutdown option code (605B hex) will be followed.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-40
6
6-7 Object Dictionary
605E hex
Range
Size
Fault reaction option code
−7 to 0
2 bytes (INT16)
Unit
−
Access
This object sets the behavior when an error occurs.
Default
RW
−1
PDO map
All
Attribute
Not possible
B
Description of Set Values
Set value
Decelerating
*1
After stopping
−7
−6
−5
−4
−3
−2
−1
0
Deceleration method
Operation A
*2
Immediate Stop
*2
Immediate Stop Torque =
3511 hex
Operation B
*2
Operation A
*2
Free-run
Immediate Stop
*2
Immediate Stop Torque =
3511 hex
Operation B
*2
Operation A
*2
Dynamic brake operation
Immediate Stop
*2
Immediate Stop Torque =
3511 hex
Operation B
*2
Operation A
*2
Free-run
Immediate Stop
*2
Immediate Stop Torque =
3511 hex
Operation B
*2
Dynamic brake operation
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Error
Clear
Clear
Clear
Clear
*3
*3
*3
*3
Clear
*3
Clear
*3
Clear
*3
Clear
*3
Operation after stopping
Free
Free
Dynamic brake operation
Dynamic brake operation
Free
Free
Error
Clear
Clear
Clear
Clear
Clear
Dynamic brake operation Clear
Dynamic brake operation Clear
*3
*3
*3
*3
*3
*3
*3
Clear
*3
*1. Decelerating is the time between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status, subsequent operation is based on the after-stop status regardless of the motor speed.
*2. Operation A and B indicate whether or not to stop immediately when an error occurs. If this value is set to between 4 and 7, the motor is stopped immediately when a specified error occurs as indicated by operation A. If an error occurs that is not subject to this function, an immediate stop is not applied and dynamic braking is applied or the motor is left to run free as indicated by operation B.
For details on errors, refer to Troubleshooting on page 12-7.
*3. When the error is cleared, a process which makes the Position demand value follow the Position actual value comes into effect. To operate in cyclic sync mode (csp) after the servo turns ON, reset the command coordinates in the host controller and then execute the operation. The motor may move suddenly.
Precautions for Correct Use
Position control is forced into operation during deceleration and after the motor has stopped
(during an error or when the servo is OFF). The internal position command generation process is also forced to stop.
6-41
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
6060 hex
Range
Size
Modes of operation
All
0 to 10
1 byte (INT8)
Unit
−
Access
Default 0
RW PDO map
Attribute
Possible
A
This object sets the operation mode.
The default value is 0 (Not specified). Set the operation mode from the master after the power supply is turned ON.
Description of Set Values
Code
0
8
Description
Not specified
Cyclic synchronous position mode (csp)
6061 hex
Range
Size
Modes of operation display
0 to 10
1 byte (INT8)
Unit
−
Access
Default 0
RO PDO map
This object gives the present operation mode.
The value definitions are the same as for the Modes of operation (6060 hex).
Attribute
Possible
All
−
6
6062 hex
Range
Size
Position demand value
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units
Access
Default 0
RO
This object gives the Servo Drive's internal command position.
PDO map csp
Attribute
Possible
−
6063 hex
Range
Size
Position actual internal value
−2147483648 to
2147483647
4 bytes (INT32)
Unit Pulses
Access
Default 0
RO
This object gives the Servo Drive's present internal position.
The value is in encoder units or external encoder units.
Other than fully-closed control : Encoder units
Fully-closed control : External encoder units
PDO map
All
Attribute
Possible
−
6064 hex
Range
Size
Position actual value
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units
Access
Default 0
RO PDO map
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
All
Attribute
Possible
−
6-42
6
6-7 Object Dictionary
This object gives the present position.
6065 hex
Following error window
Range
Size csp
0 to 134217728,
4294967295
4 bytes (U32)
Unit
Command units
Access
Default 100000 Attribute A
RW PDO map Not possible
This object sets the threshold for following errors.
If it is set to 4,294,967,295 (FFFF FFFF hex), detection of following errors is disabled.
If it is set to 0, there will always be a following error.
When it is set to between 134,217,729 and 4,294,967,294, the set value becomes 134,217,728.
606C hex
Range
Size
Velocity actual value
−2147483648 to
2147483647
4 bytes (U32)
Unit
This object gives the present speed.
Command units/s
Access
Default 0
RO PDO map
All
Attribute
Possible
-
6072 hex
Range
Size
Max torque
0 to 5000
2 bytes (U16)
Unit
This object sets the maximum torque.
It is in units of 0.1% of the rated torque.
0.1%
Access
Default
RW
5000
PDO map
Attribute
Possible
All
A
6074 hex
Range
Size
Torque demand
−5000 to 5000
2 bytes (INT16)
Unit 0.1%
Access
Default
RO
This object gives the Servo Drive's internal torque command value.
It is in units of 0.1% of the rated torque.
0
PDO map
Attribute
Possible
All
-
6077 hex
Range
Size
Torque actual value
All
−5000 to 5000
2 bytes (INT16)
Unit 0.1%
Access
Default
RO
0
PDO map
Attribute
Possible
-
This object gives the feedback torque value. The values are the same as for the internal torque command value.
It is in units of 0.1% of the rated torque.
607A hex
Range
Size
Target position
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units
Access
Default 0
RW PDO map csp
Attribute
Possible
A
6-43
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
This object sets the target position in the Cyclic synchronous position mode.
607C hex
Range
Size
Home offset
All
−1073741823 to
1073741823
4 bytes (INT32)
Unit
Command units
Access
Default 0
RW PDO map
Attribute
Not possible
C
This object sets the amount of offset from the origin of the absolute encoder or absolute external encoder to the zero position of the Position actual value (6064 hex).
607D hex
Software position limit
All
Range
Size
Sub-index 0
−
1 byte (U8)
Number of entries
Unit
−
Access
Range
Size
Sub-index 1
−1073741823 to
1073741823
4 bytes (INT32)
Min position limit
Unit
Command units
Access
Range
Size
Sub-index 2
−1073741823 to
1073741823
4 bytes (INT32)
Max position limit
Unit
Command units
Access
RO
Default
RW
PDO map
−500000
PDO map
Default 500000
Attribute
Not possible
-
Attribute
Not possible
Attribute
A
A
RW PDO map Not possible
This object sets the software limit.
Ranges for the Position demand value and Position actual value are restricted. New target positions are checked against these ranges.
The software limit is always relative to the mechanical origin.
The Min position limit is the limiting value for reverse rotation and the Max position limit is the limiting value for forward rotation.
6
Precautions for Correct Use
Make sure that the Max position limit is larger than the Min position limit.
The software position limit is disabled when an origin return has not been completed.
6091 hex
Range
Size
Range
Size
Gear ratio
Sub-index 0
−
1 byte (U8)
1 to 1073741824
4 bytes (U32)
Number of entries
Unit
Unit
−
Access
Range
Size
Sub-index 1
0 to 1073741824
Motor revolutions
Unit
−
4 bytes (U32)
Sub-index 2
Access
Shaft revolutions
−
Access
RO PDO map
Default 1
RW PDO map
Default 1
RW PDO map
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
All
Attribute
Not possible
−
Attribute
Not possible
C
Attribute
Not possible
C
6-44
6
6-7 Object Dictionary
These objects set the gear ratio.
Set the numerator of the electronic gear in the object for sub-index 1 (Motor revolutions). If the set value is 0, the encoder resolution will be set as the numerator.
Set the denominator of the electronic gear in the object for sub-index 2 (Shaft revolutions).
Set the gear ratio to between 1/1,000 and 1,000. If the gear ratio is out of range, an Object Setting
Error (Error No. 93.0) will occur.
If the set value of Motor revolutions is 0, the encoder resolution will be set as the numerator, even for fully-closed control.
Refer to Electronic Gear Function on page 7-18 for details.
60B0 hex
Position offset
Range
Size csp
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units
Access
Default 0
RW PDO map
Attribute
Possible
A
This object sets the position command offset.
In Cyclic synchronous position mode (csp), the offset value is added to the Target position (607A hex) for use as the target position in controlling the position.
60B1 hex
Velocity offset
Range
Size csp
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units/s
Access
Default 0
RW PDO map
Attribute
Possible
A
The value obtained by adding the value of this object (60B1 hex) and speed feed-forward value calculated from the internal position command and related objects (3110 hex and 3111 hex) is used as a speed feed-forward input value for the speed command which is calculated by
comparing the internal position command and the position feedback. The Block Diagram for
on page 6-7 shows the relationship of above description. Refer to 11-11
6-45
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
60B2 hex
Torque offset
Range
Size
−5000 to 5000
2 bytes (INT16)
Unit 0.1%
Access
Default
RW
0
PDO map
Attribute
Possible csp
A
The value obtained by adding the value of this object (60B2 hex) and the torque feed-forward value calculated from the Control effort (60FA hex) and related objects (3112 hex and 3113 hex) is used as a torque feed-forward input value for the torque command which is calculated by
comparing the Control effort (60FA hex) and the speed feedback. The Block Diagram for Position
on page 6-7 shows the relationship of above description. Refer to 11-11 Feed-
60B8 hex
Range
Size
Touch probe function (Latch function)
All
−
2 bytes (U16)
Unit
−
Access
Default 0
RW PDO map
Attribute
Possible
This object sets and controls the latch function.
There are two channels, Latch 1 (bits 1 to 7) and Latch 2 (bits 8 to 15).
Bits 0 and 8 execute latching when changed from 0 to 1.
To change the settings, set bit 0 or 8 to 0 and then to 1 again.
Latching is disabled in the following cases.
When communications is in the Init state.
When the Statusword (6041 hex) bit 9 (remote) is 0 (local).
For details on the latch function, refer to Touch Probe Function (Latch Function) on page 6-9.
A
Bit Descriptions
Bit
0
1
2
3 to 7
8
9
10
11 to 15
0
1
0
1
1
0
0
Code
0
1
0
1
0
1
0
Description
Latch 1 is disabled.
Latch 1 is enabled.
Trigger first event (Latch on the first trigger).
Continuous (Latch continuously on trigger input).
Latch on the signal selected in the Touch Probe Trigger
Selection (3758 hex).
Latch on the encoder's phase-Z signal.
Reserved (always set to 0).
Latch 2 is disabled.
Latch 2 is enabled.
Trigger first event (Latch on the first trigger).
Continuous (Latch continuously on trigger input).
Latch on the signal selected in the Touch Probe Trigger
Selection (3758 hex).
Latch on the encoder's phase-Z signal.
Reserved (always set to 0).
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-46
6
6-7 Object Dictionary
60B9 hex
Range
Size
Touch probe status (Latch status)
−
2 bytes (U16)
Unit
−
Access
Default 0
RO PDO map
This object gives the status of the Touch probe function (Latch Function).
Bit Descriptions
All
Attribute
Possible
−
Bit
0
1
2 to 5
6 and 7
8
9
10 to 13
14 to 15
Code
0
1
0
1
0
0 to 3
0
1
0
1
0
0 to 3
Description
Latch 1 is disabled.
Latch 1 is enabled.
No value latched with Latch 1.
There is a value latched with Latch 1.
Reserved (always set to 0).
The number of times latching is performed by Latch 1 in continuous latching.
*1
Latch 2 is disabled.
Latch 2 is enabled.
No value latched with Latch 2.
There is a value latched with Latch 2.
Reserved (always set to 0).
The number of times latching is performed by Latch 2 in continuous latching.
*1
*1. These bits cyclically indicate the number of times latching is performed between 0 and 3 when continuous latching is set (bits 1 or 9 of 60B8 hex is set to 1). They are cleared when bit 0 or 8 becomes
0.
60BA hex
Range
Size
Touch probe pos1 pos value
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units
Access
This object gives the latch position for Latch 1.
Default 0
RO PDO map
All
Attribute
Possible
−
60BC hex
Range
Size
Touch probe pos2 pos value
−2147483648 to
2147483647
4 bytes (INT32)
Unit
Command units
Access
This object gives the latch position for Latch 2.
Default 0
RO PDO map
All
Attribute
Possible
−
6-47
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
60E0 hex
Range
Size
Positive torque limit value
0 to 5000
2 bytes (U16)
Unit 0.1%
Access
Default
RW
This object sets the forward torque limit.
It is limited by the maximum torque of the connected motor.
For details refer to Torque Limit Switching on page 7-21.
This object is set in units of 0.1% of the rated torque.
5000
PDO map
All
Attribute
Not possible
B
60E1 hex
Range
Size
Negative torque limit value
0 to 5000
2 bytes (U16)
Unit 0.1%
Access
Default
RW
This object sets the reverse torque limit.
It is limited by the maximum torque of the connected motor.
For details refer to Torque Limit Switching on page 7-21.
This object is set in units of 0.1% of the rated torque.
5000
PDO map
All
Attribute
Not possible
B
60F4 hex
Following error actual value
Range
Size
−536,870,912 to
536,870,912
4 bytes (INT32)
Unit
Command units
Access
This object gives the amount of position error.
Default 0
RO PDO map csp
Attribute
Possible
−
6
60FD hex
Range
Size
Digital inputs
All
0000 0000h to FFFF FFFF hex
4 bytes (U32)
Unit
−
Default 00000000h Attribute
−
Access RO PDO map Possible
The bits in this object give the signal status of functions allocated by servo parameters 3400 to
3407, 3410, and 3411 hex.
The brake interlock output gives the output status when brake interlock is selected as the generalpurpose output.
EDM output status gives the status of the EDM output.
Bit Descriptions
Bit
0
1
2
Signal name
Negative limit switch
(Reverse Drive
Prohibition Input)
Positive limit switch
(Forward Drive
Prohibition Input)
Home switch
(Origin Proximity Input)
Symbol Code
0
NOT
1
0
POT
DEC
1
0
1
OFF
ON
OFF
ON
OFF
ON
Description
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-48
6
6-7 Object Dictionary
Bit Signal name
3 to 15 Reserved
Encoder Phase Z
Detection
16
17
18
19
20
21
22
23
24
25
26
27
28
29
External Latch Input 1
External Latch Input 2
External Latch Input 3
Monitor Input 0
Monitor Input 1
Monitor Input 2
Forward External Torque
Limit Input
Reverse External Torque
Limit Input
Immediate Stop Input
Brake Interlock Output
Safety Input 1
Safety Input 2
EDM Output
Symbol Code
− −
PC
EXT1
EXT2
EXT3
MON0
MON1
MON2
PCL
NCL
STOP
BKIR
SF1
SF2
EDM
0
1
Description
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Brake released
Brake locked
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
−
Phase-Z signal not detected during communication cycle
Phase-Z signal detected during communication cycle
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
This object will be 0 if the brake interlock output (BKIR) is not assigned to a general-purpose output.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
60FE hex
Digital outputs
All
Sub-index 0
Range
Size
Sub-index 1
−
1 byte (U8)
Range
Size
0000 0000 to FFFF
FFFF hex
Unit
4 bytes (U32)
Sub-index 2 Bit mask
Range
Size
0000 0000 to FFFF
FFFF hex
4 bytes (U32)
Number of entries
Unit
−
Access
Physical outputs
Unit
−
Access
−
Access
RO
Default
RW
Default
PDO map
0000 0000 hex
PDO map
0000 0000 hex
Attribute
Not possible
−
Attribute
Possible
Attribute
A
B
RW PDO map Not possible
The bits in the physical outputs of this object set the outputs of function signals allocated by servo parameters 3400 to 3407, 3410, and 3411 hex.
The bit mask sets masks for the physical outputs.
Bit Descriptions for Sub-index 1
Bit
0
17
24
25
26
Signal name
Set brake (Brake Interlock
Output)
1 to 15 Reserved
Remote Output 1
16
Remote Output 2
Gain Switching
Reserved
Speed Loop P/PI Control
Symbol Code
BKIR
−
R-OUT1
R-OUT2
G-SEL
−
P/PI
1
0
1
0
0
0
0
1
0
1
1
0
Description
don’t set brake set brake
−
OFF
ON
OFF
ON
Gain 1
Gain 2
−
PI control
P control
The gain can be switched when realtime autotuning is disabled and gain 2 is enabled.
Speed loop P/PI control can be switched when realtime autotuning and gain 2 are disabled.
Set all reserved bits to 0.
6
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-50
6-7 Object Dictionary
6
Bit Descriptions for Sub-index 2
Bit
0
Signal name
Set brake Mask (Brake Interlock
Output Mask)
1 to 15 Reserved
Remote Output 1 Mask
16
Remote Output 2 Mask
17
Gain Switching Mask
24
25 Reserved
Speed Loop P/PI Control Mask
26
Symbol Code
BKIR
−
R-OUT1
R-OUT2
G-SEL
−
P/PI
1
0
1
0
1
−
0
1
−
0
0
1
Description
Set brake disable output
Set brake enable output
−
R-OUT1 disable output
R-OUT1 enable output
R-OUT2 disable output
R-OUT2 enable output
Switch setting disable
Switch setting enable
−
Switch setting disable
Switch setting enable
6402 hex
Range
Size
Motor type
−
2 bytes (U16)
Unit −
Access
Default 3
RO PDO map
This object indicates the type of motor that is connected.
It is always 3 (PM synchronous motor) for OMNUC G5-series Servo Drives.
All
Attribute
Not possible
−
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-7 Object Dictionary
6502 hex
Supported drive modes
Range
Size
−
Unit
−
Default
4 bytes (U32) Access
This object indicates the supported operation modes.
RO
Bit Descriptions
Bit Supported mode
6
7
4
5
2
3
0
1 pp (Profile position mode) vl (Velocity mode) pv (Profile velocity mode) tq (Profile torque mode)
Reserved: hm (Homing mode) ip (Interpolated position mode) csp (Cyclic synchronous position mode)
8
9 csv (Cyclic synchronous velocity mode) cst (Cyclic synchronous torque mode)
10 to 31 Reserved
0000 0080 hex
PDO map
All
Attribute
Not possible
−
Definition
0: Not supported
0: Not supported
0: Not supported
0: Not supported
0
0: Not supported
0: Not supported
1: Supported
0: Not supported
0: Not supported
0
6
Reserved Objects
The following objects are reserved. Do not use them.
Index
605D hex
6067 hex
6083 hex
6084 hex
6099 hex
0
1
2
Sub
0
0
0
0
Halt option code
Position window
Profile acceleration
Profile deceleration
Homing speeds
Number of entries
Speed during search for switch
Speed during search for zero
Name
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-52
6-8 Connecting with OMRON Controllers
6-8 Connecting with OMRON
Controllers
This section describes the settings required to connect with an OMRON EtherCAT-compatible
CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 Position Control Unit
6
Related Objects
Objects listed in the following table must be used without changing them from their default values.
Index
3015 hex
3324 hex
3401 hex
3402 hex
3403 hex
3404 hex
3405 hex
3406 hex
3504 hex
3508 hex
3521 hex
3801 hex
3758 hex
3759 hex
Sub-index
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
00 hex
Name
Default setting
Description
Operation Switch When Using
Absolute Encoder
External Feedback Pulse
Dividing Numerator
Input Signal Selection 2
Input Signal Selection 3
Input Signal Selection 4
Input Signal Selection 5
Input Signal Selection 6
Input Signal Selection 7
Drive Prohibition Input
Selection
Undervoltage Error Selection
Torque Limit Selection
Software Position Limit
Function
Touch Probe Trigger Selection
Warning Hold Selection
0002 hex
Use absolute values and ignore multi-rotation counter overflow.
00000000 hex Encoder resolution is set automatically.
00818181 hex Forward Drive Prohibition Input (NC)
00828282 hex Reverse Drive Prohibition Input (NC)
00222222 hex Origin Proximity Input (NO)
002B2B2B hex External Latch Signal 3 (NO)
*1
00212121 hex External Latch Signal 2 (NO)
*1
00202020 hex External Latch Signal 1 (NO)
*1
0001 hex
0001 hex
0006 hex
0003 hex
The drive prohibition input is disabled in the servo and processed in the controller.
Stopping for undervoltage errors
Both forward and reverse directions have two limits which are switched using PCL and
NCL.
Disable the software limits in both directions.
0100 hex
0000 hex
Touch probe1 = External Latch Signal 1
Touch probe2 = External Latch Signal 2
Automatically cleared when the cause is removed.
Home offset
607C hex 00 hex
6091 hex
60E0 hex
60E1 hex
01 hex
02 hex
00 hex
00 hex
Motor revolutions
Shaft revolutions
Positive torque limit value
Negative torque limit value
*1. The CJ1W-NC@8@ uses the latch signals as follows:
External Latch Signal 1: Origin Input
External Latch Signal 2: Interrupt Input
External Latch Signal 3: Not used.
00000001 hex Gear ratio used by the Servo Drive is 1:1, and
00000001 hex
1388 hex
1388 hex user units are handled by the controller.
Default setting = 500.0%
Default setting = 500.0%
6-53
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Applied Functions
This chapter outlines the applied functions such as the electronic gear, gain switching and soft start, and explains the settings.
7-1 Sequence I/O Signals ...................................................7-1
7-2 Forward and Reverse Drive Prohibition Functions ...7-6
7-3 Overrun Protection .......................................................7-9
7-4 Backlash Compensation ............................................7-11
7-5 Brake Interlock............................................................7-13
7-6 Electronic Gear Function ...........................................7-18
7-7 Torque Limit Switching ..............................................7-21
7-8 Gain Switching Function............................................7-23
7-9 Gain Switching 3 Function.........................................7-30
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-1 Sequence I/O Signals
7-1 Sequence I/O Signals
You can set sequences in various operating conditions.
For the connection of I/O signals and processing of external signals, refer to Control I/O
Connector Specifications (CN1)
7
Input Signals
You can allocate input signal functions to the input pins of the control I/O connector (CN1). In
addition, you can change logic. Refer to Input Signal Allocation Method on page 7-2 for more
information because some signals have allocation limitations.
If a G-series Servo Drive is being replaced with a G5-series Servo Drive, use the G5-series
Servo Drive to with the default settings.
Input Signal Default Settings
The allocations of the default input signals are as follows. Refer to Input Signal Allocation
on page 7-2 to change the allocations.
Default setting state
Index
3400 hex
3401 hex
3402 hex
3403 hex
3404 hex
3405 hex
3406 hex
3407 hex
Input signal
IN5
IN6
IN7
IN8
IN1
IN2
IN3
IN4
Default setting (hex)
0094 9494 hex
0081 8181 hex
0082 8282 hex
0022 2222 hex
002B 2B2B hex
0021 2121 hex
0020 2020 hex
002E 2E2E hex
Position control or fully-closed control
Signal name Logic
*1
STOP
POT
NOT
DEC
EXT3
EXT2
EXT1
MON0
NO
NO
NO
NO
NC
NC
NC
NO
*1. NO (normally open) and NC (normally close) in the table above refer to the following states.
NO: Disabled (OFF) when signal input is open with COM−
Enabled (ON) when signal input is shorted with COM−
NC: Disabled (OFF) when signal input is shorted with COM−
Enabled (ON) when signal input is open with COM−
7-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-1 Sequence I/O Signals
Objects That Can Be Assigned
Use the following objects when changing the input signal allocations.
For the setting method, refer to Input Signal Allocation Method on page 7-2.
Index Name Explanation
3400 hex Input Signal Selection 1
Set the IN1 input function allocation. This object is based on hexadecimal.(The display on the front panel is based on decimal.)
3401 hex Input Signal Selection 2 Set the IN2 input function allocation.
3402 hex Input Signal Selection 3 Set the IN3 input function allocation.
3403 hex Input Signal Selection 4 Set the IN4 input function allocation.
3404 hex Input Signal Selection 5 Set the IN5 input function allocation.
3405 hex Input Signal Selection 6 Set the IN6 input function allocation.
3406 hex Input Signal Selection 7 Set the IN7 input function allocation.
3407 hex Input Signal Selection 8 Set the IN8 input function allocation.
Reference
page 9-24 page 9-24 page 9-24 page 9-24 page 9-24 page 9-24
Input Signal Allocation Method
Input the setting for each control mode to any of the objects from 3400 to 3407 hex to allocate the signals.
Set the objects using hexadecimal.
Set the set value of the function for each control mode in "**" below.
Refer to the function number table provided later for the set value of each function. The logic setting is included in the function numbers.
00####** hex
Position control/fully-closed control
7
Reserved
Example:
Position control or fully-closed control: Monitor Input 0 with NO (normally open) contacts (2E hex)
002C002E hex
Position control/fully-closed control
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-2
7
7-1 Sequence I/O Signals
Function Number Table
The set values to be used for allocations are as follows:
Signal name
Disabled
Forward Drive Prohibition Input
Reverse Drive Prohibition Input
Immediate Stop Input
External Latch Input 1
External Latch Input 2
Origin Proximity Input
External Latch Input 3
Forward External Torque Limit
Input
Reverse External Torque Limit
Input
Monitor Input 0
Monitor Input 1
Monitor Input 2
Symbol
−
POT
NOT
STOP
EXT1
EXT2
DEC
EXT3
PCL
NCL
MON0
MON1
MON2
NO
00 hex
01 hex
02 hex
14 hex
20 hex
21 hex
22 hex
2B hex
2C hex
2D hex
2E hex
2F hex
30 hex
Set value
NC
Setting not available
81 hex
82 hex
94 hex
Setting not available
Setting not available
A2 hex
Setting not available
AC hex
AD hex
AE hex
AF hex
B0 hex
Precautions for Correct Use
Do not use any settings other than the settings listed.
Do not allocate the same function to more than one input signal. If you allocate the same function to more than one input signal, and Interface Input Duplicate Allocation Error 1 (Error No. 33.0) or
Interface Input Duplicate Allocation Error 2 (Error No. 33.1) will occur.
The External Latch Inputs 1, 2, and 3 (EXT1, EXT2 and EXT3) can be allocated only to IN5 to IN7.
If you allocate them to any other inputs, an External Latch Input Allocation Error (Error No. 33.8) will occur.
If you use the External Latch Input 1, 2, or 3 (EXT1, EXT2 or EXT3), you must set it for all control modes. Otherwise, an External Latch Input Allocation Error (Error No. 33.8) will occur.
The External Latch Inputs 1, 2, and 3 (EXT1, EXT2 and EXT3) can be set only to NO (normally open) contacts.
The control input pins that are disabled do not affect the operation.
The functions that are used by more than one control mode, such as Immediate Stop Input, and
Origin Proximity Input, must be allocated to the same pin, in the same logic. If they are allocated to different pins, an Interface Input Duplicate Allocation Error 1 (Error No. 33.0) or an Interface
Input Duplicate Allocation Error 2 (Error No. 33.1) will occur.
If the logic is inconsistent, an Interface Input Function Number Error 1 (Error No. 33.2) or an
Interface Input Function Number Error 2 (Error No. 33.3) will occur.
7-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-1 Sequence I/O Signals
Output Signals
You can allocate output signal functions to the output pins for the control I/O connector (CN1).
If a G-series Servo Drive is being replaced with a G5-series Servo Drive, use the G5-series
Servo Drive to with the default settings.
Output Signal Default Setting
The allocations of the default output signals are as follows. Refer to Output Signal Allocation
on page 7-4 to change the allocations.
Default setting state
Index
Output signal
Default setting
(hex)
Position control or fully-closed control
3410 hex OUTM1
3411 hex OUTM2
0003 0303 hex
0002 0202 hex
Signal name
BKIR
READY
Logic
*1
NO
NO
*1.*NO (normally open) and NC (normally close) refer to the following states.
NO: When the function is disabled (OFF state), output transistor is OFF.
When the function is enabled (ON state), output transistor is ON.
NC: When the function is disabled, output transistor is ON.
When the function is enabled, output transistor is OFF.
7
Objects That Can Be Assigned
Use the following objects when changing the output signal allocations.
For the setting method, refer to Output Signal Allocation Method on page 7-4.
Index Object name Explanation
3410 hex Output Signal Selection 1
Set the OUTM1 output function allocation.
This object is set in hexadecimal. Refer to the output signal function number table for details.
3411 hex Output Signal Selection 2 Set the OUTM2 output function allocation.
Reference
Output Signal Allocation Method
Input the setting for each control mode to objects 3410 and 3411 hex to allocate the signals.
Set the objects based on hexadecimal in the same manner as for the input signal allocations.
Set the set value of the function for each control mode in "**" below.
Refer to the function number table provided below for the set value of each function. The logic setting is included in the function numbers.
00####** hex
Position control/fully-closed control
Reserved
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-4
7
7-1 Sequence I/O Signals
Example:
Position control or fully-closed control: Position command output (0B hex)
0007 050B hex
Position control/fully-closed control
Function Number Table
The set values to be used for allocations are as follows:
Signal name
Disabled
Servo Ready Completed Output
Brake Interlock Output
Torque Limit Output
Zero Speed Detection Output
Warning Output 1
Warning Output 2
Positioning Completion Output 2
Error Clear Attribute Output
Remote Output 1
Remote Output 2
Symbol
−
READY
BKIR
TLIMT
ZSP
WARN1
WARN2
INP2
ALM-ATB
R-OUT1
R-OUT2
Set value
NO (or normally open) contact
00 hex
02 hex
03 hex
06 hex
07 hex
09 hex
0A hex
0C hex
0E hex
10 hex
11 hex
NC (or normally close) contact
00 hex
82 hex
Setting not available
86 hex
87 hex
89 hex
8A hex
8C hex
8E hex
Setting not available
Setting not available
Precautions for Correct Use
Do not use any settings other than the settings listed.
You can allocate the same function to more than one output signal.
When you disable the control output pin, the output transistor always stays OFF.
If you use the Brake Interlock Output (BKIR), you must set the function in all control modes.
Otherwise, an Interface Output Function Number Error 1 (Error No. 33.4) or an Interface Output
Function Number Error 2 (Error No. 33.5) will occur.
The Brake Interlock Output (BKIR) can be set only to NO (normally open) contacts.
7-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-2 Forward and Reverse Drive Prohibition Functions
7-2 Forward and Reverse Drive Prohibition Functions
If the Forward Drive Prohibition Input (POT) or the Reverse Drive Prohibition Input (NOT) is turned OFF, the motor will stop rotating.
You can thus prevent the motor from rotation outside of the movement range of the device by using limit inputs from the device connected to the Servo Drive.
Objects Requiring Settings
Index
3400 hex to
3407 hex
3504 hex
3505 hex
3511 hex
Name Explanation
Input Signal Selection 1 to 8
Drive Prohibition Input
Selection
Set the input signal allocations and logic.
Set the operation to be performed upon forward and reverse drive prohibition input.
Stop Selection for Drive
Prohibition Input
Set the deceleration and stop methods upon forward and reverse drive prohibition input.
Immediate Stop Torque Set the torque limit for immediate stops.
Reference
Input Signal Selection Function (Default Settings: 3401 Hex, 3402 Hex)
In the default settings, the allocations are as follows.
Default setting
Index Name
Set value
Position Control or fully-closed control
3401 hex
3402 hex
Input Signal
Selection 2
Input Signal
Selection 3
0081 8181 hex
0082 8282 hex
POT (NC)
NOT (NC)
Refer to 7-1 Sequence I/O Signals on page 7-1 for details on input signal selections 1 to 8.
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-6
7-2 Forward and Reverse Drive Prohibition Functions
7
7-7
Drive Prohibition Input Selection (3504 Hex)
Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive
Prohibition Input (NOT). Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch. This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine. Set the operation to be performed upon forward and reverse drive prohibition input.
Drive
Prohibitio n Input
Selection
(3504 hex)
Explanation
0
Forward drive prohibition input and reverse drive prohibition input enabled.
The operation when a signal is input is as follows:
Forward drive prohibition input closed: Forward limit switch not operating and status normal.
Forward drive prohibition input open: Forward direction prohibited and reverse direction permitted.
Reverse drive prohibition input closed: Reverse limit switch not operating and status normal.
Reverse drive prohibition input open: Reverse direction prohibited and forward direction permitted.
The Servomotor decelerates and stops according to the sequence set in Stop Selection for Drive Prohibition Input (3505 hex).
*1
If the forward and the reverse prohibition inputs are both open, a Drive Prohibition Input
Error 1 (Error No. 38.0) will occur because it is taken that Servo Drive is in error condition.
1
Forward and reverse drive prohibition input disabled.
2
Forward and reverse drive prohibition input enabled.
If either the forward or the reverse prohibition input is open, a Drive Prohibition Input Error
1 (Error No. 38.0) will occur.
*1. For details, refer to explanation for Stop Selection for Drive Prohibition Input (3505 hex).
Precautions for Correct Use
Both signals are disabled (in a state in which drive prohibition will not operation) in the default settings. If prohibiting the drive input is required, set the Drive Prohibit
Input Selection (3504 hex) to either 0 or 2. The setting on the Input Signal
Selection 1 to 10 (3400 to 3409 hex) can change the logic and allocation for the respective Input terminals (CN1 to 7 and 8).
Stop Selection for Drive Prohibition Input (3505 Hex)
Set the deceleration and stop methods upon a forward or reverse drive prohibition is input.
3504 hex set value
*1
3505 hex set value
Decelerating
Deceleration method
*2
Error counter
After stopping
Operation after stop
Error counter
0
0
1
2
Dynamic brake
Free-run
Immediate stop
*3
Clear
Clear
Clear
Torque command = 0 for drive prohibition direction
Torque command = 0 for drive prohibition direction
Torque command and torque limit are as specified.
Held
Held
Cleared after deceleration completes, then held.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-2 Forward and Reverse Drive Prohibition Functions
*1.If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No.
38.0) will occur as soon as either the Forward or Reverse Drive Prohibition Input becomes open. The subsequent operation conforms not to the set value, but to the setting of the Fault reaction option code
(605E hex). In the same way, the Fault reaction option code (605E hex) takes priority when any other error occurs.
*2.The term "During deceleration" means the distance until the motor decreases its speed to 30 r/min or less from the normal operation. Once it decelerates to 30 r/min or lower, the operation conforms to the description for “post-stopping”, regardless of the actual motor speed.
*3."Immediate Stop" means that the Servomotor stops immediately by using controls while the servo is kept ON. The torque limit at this time is controlled by the Immediate Stop Torque (3511 hex) set value.
POT or NOT opens.
Stop Selection for Drive
Prohibition Input (3505 hex)
Deceleration method
Decelerate with dynamic brake
0
1
2
Decelerate in the free-run status
Stop with Immediate Stop
Torque (3511 hex)
Stop status
Servo free
Servo locked
Precautions for Correct Use
At an immediate stop, an Error Counter Overflow (Error No. 24.0) or an Overrun Limit Error (Error
No. 34.0) may occur. This is because the immediate stop forces the motor to decelerate quickly, and the position control creates a large position error momentarily. If an error occurs, set the
Following error window (6065 hex) and the Overrun Limit Setting (3514 hex) to appropriate values.
A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state. To prevent the load from falling, set deceleration with the immediate stop torque and stopping with a servo lock (set value: 2) in the Stop Selection for Drive Prohibition Input (3505 hex), or limit the operation using the Host Controller rather than using this function.
A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive prohibition direction while the Servomotor is stopped (i.e., decreases the speed to 30 r/min or lower) and the Drive Prohibition Input is open.
7
Reference
While the Forward Drive Prohibition Input (POT) is open, the Servomotor cannot be driven in the forward direction, but it can be driven in the reverse direction. Conversely, while the
Reverse Drive Prohibition Input (NOT) is open, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction.
Immediate Stop Torque (3511 Hex)
This is the torque limit when the Stop Selection for Drive Prohibition Input (3505 hex) is set to
2, and the Servomotor decelerates due to a drive prohibition input.
The settable range is 0 to 500% in units of 0.1%. When it is set to 0%, the normal torque limit is used.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-8
7-3 Overrun Protection
7-3 Overrun Protection
This function detects an Overrun Limit Error (Error No. 34.0) and stops the Servomotor if the motor exceeds the allowable operating range set for the Overrun Limit Setting (3514 hex) with respect to the position command input.
The function can also prevent the Servomotor from clash into the machine edge due to vibration.
7
Operating Conditions
The overrun limit works under the following conditions.
Conditions
Operating Mode Position Control Mode, Fully-closed Control Mode
Others
Servo ON state
The factors other than control objects must be set correctly. This includes the torque limit. The motor must operate normally without any failures.
Conditions for Clearing the Position Command Input Range
The position command input range will be cleared to zero under any of the following conditions.
When the power supply is turned ON,
While the position error is cleared. This includes when the servo is OFF and when the error counter is cleared due to a deceleration stop for the drive prohibit input.
When a trial operation via USB communications starts and when it ends.
When the position data is initialized. This includes at a component setup request, at an origin return, when setting the coordinate system, at an adjustment command, and when clearing a multi-rotation data via USB.
Precautions for Correct Use
This function is not intended to protect against incorrect position commands.
When this function works, the Servomotor decelerates and stops according to the Fault reaction option code (605E hex). Take this deceleration operation into account when you set the Overrun
Limit Setting (3514 hex). Otherwise, the load during deceleration may hit and cause damage to the machine edges.
The overrun limit function is disabled for FFT analysis from the CX-Drive.
Objects Requiring Settings
Index
3514 hex
Name Description
Overrun Limit Setting Sets the Servomotor's allowable operating range for the position command input range.
Reference page
7-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-3 Overrun Protection
Operation Example
No Position Command Input (Servo ON)
No position command is entered. The Servomotor's allowable operating range is the range set in object 3514 hex on both the right and left. An overrun limit error will occur (Error No. 34.0) if the load enters the error range, or the shaded area in the drawing below, due to vibration.
Servomotor Load
3514 hex 3514 hex
Error range
(Error No. 34.0)
Servomotor's allowable operating range Error range (Error No. 34.0)
Right Side Operation (Servo ON)
When a rightward position command is entered, the Servomotor's allowable operating range increases for the commanded amount. The range will be the result where the rotation set for
3514 hex is added on both sides for the position command.
7
Servomotor Load
Error range
(Error No. 34.0)
3514 hex
Entered position command range
Servomotor's allowable operating range
3514 hex
Error range
(Error No.34.0)
Left Side Operation (Servo ON)
When a leftward position command is entered, the Servomotor's allowable operating range further increases.
Servomotor Load
Error range
(Error No.34.0)
3514 hex
Entered position command range
3514 hex
Servomotor's allowable operating range
Error range
(Error No.34.0)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-10
7-4 Backlash Compensation
7-4 Backlash Compensation
The function compensates for backlash for position control and fully-closed control.
7
Objects Requiring Settings
Index
3704 hex
3705 hex
3706 hex
Name Description
Backlash
Compensation
Selection
Select whether to enable or disable backlash compensation during position control.
Set the compensation direction.
Backlash
Compensation Amount Set the compensation amount during position control.
Backlash
Compensation Time
Constant
Set the backlash compensation time constant during position control.
Reference page
Backlash Compensation Selection (3704 Hex)
This object is used to select whether to enable or disable backlash compensation during position control, and to set the compensation direction.
Set value
0
1
2
Description
Disable backlash compensation.
Compensate for backlash at the first forward operation after the servo is turned ON.
Compensate for backlash at the first reverse operation after the servo is turned ON.
Setting Method
The backlash compensation works in different directions depending on the setting in the
Backlash Compensation Selection (3704 hex) and on whether the set value for the Backlash
Compensation Amount (3705 hex) is positive or negative.
3704 hex
1
2
3705 hex contains a positive value
Compensate in positive direction when operation is in forward.
Compensate positive direction when it is in reverse operation.
3705 hex contains a negative value
Compensate in negative direction when operation is in forward.
Compensate in negative directions when operation is in reverse.
7-11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-4 Backlash Compensation
Precautions for Correct Use
To determine the actual position of the Servomotor, offset the Servomotor position data acquired via EtherCAT communications by the backlash compensation amount.
Backlash compensation is performed on the first position command in the set direction after the servo is turned ON. Any prior operations in the opposite direction are not compensated. But the first reverse operation after the initial backlash compensation is compensated. Backlash compensation is not performed again as long as the operation continues in the same direction.
When the Servo OFF status occurs while backlash compensation is performed, the backlash compensation amount is cleared. This is done by presetting the position command data of the
Servo Drive to the Servomotor position data that includes the backlash compensation amount.
When the servo is turned ON again, backlash compensation is performed as described above.
Reference
Conditions for Clearing Backlash Compensation
Backlash compensation is cleared to zero under any of the following conditions:
When the position error is reset. This includes when the servo is turned OFF, and when the error counter is reset for the drive prohibition input.
When the position data is initialized. This excludes commands for an origin return and coordinate system setup, but includes commands for an equipment setup request and adjustment.
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-12
7-5 Brake Interlock
7-5 Brake Interlock
This function lets you set the output timing for the brake interlock output (BKIR) that activates the holding brake when the servo is turned ON, an error occurs, or the servo is turned OFF.
The brake can also be controlled via EtherCAT communications.
7
Objects Requiring Settings
Index
3437 hex
3438 hex
3439 hex
60FE hex
Sub-index
-
-
-
01 hex
02 hex
Bit
-
-
-
0
0
Name
Brake Timing when
Stopped
Brake Timing
During Operation
Brake Threshold
Speed During
Operation
Explanation
Set the time after a servo OFF command is issued upon servo lock stop, until the brake interlock output (BKIR) turns OFF and power supply stops.
Set the time after a servo OFF command is issued while the motor is rotating, until the brake interlock output (BKIR) turns OFF and power supply stops. If the speed drops to or below the value set in object 3439 hex before the time set here, BKIR will turn OFF.
Set the speed at which to turn OFF power to the Servomotor when the Brake Interlock
Output (BKIR) signal turns OFF after execution of a servo OFF command while the Servomotor is rotating. If the time set in object 3438 hex elapses before the
Servomotor drops to the speed set here,
BKIR will turn OFF.
This is the Set Brake Bit for EtherCAT communications.
0: Brake released
*1
1: Brake engaged
*2
This is the Set Brake Mask Bit for enabling/ disabling the Set Brake Bit for EtherCAT communications.
0: Set Brake Bit enabled.
1: Set Brake Bit disabled.
Reference
*1 The Brake Interlock Output (BKIR) is turned ON. The brake is released for a brake release command from either
EtherCAT communications or the Servo Drive.
*2 The Brake Interlock Output (BKIR) is turned OFF. The brake is engaged only when a set brake command is received from both EtherCAT communications and the Servo Drive.
Applying the brake from EtherCAT communications is enabled only while the servo is OFF. If a Set Brake command is received while the servo is ON, a Command Warning (B1 hex) will occur.
Precautions for Correct Use
The brake on a Servomotor with a brake is a normally closed brake designed only to hold when the operation is stopped. Accordingly, set an appropriate time so that the brake actuates after the motor stops.
If the brake is engaged while the Servomotor is rotating, the brake disc will wear abnormally or sustain damage, resulting in a bearing or encoder failure in the Servomotor.
The workpiece may fall when the brake is released for a vertical axis. Carefully consider the timing of releasing the brake.
7-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-5 Brake Interlock
Operation Timing
This section shows the timing of the Brake Interlock Output (BKIR).
Basic Timing
Control power supply
(L1C and L2C)
ON
OFF
OFF
ON
Servo ON/OFF
OFF
Servo OFF
Brake Interlock
Output (BKIR)
ON
OFF
Forced-braking is possible.
ON
Servo ON
Request to release brake
Servo OFF
Forced-braking is possible.
Servo ON/OFF Operation Timing When Motor Is Stopped
Servo ON/OFF
ON
OFF
Servo OFF Servo ON
*1
Servo OFF
Dynamic brake relay
ON
OFF
DB engaged
*1
Approx. 2 ms
DB released
Approx. 60 ms
DB engaged
*2
3437 hex
Motor power supply
ON
OFF
No power supply Power supply
Approx. 4 ms
No power supply
1 to 6 ms
Brake interlock output (BKIR)
*3
ON
OFF
Release request
Holding brake operation
Released
Held
Attraction time
Brake released
Release time
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option code (605C hex).
*3. The Brake Interlock Output (BKIR) signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications. The above example shows when there is no brake release request from EtherCAT communications. The BKIR is assigned to the generalpurpose output (CN1).
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-14
7-5 Brake Interlock
7
Servo ON/OFF Operation Timing When Motor Is Operating
Based on these operation timings, regenerative energy is produced if the motor rotation stops abnormally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.
Servo ON/OFF
Dynamic brake relay
Motor power supply
ON
OFF
Servo OFF
ON
OFF
DB engaged
ON
OFF
No power supply
ON
Brake interlock output
(BKlR)
*3
OFF
*1
Servo ON
*1
DB released
Approx. 60 ms
Power supply
Brake held
Approx. 4 ms
Release request
Servo OFF
1 to 5 ms
DB engaged
*2
No power supply
*2 t1
*4
3438 hex
Brake held
Motor rotation speed
Approx. +30 r/min
When the 3438 hex setting is early
Value set on 3439 hex
Servo ON enabled
Approx. -30 r/min When the 3439 hex setting is early
BKIR
Release request Brake held
Value set on 3439 hex
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below. If a Servo ON is commanded during motor rotation, the Command Warning (Warning No. B1 hex) will occur. The Servo ON command is ignored.
*2. The operation of the dynamic brake when the servo is OFF depends on the setting of the Disable operation option code (605C hex).
*3. The Brake Interlock output (BKIR) signal is output when a release request command is received from Servo controls or from EtherCAT communications. In the above example, there is no release request command from EtherCAT communications. The BKIR signal is assigned to the general-purpose output (CN1).
*4. “t1” is the period until the value becomes lower than the set value on the Brake Timing During Operation (3438 hex) or the Brake Threshold Speed During Operation (3439 hex), whichever is shorter.
Note: Even when the Servo ON Input is turned ON again while the motor is decelerating, the system does not enter the servo ON state until the motor stops.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-5 Brake Interlock
Operation Timing When an Error Occurs (Servo ON)
Error status
OFF
Normal
ON
Motor power supply
Dynamic brake relay
ON
OFF
Power supply
ON
OFF
DB Released
Servo ready output (READY)
Error Output (/ALM)
ON
OFF
READY
ON
OFF
Normal
When object 3438 hex set value comes earlier Motor rotation speed A
Error
0.5 to 5 ms
No power supply
DB engaged
Error
*1
Value set in 3439 hex t1
*3
Brake interlock output (BKIR)
*2
ON
Release request
OFF
When object 3439 hex set value comes earlier
Motor rotation speed B
3438 hex
Brake held
Brake interlock output (BKIR)
*2
Value set on 3439 hex
BKIR
Release request
Brake held
*1. The operation of the dynamic brake when there is an error depends on the setting of the Fault reaction option code
(605E hex).
*2. The Brake Interlock Output (BKIR) signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications. The above example shows when there is no brake release request from EtherCAT communications. The BKIR signal is assigned to the generalpurpose output (CN1).
*3. “t1” is the period until the value becomes lower than the set value on the Brake Timing During Operation (3438 hex) or the Brake Threshold Speed During Operation (3439 hex), whichever is shorter.
Note 1. Even when the servo ON input is turned ON again while the motor is decelerating, the system does not enter the servo ON state until the motor stops.
Note 2. If the main circuit power supply turns OFF while the motor is operating, a phase loss error or main circuit voltage low error will occur, in which case this operation timing is applied.
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-16
7-5 Brake Interlock
7
Operation Timing When Resetting Errors
Error reset command
Servo ready output (READY)
ON
OFF
ON
OFF
Reset
16 ms or more
READY
Error Output (/ALM)
Servo ON/OFF
Dynamic brake relay
Motor power supply
Brake interlock output (BKIR)
*2
Operation command input
ON
OFF
ON
OFF
Error Normal
0 ms or more
Servo OFF
Servo ON
*1
2 ms or more
ON
Brake Engaged
OFF
Brake Released
Approx. 60 ms
ON
OFF
No power supply Power supply
4 ms
ON
OFF
Brake held Release request
100 ms or more
ON
OFF
Input prohibited Input allowed
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The Brake Interlock Output (BKIR) signal is output either when a release request command is received via Servo controls or when a release request command is received via EtherCAT communications. The above example shows when there is no brake release request from EtherCAT communications. The BKIR signal is assigned to the generalpurpose output (CN1).
Note: After the error has been reset, the system enters the servo OFF state (motor not energized). To turn ON the servo, send a servo ON command again after resetting the error, according to the above timing.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-6 Electronic Gear Function
7-6 Electronic Gear Function
This function controls the position by using the value multiplied the position command entered on the Host Controller by the preset electronic gear ratio. The functions is used in the Position
Control and Fully-closed Control modes. (This applies only when the communications cycle is
1, 2, or 4 ms.)
For communications cycles for which the electronic gear is not supported (250 or 500 µs), a
Function Setting Error (Error No. 93.4) will occur if the electronic gear is enabled.
When connected to an OMRON CJ1W-NC@81/@82 Position Control Unit, the electronic gear ratio is set in the Position Control Unit. Set the electronic gear ratio in the Servo Drive to 1:1.
Objects Requiring Settings
Index
6091 hex
Sub-index
01 hex
02 hex
Shaft revolutions
*1
Name
Motor revolutions
*1
Explanation
Set the numerator of the electronic gear ratio.
If the set value is 0, the encoder resolution is automatically set as the numerator.
*2
• 131072 for a 17-bit absolute encoder
• 1048576 for a 20-bit incremental encoder
Set the denominator of the electronic gear ratio.
Reference
*1. The electronic gear ratio must be set between 1/1000 and 1000. If it is set outside the range, an Object Setting Error
1 (Error No. 93.0) will occur.
Whether the electronic gear is enabled is determined from the setting of the objects. If the gear ratio setting is 1:1, the electronic gear is disabled.
*2. If object 6091-01 hex is set to 0, the encoder resolution is set to the numerator during fully-closed control also.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-18
7
7-6 Electronic Gear Function
Gear ratio Setting (6091-01 and 6091-02 Hex)
Motor revolutions
(6091-01 hex)
0
Shaft revolutions
(6091-02 hex)
Description
1 to
1073741824
When the Motor revolutions (6091-01 hex) is 0, the processing changes with the set value of Shaft revolutions (6091-02 hex).
Position command Encoder resolution*1
Shaft revolutions (6091-02 hex)
Position command
Position command = Encoder resolution/Shaft revolutions (6091-02 hex)
When the Motor revolutions (6091-01 hex) is not 0, the processing changes with the set values of Motor revolutions (6091-01 hex) and
Shaft revolutions (6091-02 hex).
1 to
1073741824
Position command
Motor revolutions
(6091-01 hex)
Shaft revolutions (6091-02 hex)
Position command
Position command = Motor revolutions (6091-01 hex) / Shaft revolutions
(6091-02 hex)
*1 The encoder resolution is set as the numerator for fully-closed control.
Precautions for Correct Use
To make the position command smoother after the electronic gear setting, adjust it by using the
Position Command Filter Time Constant (3222 hex) or by the Position Command FIR Filter Time
Constant (3818 hex).
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-6 Electronic Gear Function
Operation Example
The example uses a motor with a 20- bit encoder (1,048,576 pulses per rotation)
When the Motor Revolutions (6091-01 Hex) Is Set to 0
If you set 6091-02 hex to 2,000, the operation is the same as the 2,000 (pulses/rotation)
Servomotor.
Servo Drive
Servomotor encoder resolution: 20 bits
2,000 pulses
1,048,576 pulses
Encoder resolution
Shaft revolutions (6091-02 hex)
=
1,048,576
2000
1-rotation (1,048,576 pulses)
When the Motor Revolutions (6091-01 Hex) Is Set to a Value Other Than 0
If you set 6091-01 hex and 6091-02 hex to 1,048,576 and 2,048, respectively, the operation is the same as a 2,048-pulses/rotation Servomotor.
7
Servo Drive
Servomotor encoder resolution: 20 bits
2,048 pulses
Motor revolutions (6091-01 hex)
Shaft revolutions (6091-02 hex)
=
1,048,576
2000
=
512
1
1,048,576 pulses
1-rotation (1,048,576 pulses)
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-20
7-7 Torque Limit Switching
7-7 Torque Limit Switching
This function switches the torque limit according to the operation direction, and depending on the Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the
Forward/Reverse Torque Limit Input Commands from EtherCAT communications.
This function is used in the following conditions.
• When push-motion operation, such as pressing, is performed.
• When the torque at startup and during deceleration should be suppressed to protect the mechanical system, etc.
The Torque Limit Selection (3521 hex) is used to select a method to switch the torque limit.
Operating Conditions
The torque limit switching function works under the following conditions.
Conditions
Operation mode Position Control Mode or Fully-closed Control Mode
Others
Servo ON state
The factors other than control objects must be set correctly. This includes the torque limit. The motor must operate normally without any failures.
7
Objects Requiring Settings
Index
3521 hex
Name
Torque Limit Selection
Explanation
Select the torque limit based on the various objects and input signals.
60E0 hex Positive torque limit value Set the forward torque limit value.
60E1 hex Negative torque limit value Set the reverse torque limit value.
3525 hex
3526 hex
Forward External Torque
Limit
Reverse External Torque
Limit
Set the forward torque limit for a network signal.
Set the reverse torque limit for a network signal.
Reference
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-7 Torque Limit Switching
Torque Limits in Position Control Mode or Fully-closed Control Mode
6
7
4
5
0,1
2
3
The term Torque FF refers to the torque feed-forward function.
Set value
Position Control/Fully-closed Control
Forward torque limit value Reverse torque limit value
PCL ON
*1
PCL OFF
*2
NCL ON
*1
NCL OFF
*2
60E1 hex
60E0 hex
60E0 hex
60E0 hex
60E1 hex
60E1 hex
60E0 hex
3525 hex
60E0 hex
60E0 hex
60E0 hex
3525 hex
3526 hex
60E1 hex
60E1 hex
60E1 hex
3526 hex
Torque FF
Disabled
*1. When either the external input signal (PCL or NCL) or the EtherCAT communications torque control command (P-CL or N-CL) is ON.
*2. When both the external input signal (PCL or NCL) and the EtherCAT communications torque control command (P-CL or N-CL) are OFF.
Torque Limit Settings by Servomotors
The torque limit setting range is between 0% and 300%. The default setting is 300%. This is not the case when a Servo Drive and a Servomotor are used in the following combinations.
Servo Drive
R88D-KN15@-ECT-R
Applicable
Servomotor
R88M-K90010@
Maximum torque limit
[%]
225
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-22
7
7-8 Gain Switching Function
7-8 Gain Switching Function
This function switches the position loop and speed loop gain.
Select enable or disable using Gain Switching Input Operating Mode Selection (3114 hex). Set the switching condition using the gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping or operating, you can perform optimal control by using gain switching.
The function is used when the realtime autotuning does not work effectively, such as:
• When the load inertia fluctuates in 200 ms or less.
• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
• When an external force is constantly applied, as with a vertical axis.
Precautions for Correct Use
When Gain 2 has been selected, realtime autotuning does not operate normally. If using the gain switching, set the Realtime Autotuning to "Disabled" (3002 hex = 0).
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-8 Gain Switching Function
Objects Requiring Settings
Index
3002 hex
3114 hex
Name
Realtime Autotuning Mode
Selection
Gain Switching Input
Operating Mode Selection
Description
Set the operation mode for realtime autotuning.
Realtime autotuning cannot be used if the gain switching function is being used.
Set whether to enable or disable the gain switching function.
Position Control Mode and Fully-closed Control Mode
3115 hex
3116 hex
3117 hex
3118 hex
3119 hex
Switching Mode in
Position Control
Gain Switching Delay
Time in Position Control
Gain Switching Level in
Position Control
Gain Switching Hysteresis in Position Control
Position Gain Switching
Time
Set the condition for switching between Gain 1 and Gain 2.
Set the delay time for switching from the Gain 2 to Gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between the Gain 1 and
Gain 2.
Set the hysteresis width to be used for the judgment level set in Gain Switching Level (3117 hex).
Set the time to change from one position gain to the other one. (Unit: 0.1 ms)
Reference
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-24
7-8 Gain Switching Function
7
Gain Switching
Refer to Chapter 9 Details on Servo Parameter Objects for details on gain-related objects.
Position Control Mode and Fully-closed Control Mode
In the Position Control mode and Fully-closed Control Mode, operation varies as follows according to switching mode in Position Control (3115 hex).
Description
Set value of
3115 hex
0
1
2
3
4
5
Gain switching conditions
Always Gain 1 (3100 to 3104 hex).
Always Gain 2 (3105 to 3109 hex).
Gain switching command input via
EtherCAT communications
*3
Command torque value (Refer to
Figure A.)
Always Gain 1 (3100 to 3104 hex).
Command speed (Refer to Figure B)
Gain Switching
Delay Time in
Position Control
(3116 hex)
*1
Disabled
Disabled
Disabled
Enabled
Disabled
Enabled
Gain Switching
Level in Position
Control (3117 hex)
Disabled
Disabled
Disabled
Enabled
*4
(%)
Disabled
Enabled
(r/min)
Gain Switching
Hysteresis in
Position Control
(3118 hex)
*2
Disabled
Disabled
Disabled
Enabled
*
4
(%)
Disabled
Enabled
(r/min)
Enabled
*
5
(pulses)
6
7
9
10
Pulse position error
(Refer to Figure C.)
Whether there is a position command (Refer to Figure D.)
Actual motor speed
(Refer to Figure B).
Combination of whether there is a position command and actual motor speed (Refer to Figure E.)
Enabled
Enabled
Enabled
Enabled
Enabled
(pulses)
Disabled
Enabled
*5
(r/min)
Enabled
(r/min)
*6
Disabled
Enabled min)
Enabled
(r/min)
(r/
*
6
*1. The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched from 2 to 1.
*2. The Gain Switching Hysteresis in Position Control (3118 hex) is defined in the drawing below.
3117 hex
3118 hex
0
Gain 1 Gain 2 Gain 1
3116 hex
If object 3117 hex is less than object 3118 hex, object 3117 hex will automatically be set to the same value as object 3118 hex.
*3. When the Gain Switching command of EtherCAT communications (G-SEL) is 0, the gain switches to gain 1. When the command is 1, the gain switches to gain 2.
*4. Set the percentage of the rated torque.
Example: To set 10% of the rated torque, set the set value would be 10.
*5. The position error is set according to the encoder resolution (i.e., pulses) for position control and according to the external encoder resolution (i.e., pulses) for fully-closed control.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-8 Gain Switching Function
*6. When the set value is 10, the meanings of the Gain Switching Delay Time in Position Control, the Gain
Switching Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the normal case. (Refer to Figure E).
Figure A
Figure C
Rotation speed (V)
Rotation speed (V)
Command torque
Level
Time
Gain 1 Gain 2
H
L
L
H
Time
Gain 1 Gain 2
Gain 1
Pulse position error
Level
Gain 1
Gain 2
Time
Rotation speed (V)
Level
Figure B
H
L
Position command value
H
L
Gain 1
Figure D
Gain 1
Gain 2
Time
Gain 1
Gain 1
Gain 2
Time
Gain 1
Figure E
Commanded rotation speed (S)
Gain 1
Motor speed
Gain 2
Time
H
L
Level
Gain 1
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-26
7-8 Gain Switching Function
7
Diagrams of Gain Switching Setting
Switching between Gain 1 (3100 to 3104 hex) and Gain 2 (3105 to 3109 hex) occurs at the following timing. For the position loop gain, switching occurs based on the setting of 3119 hex.
The details of the gain switching settings vary depending on the control mode used. For the
details of settings available in each mode, refer to Gain Switching on page 7-25.
Gain Switching Mode = 2: Gain Switching (GSEL)
Instant switching occurs when a gain switching command is issued from the network.
Position command
GSEL
Gain switching instruction
Gain 1 Gain 1
Gain 2
Gain Switching Mode = 3: Switching by Command Torque Value
If the absolute value of the command torque exceeds the sum of the Gain Switching Level in
Position Control (3117 hex) plus the Gain Switching Hysteresis in Position Control (3118 hex), the gain switches to gain 2.
If the absolute value of the command torque exceeds the difference of the Gain Switching
Level in Position Control (3117 hex) minus the Gain Switching Hysteresis in Position Control
(3118 hex) for the time specified in the Gain Switching Delay Time in Position Control (3116 hex), the gain switches back to gain 1.
Speed command
3118 hex
3117 hex
Torque command
3118 hex
3116 hex
Gain 1
Gain 2
3117 hex
3118 hex
Gain 1
3118 hex
Gain 2
3116 hex
Gain 1
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-8 Gain Switching Function
Gain Switching Mode = 5 or 9: Switching by Speed Command or Actual
Motor Speed
Speed command or actual motor speed
3118 hex
3118 hex
3117 hex
3116 hex
Gain 1
Gain 2
Note: The “speed command” is the Motor Control Effort (401A hex) [r/min].
Gain 1
Gain Switching Mode = 6: Switching by Pulse Position Error
The gain is switched according to the pulse position error [encoder pulses/external encoder pulses].
Pulse position error
3118 hex
3117 hex
3118 hex
7
3116 hex
Gain 1
Gain 1
Gain 2
Gain Switching Mode = 7: Switching by Whether There Is a Position
Command
The gain is switched according to whether there is a position command.
Position command
3116h
Gain 1 Gain 1
Gain 2
Note: Whether there is a position command is determined by changes in the Target position (607A hex).
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-28
7-8 Gain Switching Function
7
Gain Switching Mode = 10: Switching by Combination of Whether There Is a
Position Command and Actual Motor Speed
Switching to the gain 2 occurs when a position command is received.
If there is no position command but the absolute value of the actual motor speed remains less than the difference of the Gain Switching Level in Position Control (3117 hex) minus the Gain
Switching Hysteresis in Position Control (3118 hex) [r/min] for the time specified in the Gain
Switching Delay Time in Position Control (3116 hex), the gain switches to gain 1.
Position command
Actual motor speed
3118 hex
3117 hex
3116 hex
Gain 1
Gain 2
Gain 1
Note: Whether there is a position command is determined by changes in the Target position (607A hex).
Position Gain Switching Time (3119 Hex)
Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex). By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when there is a large change in the position loop gain.
If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain
2 (3105 hex), set the Position Gain Switching Time (3119 hex).
When the position loop gain increases, the gain changes in the set time.
Position Loop Gain 1 < Position Loop Gain 2
Gain 2
Gain 1
Position Gain Switching Time (ms)
(3119 hex)
Gain 2
Gain 1
Gain 1 Gain 1
Precautions for Correct Use
When the position loop gain is switched to a smaller value (e.g., when switching from gain 2 to gain 1 in the above figure), Position Gain Switching Time (3119 hex) is ignored and the gain is switched immediately.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9 Gain Switching 3 Function
7-9 Gain Switching 3 Function
This function adds a new setting (gain 3) to the gain switching function of the Gain Switching
Input Operating Mode Selection (3114 hex). It switches the gain right before a stop.
The positioning time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time.
Operating Conditions
You can use the gain 3 switching function in the following situations for position control or fullyclosed control.
Conditions
Operating mode Position Control Mode or Fully-closed Control Mode
Others
Servo ON state.
The factors other than control parameters must be set correctly.
This includes the torque limit. The motor must operate normally without any failures.
Objects Requiring Settings
Index
3605 hex
3606 hex
Name Explanation
Gain 3 Effective Time Set effective time of gain 3.
Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1.
Reference
7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-30
7-9 Gain Switching 3 Function
7
Operation Example
When the conventional gain switching function works correctly, set the time to use Gain 3 in
Gain 3 Effective Time (3605 hex), and the magnification of Gain 3 against Gain 1 in the Gain
3 Ratio Setting (3606 hex).
Operation Timings of Gain 1, 2 and 3
When the Switching Mode in Position Control (3115 hex) is set to 7, i.e., when the command pulses are received as the switching condition, the operation will be as shown below:
Position command speed [r/min]
3605 hex
× 0.1 ms
Gain 2 Gain 3 Gain 1
3105 to 3109 hex 3100 to 3104 hex
Gain 3 region
Position loop gain = 3100
× 3606 hex/100
Speed loop gain = 3101
× 3606 hex/100
The gain 1 values are used for the speed loop integral time constant, speed feedback filter time constant, and torque command filter time constant.
Precautions for Correct Use
If gain 3 is not used, set the Gain 3 Effective Time (3605 hex) to 0 and the Gain 3 Ratio Setting
(3606 hex) to 100.
In the gain 3 region, only the position loop gain and the speed loop gain are treated as gain 3, and the gain 1 setting is applied for all other gains.
If the gain 2 switching condition is established in the gain 3 region, operation switches to gain 2.
If gain 2 is switching to gain 3, the Position Gain Switching Time (3119 hex) is enabled.
There is a gain 3 region even when gain 2 is switched to gain 1 due to an object change and so forth.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Function
This function stops the Servomotor based on a signal from a safety controller or safety sensor. An outline of the function is given together with operation and connection examples.
8-1 Safe Torque OFF Function...........................................8-1
8-2 Operation Example .......................................................8-4
8-3 Connection Examples ..................................................8-6
8
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8
8-1 Safe Torque OFF Function
8-1 Safe Torque OFF Function
The safe torque OFF function (hereinafter referred to as STO according to IEC 61800-5-2) is used to cut off the motor current and stop the motor through the input signals from a safety device, such as a safety controller or safety sensor, that is connected to the safety connector
(CN8).
When the STO function is operating, the
Servo Drive
turns OFF the servo ready completed output (READY) to go into the safety status.
The PFH value is 2.30 × 10
−8
.
Precautions for Safe Use
When using the STO function, be sure to execute a risk assessment of the equipment to confirm that the system safety requirements are met.
There are the following risks even when the STO function is operating. Be sure to take safety into account as part of the risk assessment.
• The motor runs if an external force is present (e.g., force of gravity on a vertical axis). If holding is required, implement appropriate measures, such as providing external brakes. The brakes for a
Servo Drive
with brakes are used for holding only, and cannot be used for control.
• Even if there is no external force, when the Fault reaction option code (605E hex) is set to freerun with the dynamic brake disabled, the motor uses free-run stopping and the stop distance is long.
• In case of internal failure of components, the motor may operate in the range of up to 180 degrees of electrical angle.
• The power supply to the motor is cut off by the STO function, but the power supply to the
Servo
Drive
will not be cut off nor electrically isolated. For
Servo Drive
maintenance, cut off the power supply to the
Servo Drive
through another means.
Do not use the EDM output for any purpose other than the failure monitoring function. The EDM output signal is not a safety output.
The dynamic brake and external brake release signal outputs are not safety-related parts. Make sure to design the equipment not to be dangerous even if the external brake release fails during the STO status.
When using the STO function, connect equipment that meets the safety standards.
The OMNUC G5-series AC Servo Drives fulfill the requirements of the following certifications
(application pending):
• CAT-3 (EN 954-1)
• Performance level d (EN/ISO 13849-1)
• SIL 2 (IEC/EN 62061)
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8-1 Safe Torque OFF Function
I/O Signal Specifications
Safety Input Signals
There are 2 safety input circuits to operate the STO function.
Signal name
Safety input 1
Symbol
SF+
SF−
Pin number
Description
CN8-4
• The upper arm drive signal of the power transistor inside the
CN8-3 Servo Drive is cut off.
Position
√
√
Control mode
Speed Torque
√
√
√
√
Fullyclosed
√
√
Safety input 2
SF2+
SF2−
CN8-6 • The lower arm drive signal of the power transistor inside the
CN8-5
Servo Drive is cut off.
√
√
√
√
√
√
√
√
When safety input 1 or 2 turns OFF, the STO function will start operating within 5 ms of the input, and the motor output torque will be reduced to 0.
Connect the equipment so that the safety input circuit is turned OFF to operate the STO function.
Set the operation when the safety input turns OFF in the Fault reaction option code (605E hex).
Precautions for Correct Use
L pulses for self-diagnosis of safety equipment
When you are connecting a safety device, such as a safety controller or a safety sensor, the safety output signal of the device may include L pulses for self-diagnosis. To avoid malfunction due to the
L pulses for self-diagnosis, a filter that removes the L pulses is built into the safety input circuit. If the
OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as
OFF. To make sure that OFF is recognized, maintain the OFF status of safety input signal for at least
5 ms.
8
For self-diagnosis L pulse
5 ms or more
Safety input signal
Within 1 ms
Servo Drive operation
Normal operation
Within 5 ms
STO status
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8-2
8
8-1 Safe Torque OFF Function
External Device Monitor (EDM) Output Signal
This is a monitor output signal that is used to monitor the status of safety input signals using an external device. Connect a safety device, such as a safety controller or a safety sensor.
Connect the EDM output signal to the monitoring terminal on a safety device.
Signal name
Symbol
Pin number
Description
Position
Control mode
Speed Torque
Fullyclosed
EDM output
EDM+ CN8-8 • Monitor signal is output to detect malfunctioning of the
EDM− CN8-7 safety function.
* This is not a safety output.
√
√
√
√
√
√
√
√
Relationship between Safety Input Signals and EDM Output Signal
Normally when both safety inputs 1 and 2 are OFF, i.e., when the STO function is activated for both safety input circuits, the EDM output is ON.
You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal states using an external device.
These are the two cases of errors:
Both safety inputs 1 and 2 are OFF, but the EDM output circuit signal does not turn ON.
Either or both safety inputs 1 and 2 are ON, but the EDM output circuit signal is ON.
Signal name Symbol Signal status
Safety input 1
Safety input 2
EDM output
SF1
SF2
EDM
ON
ON
OFF
ON
OFF
OFF
OFF
ON
OFF
OFF
OFF
ON
The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal is output.
8-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8-2 Operation Example
8-2 Operation Example
Operation Timings to a Safety Status
Servo ON/OFF
Servo ON
Servo OFF
Safety input 1
Safety input 2
*1
Motor power is supplied.
EDM output
Normal status
STO status
Power supply
OFF max 5 ms max 6 ms
No power supply
ON
0.5 to 5 ms
DB released DB engaged
Dynamic brake relay
*2
Servo ready completed output
(READY)
READY
Error Output (/ALM)
Brake interlock output (BKIR)
Normal
Brake released
3439 hex set value
Brake released
Error
3438 hex set value
Brake held t1
*3
3438 hex set value
When object 3438 hex set value comes earlier.
Brake held
3439 hex set value
When object 3439 hex set value comes earlier.
*1. STO status is entered when either safety input 1 or 2 turns OFF
*2. The dynamic brake operates according to the setting of the Fault reaction option code (605E hex).
*3. t1 is the set value of the Brake Timing During Operation (3438 hex), or the time needed for the motor rotation speed to drop to or below the Brake Threshold Speed During Operation (3439 hex), whichever occurs first.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8-4
8
8-2 Operation Example
Timing of Return from Safety Status
Servo ON /OFF
*1
Servo OFF command
Safety input 1
Safety input 2
Motor power is supplied.
EDM output
STO status
ON
Normal status
No power supply
6 ms max.
OFF
Servo ON
After the servo turns ON, operation will follow the normal servo
ON/OFF operation timing diagram.
For details, refer to
7-5 Brake Interlock.
Dynamic brake relay
DB released/engaged
Error
*2
DB released/engaged
*3
Servo OFF
READY
Servo ready completed output
(READY)
Error reset input (RESET)
*1
Reset
Error Output
(/ALM)
Error
Normal
Brake interlock output (BKIR)
Brake held
*1. Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and
2 to ON. If an error exists in this state, be sure to clear the error when both safety inputs 1 and 2 have returned to ON state. An error will occur immediately if the error reset is executed when even one of them is still in OFF status.
*2. An error exists in this state. The dynamic brake operates according to the Fault reaction option code
(605E hex).
*3. An error exists in this state. The dynamic brake operates according to the Disable operation option code (605C hex).
8-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8-3 Connection Examples
8-3 Connection Examples
Connection with a Safety Controller (Two Safety Inputs and One EDM Output)
Safety
Controller
G9SP-series
Safety Controller
Safety output
(source)
Safety output 1
SF1+
Safety input
SF1
−
Safety output 2
SF2+
SF2
−
Test output
0V
EDM+
Safety input
EDM
−
EDM input EDM output
Servo Drive
M
8
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8-6
Details on Servo Parameter Objects
This chapter explains the settings of each object.
9-1 Basic Settings ...............................................................9-1
9-2 Gain Settings.................................................................9-6
9-3 Vibration Suppression Settings ................................9-15
9-4 Analog Control Objects..............................................9-21
9-5 Interface Monitor Settings .........................................9-24
9-6 Extended Objects .......................................................9-32
9-7 Special Objects ...........................................................9-38
9-8 Reserved Objects .......................................................9-50
9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
9-1 Basic Settings
9-1 Basic Settings
Some objects are enabled by turning the power supply OFF and then ON again. After changing these objects, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again.
Do not change the objects marked "reserved." Also, do not change the set values that are indicted as being unused or reserved for the system.
See below for the data attributes.
A : Always enabled
B : Prohibited to change during motor rotation or commands.
If it is changed during motor rotation or commands, the update timing will be unknown.
-
C : Updated after the control power is reset, or after a Config command is executed via EtherCAT communications.
R : Updated when the control power supply is reset.
It is not updated for a Config command via EtherCAT communications.
: Write prohibited.
The operation modes are shown as follows:
All : All operation modes csp : Cyclic synchronous position mode csp semi : Only objects related to semi-closed control.
csp full : Only objects related to fully-closed control.
3000 hex
Setting range
Size
Rotation Direction Switching
0 to 1
2 bytes (INT16)
Unit −
Access
Default setting
RW
1
PDO map
All
Data attribute
Not possible.
C
This object switches the motor rotation direction for a position, speed, or torque command.
Explanation of Set Values
Set value
0
1
Description
A forward direction command sets the motor rotation direction to clockwise.
A forward direction command sets the motor rotation direction to counterclockwise.
The motor rotation direction when viewing the shaft from the load side is called clockwise (CW) or counterclockwise (CCW).
9-1
CCW
CW
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-1 Basic Settings
3001 hex
Setting range
Size
Control Mode Selection
0 to 6 Unit
2 bytes (INT16)
Set the control mode to be used.
Explanation of Set Values
−
Access
Default setting
RW
Set value
0 to 5
6
Semi-closed control (position control)*1
Fully-closed control
Description
*1 Set any value between 0 and 5 for semi-closed control.
3002 hex
Setting range
Size
Realtime Autotuning Mode Selection
0 to 6 Unit
−
2 bytes (INT16) Access
Set the operating mode for realtime autotuning.
Refer to 11-3 Realtime Autotuning on page 11-6.
Default setting
RW
Explanation of Set Values
0
PDO map
1
PDO map
All
Data attribute
Not possible.
R
All
Data attribute
Not possible.
B
Set value
0
1
2
3
4
5
6
Realtime autotuning
Disabled
Focus on stability
(default setting)
Focus on position control
Vertical axis
Friction compensation and vertical axis
Load characteristic estimation
Customization
Description
Realtime autotuning is disabled.
No unbalanced load, friction compensation, or gain switching.
Used for a horizontal axis or other axes that have no unbalanced load, or for a ball screw drive with little friction.
Used when an unbalanced load is present, such as a vertical axis.
Used when friction is large (unbalanced load also calculated).
Used for a belt-driving shaft with large friction. Variations in finalizing the positioning are suppressed.
Used only for estimating load characteristics.
This mode is used for customizing the realtime autotuning function by using the Realtime Autotuning Customization Mode Setting (3632 hex).
3003 hex
Realtime Autotuning Machine Rigidity Setting
All
Setting range
Size
0 to 31 Unit
−
Default setting
RW
13
*1
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
*1. The default setting is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
The higher the machine rigidity set value is, the higher the responsiveness is, however, the more vibration occurs.
9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2
9
9-1 Basic Settings
Low ←Machine rigidity→ High
Low ←Servo gain→ High
0.1 - - - - - - - - - - - - - - - 31 3003h
Low ←Responsiveness→
Refer to 11-3 Realtime Autotuning on page 11-6.
High
Precautions for Correct Use
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting the machine to shock. Always start with a small setting, and gradually increase the setting while monitoring machine operation.
3004 hex
Setting range
Size
Inertia Ratio
0 to 10,000 Unit %
Default setting
RW
250
All
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the load inertia as a percentage of the motor rotor inertia.
3004 hex = (Load inertia/Rotor inertia) × 100%
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
If the Inertia Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will increase. If the Inertia Ratio (3004 hex) is set smaller than the actual value, the setting for speed loop gain will decrease.
3015 hex
Operation Switch when Using Absolute Encoder
Setting range
Size
0 to 2
2 bytes (INT16)
Unit −
Access
Default setting
RW
Set the operating method for the 17-bit absolute encoder.
2
PDO map csp
Data attribute
Not possible.
C
Explanation of Set Values
Set value
0
1
2
Description
Use as absolute encoder.
Use as incremental encoder.
Use as absolute encoder but ignore multi-rotation counter overflow.
9-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-1 Basic Settings
3016 hex
Setting range
Size
Regeneration Resistor Selection
0 to 3 Unit
−
Default setting
RW
3
*1
All
Data attribute
Not possible.
C
2 bytes (INT16) Access PDO map
*1. The default setting is 0 for a Drive with 100 V and 400 W, with 200 V and 750 W or greater, or with 400 V.
The setting is different whether the Regeneration Resistor built in the Drive is directly used, or it is removed and replaced by an external regeneration resistor. In the latter case, the resistor is connected to the external regeneration resistor connection terminal.
Explanation of Set Values
Set value
0
1
2
3
Description
Regeneration Resistor used: Built-in Resistor
The regeneration processing circuit operates and the Regeneration Overload Error (Error No.
18) are enabled according to the Built-in Resistor (with approx. 1% duty).
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, and Regeneration Overload Error (Error No.
18) cause a trip when the operating rate of the Regeneration Resistor exceeds 10%.
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, but Regeneration Overload Error (Error No.
18) do not occur.
Regeneration Resistor used: None
The regeneration processing circuit and Regeneration Overload Error (Error No. 18) do not operate, and all regenerative energy is processed by the built-in capacitor.
Precautions for Correct Use
Do not touch the External Regeneration Resistor. A burn injury may result.
Always provide a temperature fuse or other protective measure when using an external regeneration resistor. Regardless of whether the regeneration overload error is enabled or disabled, the Regeneration Resistor can generate heat and may cause burning.
To use the Built-in Regeneration Resistor, always set this object to 0.
9
3017 hex
Setting range
Size
External Regeneration Resistor Setting
0 to 4 Unit
−
Default setting
RW
0
All
Data attribute
Not possible.
C
2 bytes (INT16) Access PDO map
Select the method to calculate the regeneration resistance load ratio, when the External Resistor is selected in the Regeneration Resistor Selection (3016 hex = 1 or 2).
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-4
9
9-1 Basic Settings
Explanation of Set Values
Set value
0
3
4
1
2
Description
Regeneration load ratio is 100% when operating rate of the External Regeneration
Resistor is 10%.
Reserved
Reserved
Reserved
Reserved
9-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
9-2 Gain Settings
Refer to 11-2 Gain Adjustment on page 11-4 for the settings for gain adjustment.
3100 hex
Setting range
Size
Position Loop Gain 1
0 to 30000
2 bytes (INT16)
Unit 0.1/s
Access
Default setting
RW
480
*1
PDO map csp
Data attribute
Not possible.
B
*1. The default setting is 320 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Set the position loop response in accordance with the machine rigidity.
The responsiveness of the servo system is determined by the position loop gain.
Servo systems with a high position loop gain have a high responsiveness and fast positioning.
To increase the position loop gain, you must improve machine rigidity and increase the specific damping frequency. This should be 500 to 700 (0.1/s) for ordinary machine tools, 300 to 500 (0.1/ s) for general-use and assembly machines, and 100 to 300 (0.1/s) for industrial robots. The default position loop gain is 480 (0.1/s), so be sure to lower the set value for machines with low machine rigidity.
Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance, resulting in an overload error.
If the position loop gain is low, you can shorten the positioning time using feed-forward.
This object is automatically changed by executing realtime autotuning. To set it manually, set the
Realtime Autotuning Mode Selection (3002 hex) to 0.
Position loop gain is generally expressed as follows:
Position loop gain (Kp) =
Command pulse frequency (pulses/s)
Pulse position error (pulses)
(0.1/s)
Response for Position Loop Gain Changes
Position loop gain is high.
Motor speed
9
Position loop gain is low.
Time
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-6
9
9-2 Gain Settings
If the speed loop gain and position loop gain are optimally set, the motor operation for the command delays 2/Kp at acceleration and delays 3/Kp at deceleration.
Motor speed
Position command
2
Kp
Motor operation
Time
3
Kp
3101 hex
Speed Loop Gain 1
All
Setting range
Size
1 to 32767
2 bytes (INT16)
Unit 0.1 Hz
Access
Default setting
RW
270
*1
PDO map
Data attribute
Not possible.
B
*1. The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
This object determines speed loop responsiveness.
The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
The setting unit for 3101 hex is Hz if the Inertia Ratio (3004 hex) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Motor speed
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
Time
9-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
3102 hex
Speed Loop Integral Time Constant 1
Setting range
Size
1 to 10000
2 bytes (INT16)
Unit 0.1 ms
Access
Default setting
RW
*1. The default setting is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V.
210
*1
PDO map
Set the speed loop integral time constant.
The smaller the set value, the faster the error approaches 0 when stopping.
All
Data attribute
Not possible.
B
When the speed loop integral time constant is changed, the response is as shown in the following diagram.
Overshooting occurs if the speed loop integral
Motor speed time constant is small.
Speed loop integral time constant is large.
Time
3103 hex
Setting range
Size
Speed Feedback Filter Time Constant 1
All
0 to 5 Unit
−
Default setting
RW
0
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
Increasing the set value increases the time constant and decreases the noise generated by the motor. Responsiveness, however, also decreases.
Normally, use the default set value.
3104 hex
Torque Command Filter Time Constant 1
Setting range
Size
0 to 2500
2 bytes (INT16)
Unit 0.01 ms
Access
Default setting
RW
*1. The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
84
*1
PDO map
Set the time constant for the first-order lag filter inserted into the torque command.
This object may be effective in suppressing vibration due to torsion resonance.
All
Data attribute
Not possible.
B
3105 hex
Position Loop Gain 2
Setting range
Size
0 to 30000
2 bytes (INT16)
Unit 0.1/s
Access
Default setting
RW
*1. The default setting is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
570
*1
PDO map
Set the responsiveness of the position control system for the second position loop.
csp
Data attribute
Not possible.
B
9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-8
9-2 Gain Settings
9
3106 hex
Speed Loop Gain 2
Setting range
Size
1 to 32767
2 bytes (INT16)
Unit 0.1 Hz
Access
Default setting
RW
*1. The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
270
*1
PDO map
Set the responsiveness of the second speed loop.
3107 hex
Setting range
Size
Speed Loop Integral Time Constant 2
1 to 10000 Unit 0.1 ms
2 bytes (INT16) Access
Set the second speed loop integral time constant.
3108 hex
Setting range
Size
Speed Feedback Filter Time Constant 2
0 to 5 Unit
−
2 bytes (INT16)
Set the second speed feedback filter.
Access
Default setting
RW
Default setting
RW
10000
PDO map
0
PDO map
All
Data attribute
Not possible.
B
All
Data attribute
Not possible.
B
All
Data attribute
Not possible.
B
3109 hex
Torque Command Filter Time Constant 2
All
Setting range
Size
0 to 2500
2 bytes (INT16)
Unit 0.01 ms
Access
Default setting
RW
84
*1
PDO map
*1. The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Data attribute
Not possible.
B
Set the second torque filter time constant.
The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain
Switching Input Operating Mode Selection (3114 hex) is enabled.
The gain is switched according to the condition set in the Switching Mode (3115 hex, 3120 hex, and 3124 hex).
If the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the motor is rotating or being stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions, and switching them according to the condition.
This object is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (3002 hex) to 0.
3110 hex
Setting range
Size
Speed Feed-forward Gain
0 to 1000 Unit 0.1%
Default setting
RW
300 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the feed-forward gain.
Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
Refer to 11-11 Feed-forward Function on page 11-29.
9-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
3111 hex
Speed Feed-forward Command Filter
Setting range
Size
0 to 6400
2 bytes (INT16)
Unit 0.01 ms
Default setting
RW
50 csp
Data attribute
Not possible.
B
Access PDO map
Set the time constant for the first-order lag filter inserted into the feed-forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed-forward is set high.
Refer to 11-11 Feed-forward Function on page 11-29.
3112 hex
Torque Feed-forward Gain
Setting range
Size
0 to 1000
2 bytes (INT16)
Unit 0.1%
Default setting
RW
0 csp
Data attribute
Not possible.
B
Access PDO map
Set the feed-forward gain in torque control. Increasing the set value decreases the position error and increases the responsiveness. Overshooting, however, will occur more easily.
Refer to 11-11 Feed-forward Function on page 11-29.
3113 hex
Torque Feed-forward Command Filter
Setting range
Size
0 to 6400
2 bytes (INT16)
Unit 0.01 ms
Default setting
RW
0 csp
Data attribute
Not possible.
B
Access PDO map
Set the time constant for the first-order lag filter inserted into the feed-forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed-forward is set high.
Refer to 11-11 Feed-forward Function on page 11-29.
3114 hex
Setting range
Size
Gain Switching Input Operating Mode Selection
All
0 to 1 Unit
−
Default setting
RW
1
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Select either PI/P operation switching or gain 1/gain 2 switching.
The PI/P operation switching is performed with the Speed Loop PI/P Control command in
EtherCAT communications.
Refer to 7-9 Gain Switching 3 Function on page 7-30 for the Gain 1/Gain 2 switching.
9
Explanation of Set Values
Set value
0
1
Gain 1 (PI/P switching enabled)
Gain 1/gain 2 switching available
Description
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-10
9-2 Gain Settings
9
3115 hex
Setting range
Size
Switching Mode in Position Control csp
0 to 10 Unit
−
Default setting
0
Data attribute
B
2 bytes (INT16) Access RW
PDO map
Not possible.
Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
Explanation of Settings
Description
3115 hex set value
Gain switching conditions
Gain
Switching
Delay Time in
Position
Control
(3116 hex)
*1
Disabled
Disabled
Gain
Switching
Level in
Position
Control
(3117 hex)
Disabled
Disabled
Gain
Switching
Hysteresis in
Position
Control
(3118 hex)
*2
Disabled
Disabled
0
1
2
3
4
5
6
Always Gain 1 (3100 to 3104 hex).
Always Gain 2 (3105 to 3109 hex).
Gain switching command input via
EtherCAT communications
*3
Command torque value (Refer to Figure
A.)
Always Gain 1 (3100 to 3104 hex).
Command speed (Refer to Figure B)
Pulse position error (Refer to Figure C.)
Disabled
Enabled
Disabled
Enabled
Enabled
Disabled Disabled
Enabled
*4
(%)
Disabled
Enabled
(%)
Disabled
*4
Enabled (r/min) Enabled (r/min)
Enabled
*5
(pulse)
Enabled
(pulse)
*5
7
9
10
Whether there is a position command
(Refer to Figure D.)
Actual motor speed (Refer to Figure B).
Combination of whether there is a position command and actual motor speed (Refer to Figure E.)
Enabled
Enabled
Enabled
Disabled
Enabled (r/min) Enabled (r/min)
Enabled
(r/min)
*6
Disabled
Enabled
(r/min)
*6
*1. The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched from 2 to 1.
*2. The Gain Switching Hysteresis in Position Control (3118 hex) is defined in the drawing below.
9-11
3117 hex
3118 hex
0
Gain 1 Gain 2 Gain 1
3116 hex
If object 3117 hex is less than object 3118 hex, object 3117 hex will automatically be set to the same value as object 3118 hex.
*3. When the Gain Switching command of EtherCAT communications is 0, the gain switches to gain 1.
When the command is 1, the gain switches to gain 2.
*4. Set the percentage of the rated torque.
Example: To set 10% of the rated torque, set the set value would be 10.
*5. The position error is set according to the encoder resolution (i.e., pulses) for position control and according to the external encoder resolution (i.e., pulses) for fully-closed control.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
*6. When the set value is 10, meanings of the Gain Switching Delay Time in Position Control, the Gain
Switching Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the normal case. (Refer to Figure E).
Speed V
Figure A
Figure C
Speed V
Command torque
Level
1
Time
2
H
L
L
H
Time
Gain 1
2
1
Speed V
Level
Figure B
H
L
Pulse position error
Level
Gain 1
Position command values
Time
Gain 2
Gain 1
Gain 2
Time
Gain 1
Gain 1 Gain 2
Time
H
L
1
Figure D
1
Position command values
Figure E
Gain 1
Motor speed
Gain 2
Time
H
L
Level
Gain 1
9
3116 hex
Gain Switching Delay Time in Position Control
Setting range
Size
0 to 10000 Unit 0.1 ms
Default setting
RW
50 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Position Control
(3115 hex) is set to 3 or 5 to 10.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-12
9-2 Gain Settings
9
3117 hex
Setting range
Size
Gain Switching Level in Position Control
0 to 20000 Unit
−
Default setting
RW
50 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
This object is enabled when the Switching Mode in Position Control (3115 hex) is 3, 5, 6, 9 or 10.
It sets the judgment level for switching between gain 1 and gain 2.
The unit depends on the Switching Mode in Position Control (3115 hex).
3118 hex
Gain Switching Hysteresis in Position Control
Setting range
Size
0 to 20000 Unit
−
Default setting
RW
33 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (3117 hex).
The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
The following shows the definitions for the Gain Switching Delay Time in Position Control (3116 hex), Gain Switching Level in Position Control (3117 hex), and Gain Switching Hysteresis in
Position Control (3118 hex).
3117h
3118h
0
Gain 1 Gain 2 Gain 1
3116h
The settings for the Gain Switching Level in Position Control (3117 hex) and the Gain Switching
Hysteresis in Position Control (3118 hex) are enabled as absolute values (positive/negative).
3119 hex
Setting range
Size
Position Gain Switching Time
0 to 10000 Unit 0.1 ms
Default setting
RW
33 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex).
By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when there is a large change in the position loop gain.
If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain 2
(3105 hex), set the Position Gain Switching Time (3119 hex).
When the position loop gain 1 increases, the gain changes in the set time.
9-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
Position Loop Gain 1 < Position Loop Gain 2
Position
Loop Gain 2
Position
Loop Gain 1
Position
Loop Gain 1
Position Gain
Switching Time (3119 hex)
Position
Loop Gain 2
Position
Loop Gain 1
Precautions for Correct Use
When the position loop gain is switched to a smaller value (e.g., when switching from gain 2 to gain 1 in the above figure), Position Gain Switching Time (3119 hex) is ignored and the gain is switched immediately.
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9-14
9
9-3 Vibration Suppression Settings
9-3 Vibration Suppression Settings
3200 hex
Setting range
Size
Adaptive Filter Selection
0 to 4 Unit
−
2 bytes (INT16) Access
Set the operation of the adaptive filter.
Refer to 11-6 Adaptive Filter on page 11-18.
Explanation of Set Values
Default setting
RW
0
PDO map csp
Data attribute
Not possible.
B
Set value
0
1
2
3
4
Description
Adaptive filter disabled
One adaptive filter is enabled. The objects related to notch filter 3 are automatically updated.
Two adaptive filters are enabled. The objects related to notch filters 3 and 4 are updated.
For use by manufacturer. Do not use this setting.
Adaptive result is cleared. Objects related to notch filters 3 and 4 are disabled and the adaptive result is cleared.
3201 hex
Setting range
Size
Notch 1 Frequency Setting
50 to 5000 Unit Hz
Default setting
RW 2 bytes (INT16) Access
Set the frequency of resonance suppression notch filter 1.
The notch filter function is disabled if this object is set to 5000.
Refer to 11-7 Notch Filters on page 11-21.
5000
PDO map
All
Data attribute
Not possible.
B
3202 hex
Setting range
Size
Notch 1 Width Setting
0 to 20 Unit −
Default setting
RW
2
2 bytes (INT16) Access PDO map
Set the width of resonance suppression notch filter 1 to one of 20 levels.
Increasing the setting value widens the notch width. Normally, use the default set value.
Refer to 11-7 Notch Filters on page 11-21.
All
Data attribute
Not possible.
B
3203 hex
Setting range
Size
Notch 1 Depth Setting
0 to 99 Unit
−
Default setting
RW
0
2 bytes (INT16) Access PDO map
Set the notch depth of resonance suppression notch filter 1.
Increasing the setting value shortens the notch depth and the phase lag.
Refer to 11-7 Notch Filters on page 11-21.
All
Data attribute
Not possible.
B
9-15
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-3 Vibration Suppression Settings
3204 hex
Setting range
Size
Notch 2 Frequency Setting
50 to 5000 Unit Hz
Default setting
RW 2 bytes (INT16) Access
Set the notch frequency of resonance suppression notch filter 2.
The notch filter function is disabled if this object is set to 5000.
Refer to 11-7 Notch Filters on page 11-21.
5000
PDO map
All
Data attribute
Not possible.
B
3205 hex
Setting range
Size
Notch 2 Width Setting
0 to 20 Unit −
Default setting
RW
2
2 bytes (INT16) Access PDO map
Select the notch width of resonance suppression notch filter 2.
Increasing the setting value widens the notch width. Normally, use the default set value.
Refer to 11-7 Notch Filters on page 11-21.
All
Data attribute
Not possible.
B
3206 hex
Setting range
Size
Notch 2 Depth Setting
0 to 99 Unit
−
Default setting
RW
0
2 bytes (INT16) Access PDO map
Set the notch depth of resonance suppression notch filter 2.
Increasing the setting value shortens the notch depth and the phase lag.
Refer to 11-7 Notch Filters on page 11-21.
All
Data attribute
Not possible.
B
3207 hex
Setting range
Size
Notch 3 Frequency Setting
50 to 5000 Unit Hz
Default setting
RW
5000
All
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the notch frequency of resonance suppression notch filter 3.
The notch filter function is disabled if this object is set to 5000.
While the adaptive filter is enabled, the resonance frequency 1 that is assumed by the adaptive filter is automatically set. If no resonance point is found, the value 5000 is set.
Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21.
3208 hex
Setting range
Size
Notch 3 Width Setting
All
0 to 20 Unit
−
Default setting
RW
2
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Select the notch width of resonance suppression notch filter 3.
Increasing the setting value widens the notch width. Normally, use the default set value.
While the adaptive filter is enabled, this object is set automatically.
Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21.
3209 hex
Setting range
Size
Notch 3 Depth Setting
0 to 99
2 bytes (INT16)
Unit −
Access
Default setting
RW
0
PDO map
All
Data attribute
Not possible.
B
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9-16
9
9-3 Vibration Suppression Settings
3210 hex
Setting range
Size
Set the notch depth of resonance suppression notch filter 3.
Increasing the setting value shortens the notch depth and the phase lag.
While the adaptive filter is enabled, this object is set automatically.
Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21.
Notch 4 Frequency Setting
All
50 to 5000 Unit Hz
Default setting
RW
5000
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the notch frequency of resonance suppression notch filter 4.
The notch filter function is disabled if this object is set to 5000.
While two adaptive filters are enabled, the resonance frequency 2 that is assumed by the adaptive filter is automatically set. If no resonance point is found, the value 5000 is set.
Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21.
3211 hex
Setting range
Size
Notch 4 Width Setting
0 to 20 Unit −
Default setting
RW
2
2 bytes (INT16) Access PDO map
Select the notch width of resonance suppression notch filter 4.
Increasing the setting value widens the notch width. Normally, use the default set value.
This object is automatically set when two adaptive filters are enabled.
Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21.
All
Data attribute
Not possible.
B
3212 hex
Setting range
Size
3213 hex
Setting range
Size
Notch 4 Depth Setting
All
0 to 99 Unit
−
Default setting
RW
0
2 bytes (INT16) Access PDO map
Set the notch depth of resonance suppression notch filter 4.
Increasing the setting value shortens the notch depth and the phase lag.
While the adaptive filter is enabled, this object is set automatically.
Refer to 11-6 Adaptive Filter on page 11-18 and 11-7 Notch Filters on page 11-21.
Data attribute
Not possible.
B
Damping Filter Selection
0 to 3
2 bytes (INT16)
Unit
−
Access
Default setting
RW
Set the method to switch among four damping control filters.
0
PDO map csp
Data attribute
Not possible.
B
Explanation of Set Values
9-17
Set value
0
1
2
3
Explanation
Up two damping filters, damping filters 1 and 2, can be used at the same time.
Reserved for manufacturer use
*1
Reserved for manufacturer use
*1
The damping filters are switched with position command direction.
• Forward direction: Damping filters 1 / 3 enabled
• Reverse direction: Damping filters 2 / 4 enabled
*1 The set value 1 and 2 are for manufacturer's use only. Users are not allowed to set 1 and 2 for this object.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-3 Vibration Suppression Settings
3214 hex
Damping Frequency 1
Setting range
Size
0 to 2000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set damping frequency 1 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
The range of setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9
Hz.
Refer to 11-5 Damping Control on page 11-15.
3215 hex
Damping Filter 1 Setting
Setting range
Size
0 to 1000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
First set Damping Frequency 1 (3214 hex). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to Damping Frequency 1
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
3216 hex
Damping Frequency 2
Setting range
Size
0 to 2000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set damping frequency 2 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
3217 hex
Damping Filter 2 Setting
Setting range
Size
0 to 1000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
First set Damping Frequency 2 (3216 hex). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to Damping Frequency 2
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
3218 hex
Damping Frequency 3
Setting range
Size
0 to 2000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set damping frequency 3 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
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9-18
9
9-3 Vibration Suppression Settings
3219 hex
Damping Filter 3 Setting
Setting range
Size
0 to 1000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
First set Damping Frequency 3 (3218 hex). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to Damping Frequency 3
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
3220 hex
Damping Frequency 4
Setting range
Size
0 to 2000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set damping frequency 4 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
3221 hex
Damping Filter 4 Setting
Setting range
Size
0 to 1000 Unit 0.1 Hz
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
First set Damping Frequency 4 (3220 hex). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to Damping Frequency 4
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to 11-5 Damping Control on page 11-15 for more information on settings.
9-19
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-3 Vibration Suppression Settings
3222 hex
Position Command Filter Time Constant
Setting range
Size
0 to 10000 Unit 0.1 ms
Default setting
RW
0 csp
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
The Position Command Filter Time Constant is the first-order lag filter that is inserted after the electronic gear ratio for the command input.
This constant is used to reduce the stepping movement of the motor and achieve a smooth operation when the electronic gear ratio is set in 10 times or greater.
It sets the first-order lag filter time constant, as shown below, for the square-wave command of target speed Vc.
Input position command
Position command after the smoothing filter process
Speed
Target speed Vc
Vc × 0.632
*1
Vc × 0.368
*1 t f t f
Time t f
= (3222 hex
*3
× 0.1 ms)
Filter switching dwell time
*2
*1 The error in the position command filter time constant is 0.4 max. (absolute error) for less than 100 ms and 0.2% max. (relative error) for 20 ms or greater for the set value times 0.1 ms.
*2 The Position Command Filter Time Constant (3222 hex) is switched when the position command value per 0.250 ms changes from 0 to a value other than 0 while the positioning completed output is ON.
*3 There is a delay from when the Position Command Filter Time Constant (3222 hex) is changed until the new value is applied in internal calculations. If the filter switch wait time expires during this delay, the change may be placed on hold.
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9-20
9
9-4 Analog Control Objects
9-4 Analog Control Objects
3323 hex
External Feedback Pulse Type Selection
Setting range
Size
0 to 2
2 bytes (INT16)
Unit −
Access
Default setting
RW
0
PDO map csp full
Data attribute
Not possible.
R
Select the external encoder type. Be sure that the setting conforms to the external encoder which is actually used.
Refer to 6-6 Fully-closed Control on page 6-12.
Explanation of Set Values
Set value
0
1
2
Description
90° phase difference output type
*2*3
Serial communications type
(Incremental encoder specifications)
Serial communications type
(Absolute encoder specifications)
Maximum input frequency
0 to 4 Mpps (Multiplication × 4)
0 to 400 Mpps
0 to 400 Mpps
*1
*1. The maximum input frequency is the feedback speed [pps] of the external encoder that can be processed by the Drive. Check the instruction manual of the external encoder for the maximum output frequency of the external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction t1
Count-up direction t1
EXA
EXA
EXB
EXB t2 t2
EXB is 90° ahead of EXA. t1 > 0.25 µs t2 > 1.0 µs
EXB is 90° behind EXA. t1 > 0.25 µs t2 > 1.0 µs
*3 For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating in the CCW direction, and count-down occurs when the motor shaft is rotating in the CW direction. If the connection direction cannot be selected due to installation conditions, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
Precautions for Correct Use
If 3000 hex = 1, the encoder count direction will be opposite to the count direction used for monitoring the total external encoder feedback pulses.
If 3000 hex = 0, the count direction matches the count direction for monitoring.
Even when the speed command is within the Drive’s speed command range, an acceleration error will occur if the speed command exceeds the maximum speed of motor shaft rotation.
9-21
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-4 Analog Control Objects
3324 hex
Setting range
Size
External Feedback Pulse Dividing Numerator
0 to 1048576
4 bytes (INT32)
Unit
−
Access
Default setting
RW
0
PDO map csp full
Data attribute
Not possible.
R
3325 hex
Setting range
Size
External Feedback Pulse Dividing Denominator csp full
1 to 1048576 Unit
−
Default setting
RW
10000
Data attribute
Not possible.
R
4 bytes (INT32) Access PDO map
Check the number of encoder pulses per motor rotation and number of external encoder pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (3324 hex) and External
Feedback Pulse Dividing Denominator (3325 hex).
3324 hex
3325 hex
Encoder resolution per motor rotation [pulses]
=
External encoder resolution per motor rotation [pulses]
Set object 3324 hex to 0 to have the encoder resolution automatically set as the numerator.
Refer to 6-6 Fully-closed Control on page 6-12.
Precautions for Correct Use
If this divider setting is wrong, there will be error between the position calculated from encoder pulses and the position calculated from external encoder pulses. If the movement distance is long, this error accumulates and causes a Excessive Hybrid Deviation Error (Error No. 25.0).
The recommended divider setting is 1/40 ≤ External Feedback Pulse Ratio ≤ 160. If the ratio is set too small, control to the unit of 1 external feedback pulse may be disabled. On the other hand, if the external feedback pulse ratio is increased, operating noise may increase.
Reference
In the example below, ball screw pitch is 10 mm, encoder is 0.1 µm/pulse, and encoder resolution is 20 bits (or 1,048,576 pulses)
3324 hex
3325 hex
Encoder resolution per motor rotation [pulses]
=
External encoder resolution per motor rotation [pulses]
=
1,048,576
100,000
9
3326 hex
External Feedback Pulse Direction Switching
Setting range
Size
0 to 1 Unit
−
Default setting
RW 2 bytes (INT16) Access
The direction of external encoder feedback count can be reversed.
Refer to 6-6 Fully-closed Control on page 6-12.
0
PDO map
Explanation of Set Values
Set value
0
1
Description
External encoder feedback pulse count direction not reversed
External encoder feedback pulse count direction reversed csp full
Data attribute
Not possible.
R
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-22
9-4 Analog Control Objects
9
3327 hex
Setting range
Size
External Feedback Pulse Phase-Z Setting csp full
0 to 1 Unit
−
Default setting
RW
0
Data attribute
Not possible.
R
2 bytes (INT16) Access PDO map
Set to enable or disable phase-Z disconnection detection when an external encoder with a 90° phase difference output is used.
Explanation of Set Values
Set value
0
1
Explanation
Phase-Z disconnection detection enabled
Phase-Z disconnection detection disabled
3328 hex
Hybrid Following Error Counter Overflow Level
Setting range
Size
1 to 134217728 Unit Command unit
Default setting
RW
16000 csp full
Data attribute
Not possible.
C
4 bytes (INT32) Access PDO map
Set the allowable difference (feedback pulse error) between the motor (encoder) position and load
(external encoder) position in command units.
Refer to 6-6 Fully-closed Control on page 6-12.
3329 hex
Setting range
Size
Hybrid Following Error Counter Reset csp full
0 to 100 Unit Rotation
Default setting
RW
0
Data attribute
Not possible.
C
2 bytes (INT16) Access PDO map
The feedback pulse error is reset every time the motor rotates for the amount set by the Hybrid
Following Error Counter Reset (3329 hex). This can be used for applications where feedback pulse error accumulates due to slippage.
Refer to 6-6 Fully-closed Control on page 6-12.
Feedback pulse error value
[command units] (absolute value)
Occurrence of excessive feedback pulse deviation error
Excessive feedback pulse error setting
9-23
Feedback pulse error reset setting
Motor rotation speed [rotations]
Ensure that an appropriate value is set to the Hybrid Following Error Counter Reset (3329 hex), before you use the feedback pulse error counter reset. When the set value is extremely small, the protective function may not work to prevent any erroneous operation due to improper connection of the external encoder.
Precautions for Correct Use
Provide sufficient safety measures. This includes mounting limit sensors.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-5 Interface Monitor Settings
9-5 Interface Monitor Settings
3400 hex
Setting range
Size
Input Signal Selection 1
0 to 00FF FFFF hex
4 bytes (INT32)
Unit
−
Access
Default setting
RW
0094 9494 hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 1 (IN1).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3401 hex
Setting range
Size
Input Signal Selection 2
0 to 00FF FFFF hex
4 bytes (INT32)
Unit −
Access
Default setting
RW
0081 8181 hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 2 (IN2).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3402 hex
Setting range
Size
Input Signal Selection 3
0 to 00FF FFFF hex
4 bytes (INT32)
Unit
−
Access
Default setting
RW
0082 8282 hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 3 (IN3).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3403 hex
Setting range
Size
Input Signal Selection 4
0 to 00FF FFFF hex
4 bytes (INT32)
Unit −
Access
Default setting
RW
0022 2222 hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 4 (IN4).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3404 hex
Setting range
Size
Input Signal Selection 5
0 to 00FF FFFF hex
4 bytes (INT32)
Unit
−
Access
Default setting
RW
002B 2B2B hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 5 (IN5).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3405 hex
Setting range
Size
Input Signal Selection 6
0 to 00FF FFFF hex
4 bytes (INT32)
Unit −
Access
Default setting
RW
0021 2121 hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 6 (IN6).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
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9-24
9
9-5 Interface Monitor Settings
3406 hex
Setting range
Size
Input Signal Selection 7
0 to 00FF FFFF hex
4 bytes (INT32)
Unit
−
Access
Default setting
RW
0020 2020 hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 7 (IN7).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3407 hex
Setting range
Size
Input Signal Selection 8
0 to 00FF FFFF hex
4 bytes (INT32)
Unit
−
Access
Default setting
RW
002E 2E2E hex
PDO map
All
Data attribute
Not possible.
C
Set the function and logic for general-purpose input 8 (IN8).
Refer to the Details of Control Inputs in Control Input Details on page 3-17, as well as 7-1
3410 hex
Setting range
Size
Output Signal Selection 1
0 to 00FF FFFF hex
4 bytes (INT32)
Unit −
Access
Default setting
RW
0003 0303 hex
PDO map
All
Data attribute
Not possible.
C
Set the function assignment for general-purpose output 1 (OUTM1).
Refer to the Details of Control Inputs in Control Output Details on page 3-20, as well as 7-1
3411 hex
Setting range
Size
Output Signal Selection 2
0 to 00FF FFFF hex
4 bytes (INT32)
Unit
−
Access
Default setting
RW
0002 0202 hex
PDO map
All
Data attribute
Not possible.
C
Set the function assignment for general-purpose output 2 (OUTM2).
Refer to the Details of Control Inputs in Control Output Details on page 3-20, as well as 7-1
9-25
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-5 Interface Monitor Settings
3416 hex
Setting range
Size
Analog Monitor 1 Selection
All
0 to 21 Unit
−
Default setting
RW
0
Data attribute
Not possible.
A
2 bytes (INT16) Access PDO map
Analog signals of various monitor values can be output from the analog monitor connector on the front panel.
The monitor type to output and the scaling (or output gain) can be selected. These can be set for each object.
Refer to 11-1 Analog Monitor on page 11-1.
Explanation of Set Values
Set value
Monitor type
5
6
3
4
7
0
1
2
Feedback Motor Speed
Internal Command Motor Speed
Filtered Internal Command Motor
Speed
Motor Control Effort
Torque demand
Position Error
Pulse Position Error
Fully-closed error
12
13
14
15
10
11
8
9
Hybrid error
P-N voltage
Regeneration load ratio
Motor load ratio
Forward External Torque Limit
Reverse External Torque Limit
Speed limit value
Inertia ratio
16 to 18 Reserved
19 Encoder temperature
20
21
Servo Drive temperature
Encoder 1-rotation data
Explanation
r/min r/min r/min
Unit
r/min
% (rated torque ratio) pulses (command units) pulses (encoder units) pulses (external encoder units)
%
% pulses (command units)
V
% (rated torque ratio)
% (rated torque ratio) r/min
%
−
°C
°C pulses (encoder units)
Output gain when object 3417 hex = 0
500
500
500
500
33
3000
3000
3000
33
33
500
500
3000
80
33
33
−
10
10
110000
9
3417 hex
Setting range
Size
Analog Monitor 1 Scale Setting
0 to 214,748,364 Unit
3416h monitor unit/
V
Access 4 bytes (INT32)
Set the output gain for analog monitor 1.
Refer to 11-1 Analog Monitor on page 11-1.
Default setting
RW
0
PDO map
All
Data attribute
Not possible.
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-26
9
9-5 Interface Monitor Settings
3418 hex
Setting range
Size
Analog Monitor 2 Selection
All
0 to 21 Unit
−
Default setting
RW
4
Data attribute
Not possible.
A
2 bytes (INT16) Access PDO map
In the same way as for Analog Monitor 1, analog signals of various monitors can be output from the analog monitor connector on the front panel.
Refer to the Analog Monitor 1 Selection (3416 hex) for the method to set this object.
3419 hex
Setting range
Size
Analog Monitor 2 Scale Setting
0 to 214748364 Unit
Monitor unit of 3418 hex/V
Access
Default setting
RW
0
4 bytes (INT32) PDO map
Set the output gain for analog monitor 2.
Refer to the Analog Monitor 1 Scale Setting (3417 hex) for the method to set this object.
All
Data attribute
Not possible.
A
3421 hex
Setting range
Size
Analog Monitor Output Selection
0 to 2
2 bytes (INT16)
Unit
−
Access
Default setting
RW
0
PDO map
All
Data attribute
Not possible.
A
Select the analog monitor output voltage direction.
These are the output voltage range and the output direction when the Analog Monitor 1 Selection or Analog Monitor 2 Selection is set to the Feedback Motor Speed, and the Analog Monitor 1 Scale
Setting or the Analog Monitor 2 Scale Setting is set to 0 (i.e., 1V = 500 r/min).
Set value
Output range Data output
0
−10 to 10 V
Output voltage [V]
10 V
0 V
-5,000
Feedback
Motor
Speed
5,000 [r/min]
1 0 to 10 V
-10 V
Output voltage [V]
10 V
-5,000 0 V
Feedback
Motor
Speed
5,000 [r/min]
-10 V
9-27
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-5 Interface Monitor Settings
Set value
2
Output range
0 to 10 V
(5 V as a center)
Data output
Output voltage [V]
10 V
5 V
0 V
Feedback
Motor
Speed
0
-2,500
2,500 [r/min]
-10 V
3434 hex
Setting range
Size
Zero Speed Detection
All
10 to 20000 Unit r/min
Default setting
RW
50
Data attribute
Not possible.
A
2 bytes (INT16) Access PDO map
Set the output timing of the Zero Speed Detection Output (ZSP) as rotation speed [r/min].
The Zero Speed Detection Output (ZSP) turns ON when the motor speed is lower than the set value of this object.
The set value of this object is valid in both forward and reverse directions, regardless of the actual motor rotation direction. The setting has a hysteresis of 10 r/min.
Refer to Control Output Details on page 3-20 for the Zero speed detection output (ZSP).
Forward operation
Speed
(3434 hex + 10) r/min
9
Reverse operation
ON
(3434 hex - 10) r/min
OUTM1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-28
9-5 Interface Monitor Settings
9
3437 hex
Setting range
Size
Brake Timing when Stopped
0 to 10000 Unit ms
Default setting
RW
0
All
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the time required for the Servomotor to be de-energized (servo free) after the brake interlock output (BKIR) turns OFF (i.e., brake held), when servo OFF status is entered while the Servomotor is stopped.
When the servo is turned OFF while the Servomotor is stopped, the brake interlock output (BKIR) turns ON, and the servo is de-energized after waiting for the set time (set value × ms).
Servo ON/OFF
1 to 6 ms
Brake interlock
(BKIR)
Released
Held
Actual brake
Released tb
Held
Motor power is supplied.
Power supply
No power supply
3437 hex
Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the delay time in the brake operation (tb).
Brake timing when stopped (set value × 1 ms) ≥ tb
For the operation time, refer to 7-5 Brake Interlock on page 7-13.
3438 hex
Setting range
Size
Brake Timing During Operation
All
0 to 10000 Unit ms
Default setting
RW
0
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the required time for the Brake Interlock Output (BKIR) to turn OFF after the operation command (RUN) is detected to be OFF, when servo OFF status is entered while the Servomotor is operating. When the servo is turned OFF while the Servomotor is operating, the motor decelerates to reduce rotation speed, and the brake interlock output (BKIR) turns ON after the set time (set value × 1 ms) has elapsed.
Servo ON/OFF
9-29
Brake interlock
(BKIR)
Motor power is supplied.
Released
T
B
Power supply
Held
No power supply
Motor speed
Max. 3438 hex or
3439 hex set value
The time T
B
in above drawing is either the brake timing during operation (i.e., the set value × 1 ms) or the time taken until it goes below the value set in the Brake Threshold Speed During Operation
(3439 hex), whichever is shorter.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-5 Interface Monitor Settings
For the operation time, refer to 7-5 Brake Interlock on page 7-13.
3439 hex
Setting range
Size
Brake Threshold Speed During Operation
All
30 to 3000 Unit r/min
Default setting
RW
30
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the required rotation speed for the Brake Interlock Output (BKIR) to turn OFF after the servo
OFF command is detected while the Servomotor is operating.
For the operation time, refer to 7-5 Brake Interlock on page 7-13.
When the 3438 hex set value comes earlier
Motor rotation speed
3439 hex set value
Brake Release
(ON)
3438 hex set value
Brake Engage (OFF)
When the 3439 hex set value comes earlier
Motor rotation speed
3439 hex set value
3438 hex set value
Brake Release
(ON)
3439 hex set value
Brake Engage (OFF)
3440 hex
Setting range
Size
Warning Output Selection 1
0 to 13 Unit
−
Default setting
RW 2 bytes (INT16) Access
Select the warning type to be output by Warning Output 1.
Refer to 12-2 Warnings on page 12-4.
0
PDO map
All
Data attribute
Not possible.
A
9
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9-30
9
9-5 Interface Monitor Settings
Explanation of Set Values
Set value
11
12
13
9
10
7
8
5
6
3
4
0
1
2
Description
Output by all types of warnings
Overload warning
Excessive regeneration warning
Battery warning
Fan warning
Encoder communications warning
Encoder overheating warning
Vibration warning
Service life warning
External encoder error warning
External encoder communications error warning
Data setting warning
Command warning
EtherCAT communications warning
3441 hex
Setting range
Size
Warning Output Selection 2
0 to 13 Unit −
Default setting
RW
0
2 bytes (INT16) Access PDO map
Select the warning type to be output by Warning Output 2.
Refer to the Warning Output Selection 1 (3440 hex) for the object setting method.
Refer to 12-2 Warnings on page 12-4.
All
Data attribute
Not possible.
A
3442 hex
Positioning Completion Range 2
Setting range
Size
0 to 262144 Unit Command unit
Default setting
RW
10 csp
Data attribute
Not possible.
A
4 bytes (INT32) Access PDO map
Set the positioning completion range to output Positioning Completion Output 2 (INP2).
The Positioning Completion Output 2 (INP2) is not affected by the position commands. It is ON as long as the position error is below the set value.
The setting unit is command units. It can be changed to encoder units by the Position Setting Unit
Selection (3520 hex). However, note that the unit for the Following error window (6065 hex) will change as well.
9-31
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-6 Extended Objects
9-6 Extended Objects
3504 hex
Setting range
Size
Drive Prohibition Input Selection
0 to 2 Unit −
Default setting
RW
1
All
Data attribute
Not possible.
C
2 bytes (INT16) Access PDO map
Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition
Input (NOT).
Refer to 7-2 Forward and Reverse Drive Prohibition Functions on page 7-6.
Explanation of Set Values
Set value
Explanation
0
1
2
An error will occur if both the forward and reverse drive prohibition inputs are open at the same time.
Forward drive prohibition input and reverse drive prohibition input disabled.
An error will occur if either the forward or the reverse drive prohibition input is open.
Install limit switches at both ends of the axis to prohibit the motor from traveling in the direction where one of the switches operates. This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine.
When the object is set to 0, the operation is as follows:
Forward Drive Prohibition Input (POT) closed: Forward limit switch not operating and status normal.
Forward Drive Prohibition Input (POT) open: Forward direction prohibited and reverse direction permitted.
Reverse Drive Prohibition Input (NOT) closed: Reverse limit switch not operating and status normal.
Reverse Drive Prohibition Input (NOT) open: Reverse direction prohibited and forward direction permitted.
If this object is set to 0, the Servomotor decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input (3505 hex). For details, refer to explanation for Stop
Selection for Drive Prohibition Input (3505 hex).
9
Reference
If this object is set to 0 and the forward and reverse prohibition inputs are both open, a Drive
Prohibition Input Error (Error No. 38) will occur because it is taken that Servo Drive is in error condition.
If this object is set to 2, a Drive Prohibition Input Error (Error No. 38) will occur when the connection between either the forward or reverse prohibition input and COM is open.
If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward torque decreases, and there may be repeated vertical movement of the workpiece. If this occurs, set the
Stop Selection for Drive Prohibition Input (3505 hex) to 2 or perform limit processing using the host controller.
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9-32
9
9-6 Extended Objects
3505 hex
Setting range
Size
Stop Selection for Drive Prohibition Input
0 to 2
2 bytes (INT16)
Unit
−
Access
Default setting
RW
0
PDO map
All
Data attribute
Not possible.
C
Set the drive conditions during deceleration and after stopping, when the Forward or Reverse
Drive Prohibition Input is enabled.
Refer to 7-2 Forward and Reverse Drive Prohibition Functions on page 7-6.
Explanation of Set Values
Decelerating
*2
After stopping
Set value of
3504 hex
0
*1
Set value of
3505 hex
0
1
2
Deceleration method
Dynamic brake
Free-run
Immediate stop
*3
Error counter
Cleared
Cleared
Cleared
Operation after stopping
Torque command in driveprohibited direction = 0
Torque command in driveprohibited direction = 0
The torque command and torque limits will be as specified.
*1. If the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No.
38.0) will occur as soon as either the Forward or Reverse Drive Prohibition Input turns ON. The subsequent operation conforms not to the set value, but to the setting of the Fault reaction option code
(605E hex). In the same way, the Fault reaction option code (605E hex) takes priority when any other error occurs.
*2. The term "During deceleration" means the distance until the motor decreases its speed to 30 r/min or less from the normal operation. Once it decelerates to 30 r/min or lower speed, the operation conforms to the description for "after stopping", regardless of the actual speed.
*3. "Immediate Stop" means that the Servomotor stops immediately by using controls while the servo is kept ON. The torque limit at this time is controlled by the Immediate Stop Torque (3511 hex) set value.
Precautions for Correct Use
At an immediate stop, an Error Counter Overflow Error (Error No. 24.0) or an Overrun Limit Error
(Error No. 34.0) may occur. This is because the immediate stop forces the motor to decelerate quickly, and the position control creates a large position error momentarily. If an error occurs, set the Following error window (6065 hex) and the Overrun Limit Setting (3514 hex) to appropriate values.
A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive prohibition direction while the Servomotor is stopped (or decreased the speed to 30 r/min or lower) and the
Drive Prohibition Input is ON.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-6 Extended Objects
3508 hex
Setting range
Size
Undervoltage Error Selection
0 to 1
2 bytes (INT16)
Unit
−
Access
Default setting
RW
1
PDO map
Select either to let the servo off or to stop the error when a main power error occurs.
All
Data attribute
Not possible.
B
Explanation of Set Values
Set value
0
1
Explanation
The servo is turned OFF based on the setting of the Shutdown option code (605B hex). The servo is then turned back ON when the main power supply is turned ON.
A Main Power Supply Undervoltage Error (Error No. 13.1) occurs and operation stops.
3509 hex
Setting range
Size
Momentary Hold Time
70 to 2000 Unit ms
Default setting
RW
70
2 bytes (INT16) Access PDO map
Set main power supply error detection time.
The main power supply OFF detection is disabled if this object is set to 2000.
All
Data attribute
Not possible.
C
3511 hex
Setting range
Size
Immediate Stop Torque
All
0 to 5000 Unit 0.1%
Default setting
RW
0
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the torque limit for immediate stops.
Set the torque limit for the following cases.
• Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input (3505 hex) set to 2.
• When decelerating and the Disable operation option code (605C hex) is 8 or 9
• When decelerating and the Shutdown option code (605B hex) is 8 or 9
The normal torque limit is applied if this object is set to 0.
This object is set in units of 0.1% of the rated torque.
3512 hex
Setting range
Size
Overload Detection Level Setting
0 to 500 Unit %
2 bytes (INT16) Access
Set the overload detection level.
When the object is set to 0, the setting is 115%.
If 115 or higher is set, a value of 115% will be used.
This object is set as a percentage of the rated torque.
Default setting
RW
0
PDO map
All
Data attribute
Not possible.
A
9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-34
9
9-6 Extended Objects
3513 hex
Setting range
Size
Overspeed Detection Level Setting
All
0 to 20000 Unit r/min
Default setting
RW
0
Data attribute
Not possible.
A
2 bytes (INT16) Access PDO map
Set the overspeed detection level.
The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this object is set to 0.
This object should normally be set to 0. The setting should be changed only when it is necessary to lower the overspeed detection level.
The set value of this object is limited to 1.2 times the maximum motor rotation speed.
The detection margin of error for the set value is ±3 r/min for a 5-core absolute encoder and
±36 r/min for a 5-core incremental encoder.
3514 hex
Setting range
Size
Overrun Limit Setting
0 to 1000 Unit 0.1 rotation
Default setting
RW
10
2 bytes (INT16) Access PDO map
Set the allowable operating range for the position command input range.
If the set value is exceeded, and Overrun Limit Error (Error No. 34.0) will occur.
Refer to 7-3 Overrun Protection on page 7-9.
csp
Data attribute
Not possible.
A
3515 hex
Setting range
Size
Control Input Signal Read Setting
0 to 3 Unit
−
Default setting
RW
0
2 bytes (INT16) Access PDO map
Select the signal read cycle for control input (digital input).
The External Latch Inputs 1, 2 and 3 (EXT1, 2, and 3) are excluded.
All
Data attribute
Not possible.
C
Explanation of Set Values
Set value
0
1
2
3
0.250 ms
0.500 ms
1.5 ms
2.5 ms
Description
9-35
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-6 Extended Objects
3520 hex
Setting range
Size
Position Setting Unit Selection
0 to 1 Unit
−
Default setting
RW
0 csp
Data attribute
Not possible.
C
2 bytes (INT16) Access PDO map
Select the setting unit of Position Completion Range 2 (3442 hex) and Following error window
(6065 hex).
Explanation of Set Values
Set value
0
1
Description
Command units
Encoder units (External encoder units)
Precautions for Correct Use
Detection of the Positioning Completed status in EtherCAT communications is always performed using command units, regardless of the setting on this object.
Normally, use the default setting of 0 (command units).
3521 hex
Torque Limit Selection
Setting range
Size
0 to 7 Unit −
Default setting
RW 2 bytes (INT16) Access
Select the method to set the forward and reverse torque limits.
Refer to 7-7 Torque Limit Switching on page 7-21.
6
PDO map csp
Data attribute
Not possible.
B
Explanation of Set Values
Torque FF: Torque feed-forward function
Position Control/Fully-closed Control
Set value Forward torque limit value
PCL ON
*1
PCL OFF
*2
Reverse torque limit value
NCL ON
*1
NCL OFF
60E1 hex
60E0 hex
60E0 hex
60E0 hex
60E1 hex
60E1 hex
60E0 hex
*2
Torque FF
0,1
2
3
4
5
6
7
3525 hex
60E0 hex
60E0 hex
60E0 hex
3525 hex
3526 hex
60E1 hex
60E1 hex
60E1 hex
3526 hex
Disabled
*1. When either the external input signal (PCL or NCL) or the EtherCAT communications torque control command (P-CL or N-CL) is ON.
*2. When both the external input signal (PCL or NCL) or the EtherCAT communications torque control command (P-CL or N-CL) are OFF.
When this object is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted by the Positive torque limit value (60E0 hex).
9
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9-36
9
9-6 Extended Objects
3525 hex
Forward External Torque Limit
Setting range
Size
0 to 5000 Unit 0.1%
Default setting
RW
5000
*1
2 bytes (INT16) Access PDO map
*1. It is limited by the maximum torque of the connected motor.
Set the forward external torque limit for the torque limit switching input.
This object is set in units of 0.1% of the rated torque.
3526 hex
Reverse External Torque Limit
Setting range
Size
0 to 5000 Unit 0.1%
Default setting
RW
5000
*1
2 bytes (INT16) Access PDO map
*1. It is limited by the maximum torque of the connected motor.
Set the reverse external torque limit for the torque limit switching input.
This object is set in units of 0.1% of the rated torque. csp
Data attribute
Not possible.
B csp
Data attribute
Not possible.
B
9-37
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-7 Special Objects
9-7 Special Objects
3605 hex
Gain 3 Effective Time
Setting range
Size
0 to 10,000 Unit 0.1 ms
2 bytes (INT16) Access
Set effective time of gain 3 of 3-step gain switching.
Refer to 7-9 Gain Switching 3 Function on page 7-30.
Default setting
RW
3606 hex
Setting range
Size
Gain 3 Ratio Setting
50 to 1,000 Unit %
2 bytes (INT16) Access
Set gain 3 as a multiple of gain 1.
Refer to 7-9 Gain Switching 3 Function on page 7-30.
Default setting
RW
0
PDO map
100
PDO map
3607 hex
Setting range
Size
Torque Command Value Offset
−100 to 100
2 bytes (INT16)
Unit %
Access
Default setting
RW
0
PDO map
Set the offset torque to add to torque commands.
Refer to 11-9 Friction Torque Compensation Function on page 11-26.
This object is set as a percentage of the rated torque.
3608 hex
Setting range
Size
Forward Direction Torque Offset
−100 to 100
2 bytes (INT16)
Unit %
Access
Default setting
RW
0
PDO map
Set the value to add to a torque command for forward operation.
Refer to 11-9 Friction Torque Compensation Function on page 11-26.
This object is set as a percentage of the rated torque.
3609 hex
Setting range
Size
Reverse Direction Torque Offset
−100 to 100
2 bytes (INT16)
Unit %
Access
Default setting
RW
0
PDO map
Set the value to add to a torque command for reverse operation.
Refer to 11-9 Friction Torque Compensation Function on page 11-26.
This object is set as a percentage of the rated torque.
3610 hex
Setting range
Size
Function Expansion Setting
0 to 127
2 bytes (INT16)
Unit
−
Access
Default setting
RW
Set the functions by bit.
Set the decimal value that has been converted from the bits.
64
PDO map csp
Data attribute
Not possible.
B csp
Data attribute
Not possible.
B
All
Data attribute
Not possible.
B
All
Data attribute
Not possible.
B
All
Data attribute
Not possible.
B csp semi
Data attribute
Not possible.
B
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-38
9
9
9-7 Special Objects
Bit
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6
In the default settings, only the command compensation for communications errors for CSP is enabled. The number 64 decimal is 1000 0000 when represented as bits.
Refer to 11-8 Disturbance Observer Function on page 11-24 and 11-12 Instantaneous Speed
Function
Instantaneous speed observer function
Disturbance observer function
Disturbance observer operation setting
Reserved for manufacturer use
Electric current response improvement function
Reserved for manufacturer use
Command compensation for communications errors for CSP
Set value
0 1
Disabled
Disabled
Enabled
Enabled
Enabled at all time
Only when gain 1 is selected
Fixed to 0.
Disabled Enabled
Fixed to 0.
Disabled Enabled
Reference
Example
Instantaneous speed observer function: enabled
Disturbance observer function: enabled
Disturbance observer operation setting: enabled at all time
Electric current response improvement function: enabled
Command compensation for communications errors for CSP: Disabled
If the settings are as described above, the bit will be 0010011, and the decimal value 19.
Therefore, the set value will be 19.
3611 hex
Setting range
Size
Electric Current Response Setting
50 to 100
2 bytes (INT16)
Unit %
Access
Default setting
RW
100
PDO map
Make fine adjustment to electric current response. The default setting is 100%.
All
Data attribute
Not possible.
B
3614 hex
Setting range
Size
Error Detection Allowable Time Setting
All
0 to 1,000 Unit ms
Default setting
RW
200
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the allowable time until stopping if an immediate stop is executed when an error is detected.
When the time exceeds the set value, the operation forcibly turns to an error state.
When the object is set to 0, the protection for the allowable time does not function.
Refer to the Immediate Stop Operation on page 12-12 in 12-3 Errors on page 12-7.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-7 Special Objects
3615 hex
Setting range
Size
Overspeed Detection Level Setting at
Immediate
Stop
All
0 to 20,000 Unit r/min
Default setting
RW
0
Data attribute
Not possible.
A
2 bytes (INT16) Access PDO map
If the motor speed exceeds the set value during an immediate stop resulting from an error, an
Overspeed 2 Error (Error No. 26.1) will occur.
The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this object is set to 0.
This object should normally be set to 0. The setting should be changed only when it is necessary to lower the overspeed detection level.
Refer to Immediate Stop Operation on page 12-12 in 12-3 Errors on page 12-7.
3618 hex
Setting range
Size
Power Supply ON Initialization Time
0 to 100 Unit 0.1 s
Default setting
RW
0
All
Data attribute
Not possible.
R
2 bytes (INT16) Access PDO map
Set the initialization time after turning ON the power supply to the standard 1.5 seconds plus the specified value.
ON.
3623 hex
Setting range
Size
Disturbance Torque Compensation Gain
−100 to 100
Unit %
Default setting
RW 2 bytes (INT16) Access
Set the compensation gain for the disturbance torque.
Refer to 11-8 Disturbance Observer Function on page 11-24.
0
PDO map
3624 hex
Disturbance Observer Filter Setting
Setting range
Size
10 to 2500 Unit 0.01 ms
Default setting
RW 2 bytes (INT16) Access
Set the filter time constant for disturbance torque compensation.
Refer to 11-8 Disturbance Observer Function on page 11-24.
53
PDO map csp semi
Data attribute
Not possible.
B csp semi
Data attribute
Not possible.
B
9
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9-40
9
9-7 Special Objects
3631 hex
Setting range
Size
Realtime Autotuning Estimated Speed Selection
All
0 to 3 Unit
−
Default setting
RW
0
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
The higher the set value is, the earlier the load characteristic change is followed, but the estimated variation against the disturbance becomes greater.
The estimated results is updated in every 30 minutes and saved in EEPEOM.
Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
Set value
2
3
0
1
Mode
No change
Little change
Gradual change
Sharp change
Description
Stops load estimation.
Estimates every minute from the load characteristic changes.
Estimates every second from the load characteristic changes.
Estimates the optimum from the load characteristic changes.
3632 hex
Setting range
Size
Realtime Autotuning Customization Mode Setting
All
−32768 to 32767
Unit
−
Default setting
RW
0
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002 hex) is set to 6.
Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
Bit
0 to 1
Name
Load characteristic estimation
*1
2 to 3 Inertia ratio updating
Description
Select to enable or disable load characteristic estimation.
0: Disable
1: Enable
Select whether to update the present set value of the Inertial
Ratio (3004 hex) with the load characteristic estimation result.
0: Use the present set value.
1: Update with the estimation result.
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9-7 Special Objects
Bit
4 to 6
7
8
9 to 10
Name
Torque compensation
Rigidity setting
Fixed object settings
Gain switch setting
Description
Select whether to update three objects, Torque Command Value
Offset (3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse Direction Torque Offset (3609 hex), with the load characteristic estimation result.
0: Use the present set value.
1: Disable the torque compensation. Clear the above three objects to zero.
2: Vertical mode. Update 3607 hex. Clear 3608 hex and 3609 hex to zero.
3: Friction compensation (small). Update 3607 hex. Set a small compensation to 3608 hex and 3609 hex.
4: Friction compensation (intermediate). Update 3607 hex. Set an intermediate compensation in 3608 hex and 3609 hex.
5: Friction compensation (large). Update 3607 hex. Set a large compensation in 3608 hex and 3609 hex.
Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (3003 hex).
0: Disable
1: Enable
Select whether to allow changes to the objects that normally are fixed.
0: Use the present settings.
1: Set to fixed values.
Select the method to set the objects that relate to gain switching while the realtime autotuning is enabled.
0: Use the present settings.
1: Disable gain switching.
2: Enable gain switching.
*1. When load characteristic estimation is disabled, inertial ratio updating is also disabled, even if the latter is set to be updated with the estimation result. When torque compensation is updated with the estimation result, load characteristic estimation is disabled.
9
Precautions for Safe Use
This object must be set in units of bits. Users must be fully aware that proper operation of your system is not guaranteed, if you have incorrect object settings. Pay a particular attention when you set them.
Reference
Procedure to Set the Object Bit by Bit
Follow these steps and calculate the set values, when you make any setting other than 0.
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of Torque compensation function: 4
(2) Multiply the set value by 2 to the power of the bit number of the LSB.
E.g. To set the torque compensation to Friction compensation (small): The set value is 3.
The exponent is 4.
2
4
× 3 = 48
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to 3632 hex.
E.g. When all of the Load characteristic estimation, the Inertia ratio updating, the Rigidity setting, and the Gain switch setting are enabled, the Torque compensation is set to
Friction compensation (small), and the Fixed object setting is set to a Fixed value:
2
0
× 1 + 2
2
× 1 + 2
4
× 3 + 2
7
× 1 + 2
8
× 1 + 2
9
× 2 = 1461
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9
9-7 Special Objects
3634 hex
Hybrid Vibration Suppression Gain
Setting range
Size
0 to 30,000 Unit 0.1/s
Default setting
RW
0 csp full
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the hybrid vibration suppression gain during fully-closed control.
In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
Refer to 11-10 Hybrid Vibration Suppression Function on page 11-28.
3635 hex
Hybrid Vibration Suppression Filter
Setting range
Size
0 to 6,400 Unit 0.01 ms
Default setting
RW
10
2 bytes (INT16) Access PDO map
Set the hybrid vibration suppression filter.
Refer to 11-10 Hybrid Vibration Suppression Function on page 11-28.
csp full
Data attribute
Not possible.
B
3637 hex
Setting range
Size
Vibration Detection Threshold
All
0 to 1,000 Unit 0.1%
Default setting
RW
0
Data attribute
Not possible.
B
2 bytes (INT16) Access PDO map
Set the vibration detection threshold.
If torque vibration that exceeds this setting is detected, a vibration detection warning occurs.
Refer to 12-2 Warnings on page 12-4.
This object is set in units of 0.1% of the rated torque.
3638 hex
Setting range
Size
Warning Mask Setting
−32,768 to 32,767 Unit −
Default setting
RW
4
2 bytes (INT16) Access PDO map
Set the warning detection mask setting.
If you set the corresponding bit to 1, the corresponding warning detection is disabled.
Refer to the General Errors in 12-2 Warnings on page 12-4.
All
Data attribute
Not possible.
C
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9-7 Special Objects
Warning number
Warning name Warning condition
Warning
Mask Setting
(3638 hex)
*1
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
Overload warning
Excessive regeneration warning
Battery warning
Fan warning
Encoder communications warning
The load ratio is 85% or more of the protection level.
The regeneration load ratio is 85% or more of the level.
Battery voltage is 3.2 V or less.
The fan stops for 1 second.
Encoder communications errors occurred in series more than the specified value.
Encoder overheating warning
Vibration detection warning
The encoder temperature exceeded the specified value.
Vibration is detected.
Life expectancy warning The life expectancy of the capacitor or the fan is shorter than the specified value.
External encoder error warning
The external encoder detects a warning.
External encoder communications warning
The external encoder has more communications errors in series than the specified value.
Bit 7
Bit 5
Bit 0
Bit 6
Bit 4
Bit 3
Bit 9
Bit 2
Bit 8
Bit 10
*1.Each warning detection can be masked with the Warning Mask Setting (3638 hex). The table above shows the corresponding bits. When a bit is set to 1, the warning detection is masked.
3700 hex
Setting range
Size
LED Display Selection
0 to 32,767
2 bytes (INT16)
Unit
−
Access
Default setting
RW
0
PDO map
Select a data type to display on the 7-segment display on the front panel.
All
Data attribute
Not possible.
A
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9-7 Special Objects
Explanation of Set Value
Set value
0
1
2
3
4
Indicated item
Normal state
Mechanical angle
Electric angle
Total number of
EtherCAT communications errors
Rotary switch setting
(node address)
Description
Displays "−−" during Servo-OFF, and "00" during Servo ON.
Displays a value between 0 and FF hex.
The value 0 indicates the zero position of the encoder.
The value increments when the motor rotates in the counterclockwise
(CCW) direction.
The value returns to 0 when it exceeds FF, but the count continues.
When an incremental encoder is used, it indicates "nF" (i.e., not fixed) is displayed until the zero position of the encoder is detected after the control power is turned ON.
Displays a value between 0 and FF hex.
The value 0 indicates the position when the U-phase electro-motive force shows the positive peak.
The value increments when the motor rotates in the counterclockwise
(CCW) direction.
The value returns to 0 when it exceeds FF, but the count continues.
Displays a value between 0 and FF hex.
The cumulative count is saturated when it reaches the maximum value
(FFFF hex).
In this case, only the lowest order byte is shown.
The value returns to 00 when it exceeds FF, but the count continues.
Displays the rotary switch setting (i.e. node address) read at power-ON. The displayed value is in decimal.
The value is not altered by any changes to the rotary switch setting after the power-ON.
Displays a value between 0 and FF hex.
The cumulative count is saturated when it reaches the maximum value
(FFFF hex).
In this case, only the lowest order byte is shown.
The value returns to 00 when it exceeds FF, but the count continues.
5
6
Total number of encoder communications errors
*1
Total number of external encoder communications errors
*1
Z-phase counter
*2
7
Displays the Z-phase count value read from the external encoder when an incremental external encoder is used during fully-closed control. The value between 0 an FF hex is displayed.
Do not set anything.
8 or over Unused
*1. The cumulative count of communication errors is cleared when the control power is cut OFF.
*2. The value read from the encoder is indicated directly, regardless of the External Feedback Pulse Direction
Switching (3326 hex).
3701 hex
Power ON Address Display Duration Setting
All
Setting range
Size
0 to 1000
2 bytes (INT16)
Unit 100 ms
Access
Default setting
RW
0
PDO map
Data Attribute R
Not possible.
Set the time to indicate the node address when the control power is turned ON.
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9-7 Special Objects
3704 hex
Setting range
Size
Backlash Compensation Selection
0 to 2
2 bytes (INT16)
Unit
−
Access
Default setting
RW
0
PDO map csp
Data Attribute C
Not possible.
Select to enable or disable the backlash compensation during position control. Set the compensation direction when compensation is enabled.
Refer to 7-4 Backlash Compensation on page 7-11.
Explanation of Set Value
Set value
0
1
2
Description
Disable backlash compensation.
Compensate for backlash at first forward operation after the servo turns ON.
Compensate for backlash at first reverse operation after the servo turns ON.
3705 hex
Backlash Compensation Amount
Setting range
Size
−32768 to 32767
Unit
Command unit
Access
Default setting
2 bytes (INT16) RW
Set the backlash compensation amount during position control.
Refer to 7-4 Backlash Compensation on page 7-11.
0
PDO map
3706 hex
Backlash Compensation Time Constant
Setting range
Size
0 to 6400
2 bytes (INT16)
Unit 0.01 ms
Access
Default setting
RW
Set the backlash compensation time constant for position control.
Refer to 7-4 Backlash Compensation on page 7-11.
0
PDO map csp
Data Attribute B
Not possible.
csp
Data Attribute B
Not possible.
3758 hex
Touch Probe Trigger Selection
All
Setting range
Size
0000 to FFFF hex
2 bytes (U16)
Unit
−
Access
Default setting 0100 hex Data Attribute B
RW PDO map Not possible.
Select EXT1, EXT2, EXT3, or phase Z at the external latch trigger for the latch function.
For details on the latch function, refer to 6-5 Touch Probe Function (Latch Function) on page 6-9.
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9-7 Special Objects
Bit Descriptions
Bit 0
0
1
0
1
Latch 1
Bit 1
0
0
1
1
Trigger signal 1
EXT1
EXT2
EXT3
Phase-Z signal
Bit 8
0
1
0
1
Latch 2
Bit 9
0
0
1
1
Trigger signal 2
EXT1
EXT2
EXT3
Phase-Z signal
3759 hex
Warning Hold Selection
All
Setting range
Size
0000 to FFFF hex
2 bytes (U16)
Unit
−
Access
Default setting 0000 hex Data Attribute B
RW PDO map Not possible.
Select whether to hold communications-related and general warning status.
Bit Descriptions
Bit
0
1
Function
Holding
Communicationsrelated Warning
Status
Holding General
Warning Status
Set value
0
1
0
1
Warning status
Resetting warning status
Do not hold
Hold
Do not hold
Hold
The warnings are automatically cleared when the cause of the warning is eliminated.
However, warnings are held for at least 1 s.
Remove the cause of the warning and then send a warning reset command.
The warnings are automatically cleared when the cause of the warning is eliminated.
However, warnings are held for at least 1 s.
Remove the cause of the warning and then send a warning reset command.
3800 hex
Communications Control
Setting range
Size
−32768 to 32767
2 bytes (INT16)
Unit
−
Access
Default setting
RW
Controls errors and warnings over EtherCAT communications.
0
PDO map
All
Data Attribute C
Not possible.
Precautions for Correct Use
This function is for debugging. For normal operation, leave this object at the default setting.
Bit
Function
15 14 13 12 11 10 9
Error masks
8 7 6 5 4 3 2 1
Warning masks Error masks
0
Error Settings
The following errors are detected if the data to be received in EtherCAT communications cycle is not received correctly, and there are more continuous communications errors that the value
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9-7 Special Objects
set in the Communications Control (3800 hex, bits 8 to 11).
Error No. (hex)
83.1
83.2
83.3
83.4
83.5
Error name
EtherCAT state change error
EtherCAT illegal state change error
Communications synchronization error
Synchronization error
Sync Manager WDT Error
Communications Control
(3800 hex)
*1
Bit 1
Bit 2
Bit 3
Bit 12
Bit 13
*1 EtherCAT communications warning detection can be masked by using the setting of the
Communications Control (3800 hex). The corresponding bits are shown in the table.
Warning detection is masked if the corresponding bit is set to 1.
Warning setting
To mask a warning, set the corresponding bit to 1. The warning detection is disabled.
Refer to Warnings Related to EtherCAT Communications on page 12-6.
Warning number
Warning name Warning condition
Communications
Control
(3800 hex)
*1
B0 hex
B1 hex
B2 hex
Data setting warning
Command warning
EtherCAT communications warning
• The set value in the command argument is out of the specified range.
• Object write processing failed.
• The command set value is incorrect.
• The command transmission conditions are not met.
• The sub-command transmission conditions are not met.
• An operation command is given in the prohibited direction after the motor made an emergency stop due to a drive prohibition input.
EtherCAT communications errors occurred one or more times.
Bit 4
Bit 5
Bit 6
*1.EtherCAT communications warning detection can be masked by using the setting of the
Communications Control (3800 hex). The table above shows the corresponding bits.
The warning detection is masked when you set the corresponding bit to 1.
3801 hex
Software Position Limit Function
All
Setting range
Size
0 to 3
2 bytes (INT16)
Unit −
Access
Default setting
RW
3
PDO map
Data Attribute A
Not possible.
Select whether to enable or disable the software position limit function.
When it is enabled, set the software limit values in the Max position limit (607D-02 hex) and the
Min position limit (607D-01 hex).
Explanation of Set Value
Set value
0
1
2
3
Description
Enable the software limits in both directions.
Disable the forward software limit, but enable the reverse software limit.
Enable the forward software limit, but disable the reverse software limit.
Disable the software limits in both directions.
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9-7 Special Objects
Precautions for Correct Use
EtherCAT communications status will be 0 for limit signals that are disabled. The status will also be 0 if an origin return has not been performed.
3803 hex
Origin Range
Setting range
Size
0 to 250
2 bytes (INT16)
Unit
−
Access
Default setting
RW
Set the threshold for detecting the origin as an absolute value.
10
PDO map
All
Data Attribute A
Not possible.
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9-8 Reserved Objects
9-8 Reserved Objects
The following objects are reserved. Do not use them.
Sub
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Index
3312 hex
3313 hex
3314 hex
3317 hex
3321 hex
3432 hex
3433 hex
3435 hex
3120 hex
3121 hex
3122 hex
3123 hex
3124 hex
3125 hex
3126 hex
3127 hex
3436 hex
3703 hex
3818 hex
3822 hex
Name
Switching Mode in Speed Control
Gain Switching Delay Time in Speed Control
Gain Switching Level in Speed Control
Gain Switching Hysteresis in Speed Control
Switching Mode in Torque Control
Gain Switching Delay Time in Torque Control
Gain Switching Level in Torque Control
Gain Switching Hysteresis in Torque Control
Soft Start Acceleration Time
Soft Start Deceleration Time
S-curve Acceleration/Deceleration Time Setting
Speed Limit Selection
Speed Limit Value Setting
Positioning Completion Condition Selection
Positioning Completed Hold Time
Speed Conformity Detection Range
Rotation Speed for Motor Rotation Detection
Torque Limit Flag Output Setting
Position Command FIR Filter Time Constant
Origin Return Mode Setting
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9-50
Operation
This chapter explains the operating procedures and how to operate in each mode.
10-1 Operational Procedure ...............................................10-1
10-2 Preparing for Operation .............................................10-2
10-3 Trial Operation ............................................................10-7
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10-1 Operational Procedure
10
10-1 Operational Procedure
Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive.
Then make the function settings as required according to the use of the motor and drive.
If the user objects are set incorrectly, there is a risk of unexpected motor operation, which can be dangerous.
Set the objects accurately according to the setting methods in this manual.
Item
Mounting and installation
Contents
Install the motor and drive according to the installation conditions.
(Do not connect the motor to the mechanical system before checking no-load operation.)
Reference
Wiring and connections
Connect the motor and drive to the power supply and peripheral equipment.
Specified installation and wiring conditions must be satisfied, particularly for models conforming to the EC Directives.
Preparing for operation
Check the necessary items and then turn ON the power supply.
Check on the display to see whether there are any internal errors in the drive.
If using a motor with an absolute encoder, first set up the absolute encoder.
Function settings
Set the objects related to the functions required for application conditions.
Trial operation
First, check motor operation with no-load. Then turn the power supply OFF and connect the motor to the mechanical system.
When using a Servomotor with an absolute encoder, set up the absolute encoder.
Turn ON the power supply again, and check to see whether protective functions, such as the immediate stop and operational limits, are functioning properly.
Check operation at both low speed and high speed using the system without a workpiece, or with dummy workpieces.
Adjustment
Manually adjust the gain if necessary.
Further adjust the various functions to improve the control performance.
Operation
Operation can now be started.
If any problems should occur, refer to Chapter 12 Troubleshooting
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
10-2 Preparing for Operation
10-2 Preparing for Operation
This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive. It explains items to check both before and after turning ON the power supply. It also explains the setup procedure required if using a motor with an absolute encoder.
Items to Check Before Turning ON the Power Supply
Checking Power Supply Voltage
Check to be sure that the power supply voltage is within the ranges shown below.
R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R (Single-phase 100-VAC input)
Main circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
Control circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/-KN10H-ECT-R/-KN15H-
ECT-R (Single-phase or single-phase/3-phase 200-VAC input)
Main circuit power supply: Single-phase or single-phase/3-phase 200 to 240 VAC (170 to 264) 50/
60 Hz
Control circuit power supply: Single-phase 200 to 240 VAC (170 to 264) 50/60 Hz
R88D-KN20H-ECT-R/-KN30H-ECT-R/-KN50H-ECT-R/-KN75H-ECT-R/-KN150H-ECT-R
(3-phase 200 VAC input)
Main circuit power supply: 3-phase 200 to 230 VAC (170 to 253) 50/60 Hz
Control circuit power supply: Single-phase 200 to 230 VAC (170 to 253) 50/60 Hz
R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R/-KN30F-ECT-R/-KN50F-
ECT-R/-KN75F-ECT-R/-KN150F-ECT-R (3-phase 400 VAC input)
Main circuit power supply: 3-phase 380 to 480 VAC (323 to 528)
50/60 Hz
Control circuit power supply: 24 VDC ± 15%
Checking Terminal Block Wiring
The main circuit power supply inputs (L1/L3 or L1/L2/L3) must be properly connected to the terminal block.
The control circuit power supply inputs (L1C/L2C) must be properly connected to the terminal block.
The motor's red (U), write (V), and blue (W) power lines and the green/yellow ( ) must be properly connected to the terminal block.
Checking the Motor
There should be no load on the motor. (Do not connect the mechanical system.)
The motor side power lines and the power cables must be securely connected.
Checking the Encoder Wiring
The encoder cable must be securely connected to the encoder connector (CN2) at the drive.
The encoder cable must be securely connected to the encoder connector at the motor.
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10-2
10
10-2 Preparing for Operation
Checking the EtherCAT Communications Connectors
The EtherCAT Communications Cables must be connected securely to the EtherCAT
Communications Connectors (ECAT IN and ECAT OUT).
Checking the Node Address Setting
Make sure that the node address is correctly set on the node address rotary switches.
Status indicators
@ RUN
@ ERR
@ L/A IN
@ L/A OUT
ADR
Rotary switches for node address setting
CN5 x10 x1
Rotary switch setting
00
01 to 99
Contents
Connection to CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882
The Position Control Unit sets the node address.
The rotary switch setting is used as the node address.
Precautions for Correct Use
Do not change the setting on the rotary switches after the power supply has been turned ON.
The node address rotary switches can be set to between 00 and 99.
The node address used over the network is determined by the value set on the rotary switches.
If the node address is not between 00 and 99, a Node Address Setting Error (Error 88.0) will occur.
Turning ON the Power Supply
Turn ON the control circuit power after you conduct the pre-power-ON checking.
You may turn ON the main circuit power, but it is not a required.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
10-2 Preparing for Operation
Checking the Displays
7-Segment Display
The 7-segment display is on the front panel. When the power is turned ON, it shows the node address that is set by the rotary switches. Then the display changes according to the setting of the LED Display Selection (3700 hex).
An error code is displayed if an error occurs. A warning code is displayed if a warning occurs.
Control power ON
Fully OFF
Fully ON
Node Address Display
"nA" (node address, approx. 0.6 s)
Rotary switch setting
(upper digit (
×10) = 0, lower digit (×1) = 3)
(It lasts for the period set in the Power ON Address
Display Duration Setting (3701 hex).)
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10-4
10-2 Preparing for Operation
10
A
Normal Display (LED Display Selection (3700 hex) set to 0)
Main power supply turned ON and EtherCAT communications established.
Servo ON
Main power supply interrupted and EtherCAT communications not established.
+ Dot on right lights.
Servo OFF
+ Dot on right lights.
Error occurs Error cleared
Error Display
*1
The main error code flashes as a decimal (example for an overload).
Warning occurs.
Warning cleared.
Warning Display
The hexadecimal warning code and the normal display are displayed alternately
(example for an overload).
Warning code
(for 2 s)
*1 : “ ” will flash when a Safety Input Error (Error No. 30.0) occurs.
“ ” does not flash on the display.
Normal code
(for approx. 4 s)
EtherCAT Status Indicators
Check the status of the status indicators.
If the RUN indicator will not turn ON or the ERR indicator will not turn OFF, refer to Status
on page 5-2 and check the status.
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10-2 Preparing for Operation
Absolute Encoder Setup
ABS
You must set up the absolute encoder if using a motor with an absolute encoder. The setup is required when you turn ON the power supply for the first time, when an Absolute Encoder
System Down Error (Error No. 40) occurs, or when the encoder cable is disconnected and then connected again.
To use an absolute encoder, set the Operation Switch when Using Absolute Encoder (3015 hex) to 0 or 2 (factory setting).
Refer to the SYSMAC CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 Position Control
Unit Operation Manual
(Cat. No. W487) and to information on Absolute Encoder Setup (4102 hex) to set up the absolute encoder.
Setting Up an Absolute Encoder from the CX-Drive
1. Start the CX-Drive and go online with the Servo Drive via EtherCAT or
USB communications.
2. Select Absolute Encoder from the Tuning Menu of the CX-Drive.
3. Select Multi-Turn Data and Encoder Error Clear from the Absolute
Encoder Dialog Box.
The following error will occur after execution has been completed.
EtherCAT communications: Absolute Value Cleared (Error No. 27.1)
USB communications: Position Data Initialized (Error No. 27.7)
4. Turn the power supply to the Servo Drive OFF and then ON again.
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10-6
10-3 Trial Operation
10-3 Trial Operation
When you have finished installation, wiring, and switch settings, and have confirmed that status is normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system is electrically correct.
If an error occurs during trial operation, refer to Chapter 12 Troubleshooting and Maintenance
to eliminate the cause. Then check for safety, and retry trial operation.
10
Preparations for Trial Operation
Inspections before Trial Operation
Check the following items.
Wiring
Make sure that there are no wiring errors (especially for the power supply input and motor output).
Make sure that there are no short-circuits. (Check the ground for short circuits as well.)
Make sure that there are no loose connections.
Power Supply Voltage
Make sure that the voltage corresponds to the rated voltage.
Is the voltage stable?
Motor Installation
Make sure that the Servomotor is securely installed.
Disconnection from Mechanical System
If necessary, make sure that the load has been disconnected from the mechanical system.
Brake Released
Make sure that the brake has been released.
Connections to the Mechanical System
Are the load and Servomotor shaft properly aligned?
Is the load on the Servomotor shaft within specifications?
10-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
10-3 Trial Operation
Test Operation via USB Communications from the CX-Drive
1. Use the Connector CN1.
2. Supply 12 to 24 VDC to the control signal connector pins +24 VIN and COM.
3. Turn ON the Servo Drive power.
4. Connect a USB cable to the USB connector (CN7).
5. Start the CX-Drive and go online with the Servo Drive via USB communications.
6. Select Test Run from the Tuning Menu of the CX-Drive.
7. Select Servo ON to servo-lock the Servomotor.
8. Select Forward or Reverse and start the Servomotor.
The Servomotor will rotate until Stop is selected.
Precautions for Correct Use
The test operation function via USB communications from the CX-Drive cannot be used while
EtherCAT communications are established.
10
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
10-8
Adjustment Functions
This chapter explains the functions, setting methods, and items to note regarding various gain adjustments.
11-1 Analog Monitor.........................................................11-1
11-2 Gain Adjustment ......................................................11-4
11-3 Realtime Autotuning ................................................11-6
11-4 Manual Tuning........................................................11-13
11-5 Damping Control ....................................................11-15
11-6 Adaptive Filter ........................................................11-18
11-7 Notch Filters ...........................................................11-21
11-8 Disturbance Observer Function ...........................11-24
11-9 Friction Torque Compensation Function.............11-26
11-10 Hybrid Vibration Suppression Function ..............11-28
11-11 Feed-forward Function ..........................................11-29
11-12 Instantaneous Speed Observer Function ............11-32
11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-1 Analog Monitor
11-1 Analog Monitor
Two types of analog signals can be output from the analog monitor connector on the front panel. They are used when the monitoring is required for adjustment.
The monitor items to be output and the scaling (output gain) can be set as required for each of the objects.
The refresh period of the analog monitor is 1 ms. The analog monitor is not synchronized with another axes in the EtherCAT system.
11
Objects Requiring Settings
Index Name Explanation
3416 hex Analog Monitor 1 Selection Select the monitoring item for the analog monitor 1.
3417 hex
Analog Monitor 1 Scale
Setting
Set the output gain for the analog monitor 1.
3418 hex Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2.
3419 hex
3421 hex
Analog Monitor 2 Scale
Setting
Analog Monitor Output
Setting
Set the output gain for the analog monitor 2.
Select the analog monitor output method.
Reference
11-1
Analog Monitor Objects (3416, 3417, 3418 and 3419 Hex)
The analog monitor scales (3417 hex and 3419 hex) are set in units for 1 V. When the objects are set to 0, the values shown in the table below are automatically set.
Description
3416 hex and
3418 hex set value
7
8
9
10
2
3
4
5
6
0
1
Monitoring item
Feedback Motor Speed
Internal Command Motor
Speed
*1
Filtered Internal Command
Motor Speed
*1
Motor Control Effort
Torque demand
Position Error
*2
Pulse Position Error
*2
Fully-closed Error
*2
Hybrid Error
P-N Voltage
Regeneration Load Ratio r/min r/min r/min
Unit
r/min
% pulses (command units)
V
% pulses (encoder units) pulses (external encoder unit) pulses (command units)
Output gain when 3417 hex and 3419 hex are set to 0
500
500
500
500
33
3,000
3,000
3,000
3,000
80
33
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-1 Analog Monitor
Description
3416 hex and
3418 hex set value
Monitoring item Unit
Output gain when 3417 hex and 3419 hex are set to 0
11
12
13
14
15
16 to 18
19
20
21
Motor Load Ratio
Forward Torque Limit
Reverse Torque Limit
Speed Limit Value
Inertia Ratio
Reserved
Encoder Temperature
*3
Servo Drive Temperature
Encoder 1-rotation Data
*4
%
%
% r/min
%
−
°C
°C
pulses (encoder units)
33
33
33
500
500
−
10
10
110,000
*1. The Internal Command Motor Speed is the speed before the command input passes through the command filter (the position command filter time constant and the smoothing filter time constant). The
Filtered Internal Command Motor Speed is the speed after the command input passes through the command filter.
Internal Command
Motor Speed [r/min]
Filtered Internal Command
Motor Speed [r/min]
11
Command input
Electronic gear
Position command filter
+
−
Position
Control
Position actual internal value [encoder units/external encoder units]
Encoder feedback/external encoder feedback
*2. The position error is calculated for the command input after processing for the position command filter.
The pulse position error or fully-closed position error is reversely converted to command units for application.
The pulse position error or fully-closed error is the error for the position control input.
Position Error [command units]
Pulse Position Error [encoder units]
/Fully-closed Error [external encoder units]
Electronic gear reverse conversion
Command input
Electronic gear
Position command filter
+
−
Position control
Position actual value
[command units]
Electronic gear reverse conversion
Position actual internal value
[encoder units/external encoder units]
Encoder feedback/external encoder feedback
*3. The encoder temperature is indicated only for a 20-bit incremental encoder. The value is not stable for other types of encoders.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-2
11
11-1 Analog Monitor
*4. The direction of monitor data, either forward or reverse, is the direction set in the Rotation Direction
Switching (3000 hex). However, CCW is the forward direction for the absolute encoder 1-rotation data.
A normal value is output from the incremental encoder after the first phase Z.
Analog Monitor Output Setting (3421 Hex)
Select the direction for analog monitor output voltage.
These are the output voltage range and the output direction when the Analog Monitor 1
Selection or Analog Monitor 2 Selection is set to the feedback motor speed, and the Analog
Monitor 1 Scale Setting or the Analog Monitor 2 Scale Setting is set to 0 (i.e., 1V = 500 r/min).
Set value Output range Data output
Output voltage [V]
10 V
0
−10 to 10 V
0 V
−5000
Feedback
Motor Speed
5000 [r/min]
1
2
0 to 10 V
0 to 10 V
(5 V as the center)
−10 V
Output voltage [V]
10 V
−5000
0 V
Feedback
Motor Speed
5000 [r/min]
−10 V
Output voltage [V]
10 V
5 V
0 V
Feedback
Motor Speed
0
−2500
2500 [r/min]
−10 V
11-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-2 Gain Adjustment
11-2 Gain Adjustment
OMNUC G5-Series Servo Drives provide a realtime autotuning function. With this function, gain adjustments can be made easily even by those using a servo system for the first time. If you cannot obtain the desired responsiveness with autotuning, use manual tuning.
Purpose of the Gain Adjustment
The Servo Drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability. The gain is adjusted to bring the actual operation of the motor as close as possible to the operation specified by the commands, and to maximize the performance of the machine.
[r/min]
+2000
Example: Ball screw
Gain setting: Low Gain setting: High Gain setting: High + feed-forward setting
11
0
Actual motor speed
Command speed
-2000
0.0
125 250 375
Position loop gain:
Speed loop gain:
Speed loop integral time constant:
Speed feed-forward:
Inertia ratio:
3.0
2.5
190.0
30
300
0.0
125 250 375
Position loop gain:
Speed loop gain:
Speed loop integral time constant:
Speed feed-forward:
Inertia ratio:
251.0
140.0
6.0
30
300
0.0
125 250 375
Position loop gain:
Speed loop gain:
Speed loop integral time constant:
Speed feed-forward:
Inertia ratio:
251.0
180.0
6.0
100
300
Gain Adjustment Methods
Function Description
Reference page
Automatic adjustment
Manual adjustment
Realtime autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatically sets the optimal gain according to the estimated load inertia.
Manual tuning Manual adjustment is performed if autotuning cannot be executed due to restrictions on the control mode or load conditions or if ensuring that the maximum responsiveness matches each load is required.
Basic procedure Position Control/Fully-closed Control Mode adjustment
Precautions for Safe Use
Take sufficient measures to ensure safety.
If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn OFF the servo.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-4
11-2 Gain Adjustment
11
Gain Adjustment Procedure
Start adjustment.
Automatic adjustment?
Yes
No
Realtime autotuning settings
Realtime autotuning
Operation OK?
Yes
No
(Default setting)
Manual tuning
Operation OK?
Yes
No
Write to EEPROM.
Consult OMRON.
Adjustment completed.
Gain Adjustment and Machine Rigidity
To improve machine rigidity:
Install the machine on a secure base so that it does not have any play.
Use couplings that have a high rigidity, and that are designed for servo systems.
Use a wide timing belt, and use a tension within the range of allowable axial load for the motor.
Use gears with small backlash.
The specific vibration (resonance frequencies) of the mechanical system has a large impact on the gain adjustment of the servo. The servo system responsiveness cannot be set high for machines with a low resonance frequency (low machine rigidity).
11-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-3 Realtime Autotuning
11-3 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime, and operates the machine by automatically setting the gain according to the estimated load inertia. At the same time, it can lower the resonance and vibration if the adaptive filter is enabled.
Refer to 11-6 Adaptive Filter on page 11-18 for details about adaptive filters.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Position/Speed command
Position/Speed control
Friction torque compensation
Torque command
Current control
SM
Load
Estimate load inertia.
Speed feedback
RE
Position feedback
11
Precautions for Correct Use
Realtime autotuning may not function properly under the conditions described in the following table. In such cases, use manual tuning.
Load inertia
Load
Operation pattern
Conditions under which realtime autotuning does not operate properly
• If the load inertia is too small or too large compared with the rotor inertia
(less than 3 times, more than 20 times, or more than the applicable load inertia ratio).
• If the load inertia changes quickly.
• If the machine rigidity is extremely low.
• If there is a non-linear element (play), such as a backlash.
• If the speed continues at below 100 r/min.
• If the acceleration/deceleration is below 2,000 r/min in 1 s.
• If the acceleration/deceleration torque is too small compared with the unbalanced load and the viscous friction torque.
• If either a speed of 100 r/min or higher, or an acceleration/deceleration of 2,000 r/ min/s does not last for at least 50 ms.
With realtime autotuning, each object is fixed to the value in the machine rigidity table at the time the machine rigidity is set. By estimating the load inertia from the operation pattern, the operation coefficient for the speed loop gain and the integral time constant are altered. Doing this for each pattern can cause vibration, so the estimation value is set conservatively.
The torque feed-forward function cannot be used when realtime autotuning is being used. Set both the Torque Feed-forward Gain (3112 hex) and Torque Feed-forward Command Filter (3113 hex) to 0.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-6
11-3 Realtime Autotuning
11
Objects Requiring Settings
Index
3002 hex
3003 hex
3631 hex
3632 hex
Name
Realtime Autotuning
Mode Selection
Realtime Autotuning
Machine Rigidity Setting
Realtime Autotuning
Estimated Speed
Selection
Realtime Autotuning
Customization Mode
Setting
Explanation
Set the operation mode for the realtime autotuning.
Set the responsiveness when the realtime autotuning is enabled.
Set the speed to estimate the load characteristic when the realtime autotuning is enabled.
Make detailed settings for the autotuning function, when the customized mode (3002 hex = 6) is selected in the Realtime
Autotuning Mode Selection (3002 hex).
Reference
Setting Realtime Autotuning
1. When setting realtime autotuning, turn the servo OFF.
2. Set Realtime Autotuning mode Selection (3002 hex) depending on the load.
Normally, set the object to 1 or 2.
Use a setting of 3 or 4 when a vertical axis is used.
A setting of 5 is used in combination with a software tool. Do not use it for normal operation.
Gain switching function is enabled for set values 2 to 6.
Set value
0
1
2
3
4
5
6
Realtime autotuning Description
Disabled
Focus on stability (default setting)
Focus on positioning
Vertical axis
Realtime autotuning is disabled.
No unbalanced load or friction compensation, nor gain switching.
Used for a horizontal axis or others that have no unbalanced load, or for a ball screw drive with little friction.
Used when unbalanced load is present, i.e., with a vertical axis, etc.
Friction compensation and vertical axis
Used when a vertical axis or other unbalanced load is present and when friction is large.
Used for a belt-driving shaft with large friction. Variations in finalizing the positioning are suppressed.
Load characteristic estimation Used only for estimating load characteristics.
Customization
Detailed customization can be set in the Realtime
Autotuning Customization Mode Setting (3632 hex).
11-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-3 Realtime Autotuning
Setting Machine Rigidity
1. Set the Realtime Autotuning Machine Rigidity Setting (3003 hex) according to the table below.
Start from the lower machine rigidity number and check the operation.
Machine configuration and drive method
Ball screw direct coupling
Ball screw and timing belt
Timing belt
Gears, rack and pinion drive
Other machines with low rigidity
Stacker cranes
Realtime Autotuning
Machine Rigidity Setting (3003 hex)
12 to 24
8 to 20
4 to 16
4 to 16
1 to 8
Perform manual tuning.
2. Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response.
If vibration occurs, enable the adaptive filter and operate. If already enabled, lower the machine rigidity number.
3. If there are no problems with the operation, turn the servo OFF and set the Realtime
Autotuning Mode Selection (3002 hex) to 0 (disabled).
The adaptive filter can be left enabled even if realtime autotuning is disabled after the completion of adjustments. Even if the adaptive filter is disabled, the settings of notch filters 3 and 4 are held.
11
Precautions for Correct Use
After startup, immediately after the first servo ON, or when the Realtime Autotuning Machine
Rigidity Setting (3003 hex) is increased, unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes. This is not an error if it disappears right away. If the unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the following measures in any order you can.
• Write the objects used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Setting (3003 hex).
• Manually set the notch filter.
Once unusual noise or vibration occurs, Inertia Ratio (3004 hex), Torque Command Value Offset
(3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse Direction Torque Offset
(3609 hex) may have changed to an extreme value. In this case, also take the measures described above.
Out of the results of realtime autotuning, the Inertia Ratio (3004 hex), Torque Command Value
Offset (3607 hex), Forward Direction Torque Offset (3608 hex) and Reverse Direction Torque
Offset (3609 hex) are automatically saved to the EEPROM every 30 minutes. Realtime autotuning uses this saved data as the default settings when the power supply is turned ON again.
The object is automatically set based on the Realtime Autotuning Machine Rigidity Setting (3003 hex) if realtime autotuning is enabled.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-8
11
11-3 Realtime Autotuning
Realtime Autotuning (RTAT) Object Table
Index
3004 hex Inertia Ratio
Name
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3110 hex Speed Feed-forward Gain
3112 hex Torque Feed-forward Gain
3115 hex Switching Mode in Position Control
AT Machine Rigidity Setting (3003 hex)
0
20
15
1
25
20
2
30
25
3
40
30
4
45
35
5
Estimated load inertia ratio
55
45
6
75
60
7
95
75
3700 2800 2200 1900 1600 1200 900 700
0 0 0 0 0 0 0 0
1500 1100 900 800 600 500 400 300
25
15
30
20
40
25
45
30
55
35
70
45
95
60
120
75
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
1500 1100 900 800 600 500 400 300
300 300 300 300 300 300 300 300
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
1 1 1 1 1 1 1 1
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
30
50
30
50
30
50
30
50
30
50
30
50
3119 hex Position Gain Switching Time
3607 hex Torque Command Value Offset
3608 hex Forward Direction Torque Offset
3609 hex Reverse Direction Torque Offset
3610 hex.0,
3610 hex.1 Function Expansion Setting
33
33
0
33 33 33 33
0 0 0 0 0
3624 hex Disturbance Observer Filter Setting 0 0 0 0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
0
33
0
0
33
33 33 33 33 33
Estimated if object 3002 hex = 3.
33
Estimated if object 3002 hex = 4.
Estimated if object 3002 hex = 4.
0 0 0 0 0 0
0
0
30
50
30
50
33
33
0
0
0
11-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-3 Realtime Autotuning
AT Machine Rigidity Setting (3003 hex)
Index Name
8 9 10 11 12 13 14 15
3004 hex Inertia Ratio
3100 hex Position Loop Gain 1
Estimated load inertia ratio
115 140 175 320 390 480 630 720
3101 hex Speed Loop Gain 1 90 110 140 180 220 270 350 400
3102 hex Speed Loop Integral Time Constant 1 600 500 400 310 250 210 160 140
0 0 0 0 0 0 0 0
300 200 200 126 103 84 65 57
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
140
90
175
110
220
140
380
180
460
220
570
270
730
350
840
400
3107 hex Speed Loop Integral Time Constant 2 10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
300 200 200 126 103 84 65 57
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command Filter 50
3112 hex Torque Feed-forward Gain 0
50
0
50
0
50
0
50
0
50
0
50
0
50
0
0 0 0 0 0 0 0 0
1 1 1 1 1 1 1 1
3115 hex Switching Mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
30
50
30
50
30
50
30
50
30
50
30
50
3119 hex Position Gain Switching Time
3607 hex Torque Command Value Offset
3608 hex Forward Direction Torque Offset
3609 hex Reverse Direction Torque Offset
3610 hex.0,
3610 hex.1 Function Expansion Setting
33
33
0
33
33
0
33
33
Estimated if object 3002 hex = 3.
Estimated if object 3002 hex = 4.
Estimated if object 3002 hex = 4.
0
33
33
0
33
33
0
0 0 0 0 0
3624 hex Disturbance Observer Filter Setting 0 0 0 0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
0
33
33
0
0
0
33
33
0
0
0
30
50
0
0
0
30
50
33
33
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-10
11
11-3 Realtime Autotuning
Index
3004 hex Inertia Ratio
Name
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3110 hex Speed Feed-forward Gain
3112 hex Torque Feed-forward Gain
AT Machine Rigidity Setting (3003 hex)
16 17 18 19 20 21 22 23
Estimated load inertia ratio
900 1080 1350 1620 2060 2510 3050 3770
500 600 750 900 1150 1400 1700 2100
120 110 90 80 70 60 50 40
0 0 0 0 0 0 0 0
45 38 30 25 20 16 13 11
1050 1260 1570 1880 2410 2930 3560 4400
500 600 750 900 1150 1400 1700 2100
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
45 38 30 25 20 16 13 11
300 300 300 300 300 300 300 300
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
1 1 1 1 1 1 1 1
3115 hex Switching mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
30
50
30
50
30
50
30
50
30
50
30
50
3119 hex Position Gain Switching Time
3607 hex Torque Command Value Offset
3608 hex Forward Direction Torque Offset
3609 hex Reverse Direction Torque Offset
3610 hex.0,
3610 hex.1 Function Expansion Setting
33
33
0
33
33
0
33
33
Estimated if object 3002 hex = 3.
Estimated if object 3002 hex = 4.
Estimated if object 3002 hex = 4.
0
33
33
0
33
33
0
0 0 0 0 0
3624 hex Disturbance Observer Filter Setting 0 0 0 0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
0
33
33
0
0
0
33
33
0
0
0
30
50
0
0
0
30
50
33
33
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-3 Realtime Autotuning
Index
3004 hex Inertia Ratio
Name
3100 hex Position Loop Gain 1
3101 hex Speed Loop Gain 1
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3110 hex Speed Feed-forward Gain
3112 hex Torque Feed-forward Gain
AT Machine Rigidity Setting (3003 hex)
24 25 26 27 28 29 30 31
Estimated load inertia ratio
4490 5000 5600 6100 6600 7200 8100 9000
2500 2800 3100 3400 3700 4000 4500 5000
40 35 30 30 25 25 20 20
0 0 0 0 0 0 0 0
9 8 7 7 6 6 5 5
5240 5900 6500 7100 7700 8400 9400 10500
2500 2800 3100 3400 3700 4000 4500 5000
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
9 8 7 7 6 6 5 5
300 300 300 300 300 300 300 300
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
50
0
0
1 1 1 1 1 1 1 1
3115 hex Switching mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
30
50
30
50
30
50
30
50
30
50
30
50
3119 hex Position Gain Switching Time
3607 hex Torque Command Value Offset
3608 hex Forward Direction Torque Offset
3609 hex Reverse Direction Torque Offset
3610 hex.0,
3610 hex.1 Function Expansion Setting
33
33
0
33
33
0
33
33
Estimated if object 3002 hex = 3.
Estimated if object 3002 hex = 4.
Estimated if object 3002 hex = 4.
0
33
33
0
33
33
0
0 0 0 0 0
3624 hex Disturbance Observer Filter Setting 0 0 0 0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
0
33
33
0
0
0
33
33
0
0
0
30
50
0
0
0
30
50
33
33
11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-12
11-4 Manual Tuning
11-4 Manual Tuning
As described before, the OMNUC G5-series have a realtime autotuning function.
Readjustment, however, is required if realtime autotuning cannot adjust the gain properly for same reasons: there is a restriction by load conditions, or a necessity to ensue optimum responsiveness and stability for each load.
This section describes how to perform manual tuning.
11
Basic Settings
Before Manual Setting
More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of the CX-Drive or by measuring the analog voltage waveform with the monitor function.
Analog Monitor Output
The feedback motor speed, internal command motor speed, command torque, and position error can be measured as an analog voltage level using an oscilloscope or other device. The type of signal to output and the output voltage level are set with Analog Monitor 1 Selection
(3416 hex) and Analog Monitor 2 Selection (3418 hex) settings. For details, refer to 11-1
CX-Drive Data Tracing Function
Commands to the motor and motor operation (speed, command torque, and position error) can be displayed on a computer as waveforms. Refer to the CX-Drive Operation Manual (Cat. No.
W453).
USB communications cable
Connect to CN7.
11-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-4 Manual Tuning
Position Control/Fully-closed Control Mode Adjustment
Use the following procedure to perform the adjustment in position control for the Servo Drive.
Start adjustment.
Disable realtime autotuning (3002 hex = 0)
Set each parameter according to the parameter settings for different applications.
Never adjust or set parameters to extreme values, as it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the gain while checking the motor operation.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
No
Yes
Adjustment completed.
11
Increase Speed Loop Gain 1 (3101 hex) to the extent that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant 1 (3102 hex) to the extent that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
No
Increase position loop gain to the extent that overshooting does not occur.
Yes
Decrease Speed Loop Gain 1 (3101 hex).
Increase Speed Loop Integral Time Constant 1 (3102 hex).
Write to the EEPROM in the Parameter Write mode.
Adjustment completed.
If vibration persists after repeated adjustments or the positioning is slow:
Increase Torque Command Filter Time Constant 1 (3104 hex).
Set the damping frequencies in the
Notch 1 Frequency Setting (3201 hex),
Notch 2 Frequency Setting (3204 hex),
Notch 3 Frequency Setting (3207 hex), and
Notch 4 Frequency Setting (3210 hex).
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-14
11-5 Damping Control
11-5 Damping Control
11
Outline of Operation
If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration. This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are from 1 to 200 Hz.
You can set four frequencies, and use two of them at the same time.
The end vibrates.
Position Controller Servo Drive
The damping frequency changes based on the position.
Movement
Objects Requiring Settings
Index
3213 hex
3214 hex
Name
Damping Filter
Selection
Damping
Frequency 1
3215 hex
Damping Filter 1
Setting
Description
Select the Damping Filter Switching Mode according to the condition of the unit.
0: Up to two filters can be used simultaneously.
3: Switching with command direction
Set damping frequency 1 to suppress vibration at the end of the load in damping control.
If the damping control function is not used, set the damping frequency to a value between 0 and 0.9 [Hz].
When Damping Frequency 1 (3214 hex) is set, reduce this setting if torque saturation occurs or increase this setting to increase operation speed. Normally 0 is set.
If damping filter 1 is disabled, this object is also disabled.
The function is the same with 3214 hex.
3216 hex
3217 hex
3218 hex
3219 hex
3220 hex
3221 hex
Damping
Frequency 2
Damping Filter 2
Setting
Damping
Frequency 3
Damping Filter 3
Setting
Damping
Frequency 4
Damping Filter 4
Setting
The function is the same with 3215 hex.
The function is the same with 3214 hex.
The function is the same with 3215 hex.
The function is the same with 3214 hex.
The function is the same with 3215 hex.
Reference
page 9-18 page 9-18 page 9-18 page 9-18 page 9-18
11-15
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-5 Damping Control
Precautions for Correct Use
Stop operation before changing the objects or switching with DFSEL.
Damping control may not function properly or the effect may not be apparent under the following conditions.
Item
Load condition
Conditions under which the effect of damping control is inhibited
• If forces other than position commands, such as external forces, cause vibration.
• If the damping frequency is outside the range of 1.0 to 200 Hz.
• If the ratio of the resonance frequency to anti-resonance frequency is large.
11
Operating Procedure
1. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop Integral
Time Constant 1 (3102 hex), and Torque Command Filter Time Constant 1 (3104 hex).
If no problem occurs in realtime autotuning, you can continue to use the settings.
2. Measure the damping frequency at the tip of the mechanical unit.
Measure the damping frequency by using a measurement device such as a laser displacement sensor, servo acceleration meter, or acceleration pick-up.
Set the measured damping frequency in one of Damping Frequency 1 to Damping Frequency
4 (1: 3214 hex, 2: 3216 hex, 3: 3218 hex, 4: 3220 hex) according to the operation.
Also set the Switching Mode using Damping Filter Selection (3213 hex).
If the measurement device cannot be used, use CX-Drive tracing function, and read the residual damping frequency (Hz) from the position error waveform as shown in the following figure.
Command speed
Position error
The damping frequency in the figure is calculated with the following formula:
Calculate the damping frequency.
f (Hz) =
1
T (s)
Damping cycle T
Since the object unit is 0.1 Hz:
(3214 hex, 3216 hex, 3218 hex, 3220 hex) = 10 × f
Application example
If the damping cycle is 100 ms or 20 ms, set 100 or 500 in the object so that the damping frequency becomes 10 Hz or
50 Hz.
If vibration persists after setting the frequency, increase or decrease the resonance frequency to find a proper one with minimum vibration.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-16
11
11-5 Damping Control
3. Make the damping filter settings.
Make damping filter settings (1: 3215 hex, 2: 3217 hex, 3: 3219 hex, 4: 3221 hex).
First, set the filter to 0 and check the torque waveform during operation.
The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure. Set a range that will not cause torque saturation under actual operation conditions. The effects of vibration suppression will be lost if torque saturation occurs.
Damping
filter setting is appropriate.
Damping
filter setting is too large.
Torque saturation
Torque command
When setting the damping frequencies, reduce the setting if the torque become saturated and increase the setting to make operation faster. Normally 0 is set.
The setting range is as follows:
Damping filter setting range: Damping filter setting ≤ Damping frequency
100 ≤ (Damping frequency + Damping filter setting)
4. Set the Damping Filter Selection (3213 hex).
Damping filters 1 to 4 can be switched according to the conditions of the machine vibration.
Set value
0
1, 2
3
Switching mode
Up to two filters, Damping Filter 1 and Damping Filter 2, can be used simultaneously.
For use by manufacturer.
Switching with command direction
Forward: Damping filter 1 and 3 enabled
Reverse: Damping filter 2 and 4 enabled
11-17
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-6 Adaptive Filter
11-6 Adaptive Filter
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the torque command.
The automatically set notch filter frequency is set in Notch 3 (3207 to 3209 hex) or Notch 4
(3210 to 3212 hex). Refer to 11-7 Notch Filters on page 11-21 for information on notch filter.
11
After vibration suppression
Motor speed
Adaptive filter disabled
Adaptive filter effect
Filter frequency setting completed
Position and speed command
Position/ speed control
Adaptive filter
Torque command
Current loop control
Resonance frequency estimation
Load inertia estimation
Realtime autotuning
Speed feedback
SM
RE
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-18
11-6 Adaptive Filter
11
Objects Requiring Settings
Index Name
3200 hex
Adaptive Filter
Selection
Description
Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation.
0: Adaptive filter disabled
1: One adaptive filter enabled. The objects related to notch filter 3 are automatically updated.
2: Two adaptive filters enabled. The objects related to notch filters 3 and 4 are automatically updated.
3: For use by manufacturer. Do not use this setting.
4: Adaptive result is cleared.
Objects related to notch filters 3 and 4 are disabled and the adaptive result is cleared.
Reference
Precautions for Correct Use
Adaptive filter may not operate correctly under the following conditions.
Item
Resonance points
Conditions that interfere with the adaptive filter
• If the resonance frequency is 300 Hz or lower.
• If the resonance peak or control gain is too low to affect the motor speed.
• If there are three or more resonance points.
Load
• If the motor speed with high-frequency components changes due to backlash or other non-linear elements.
Command pattern
• If the acceleration/deceleration is 3,000 r/min/s or higher.
If the adaptive filter does not operate properly, use Notch 1 (3201 to 3203 hex) or Notch 2 (3204 to 3206 hex) to reduce resonance according to the manual adjustment procedure.
Refer to 11-7 Notch Filters on page 11-21 for information on notch filter.
11-19
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-6 Adaptive Filter
Operating Procedure
1. Set the Adaptive Filter Selection (3200 hex).
Select adaptive filter 1 or 2 in the Adaptive Filter Selection (3200 hex).
2. Start actual operation.
Enter an operation command and start the actual operation.
3. The Notch Filters 3 and 4 are automatically set.
When the influence of a resonance point appears in the motor speed, the Notch Filters 3 and
4 objects are set automatically according to the number of adaptive filters.
11
Precautions for Correct Use
An unusual noise or vibration may occur until the adaptive filter stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning Machine Rigidity Selection
(3003 hex) is increased. This is not a problem if it disappears right away. If the vibration or unusual noise, however, continues for three or more reciprocating operations, take the following measures in the possible order.
• Write the objects used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Setting (3003 hex).
• Disable the adaptive filter by setting the Adaptive Filter Selection (3200 hex) to 0.
(Resetting of inertial estimation and adaptive operation)
• Manually set the notch filter.
If unusual noise or vibration occurs, the setting of Notch 3 (3207 to 3209 hex) or Notch 4 (3210 to
3212 hex) may have changed to an extreme value. In this case, set Adaptive Filter Selection (3200 hex) to 0 to disable the object and then set the Notch 3 Frequency Setting (3207 hex) and Notch
4 Frequency Setting (3210 hex) to 5,000 (disabled). Next, enable Adaptive Filter Selection again.
The Notch 3 Frequency Setting (3207 hex) and Notch 4 Frequency Setting (3210 hex) are written to the EEPROM every 30 minutes. When the power supply is turned OFF and then turned ON again, this data is used as the default settings to perform adaptive operation.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-20
11-7 Notch Filters
11
11-7 Notch Filters
When the machine rigidity is low, axis torsion may produce resonance which results in vibration and noise. Thus you may not be able to set a high gain. The notch filter can restrict the resonance peak, and allows a high gain setting and vibration reduction.
The OMNUC G5-series Servo Drives provide four notch filters that can be used for adjusting frequency, width and depth. If a ball screw or other controlled device causes resonance at a specific location, you can set the resonance frequency using a notch filter to eliminate resonance.
A notch filter is used to eliminate a specified frequency component.
fw
Width fw
0db
-3db
Depth=Fc/fw
Frequency Hz
Cut-off frequency Fc
If machine resonance occurs, use this notch filter to eliminate resonance.
Machine resonance
Notch filter
Notch filter 1
Characteristics after filtering
Notch filter 2
11-21
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-7 Notch Filters
Objects Requiring Settings
Index
3201 hex
3202 hex
3203 hex
3204 hex
3205 hex
3206 hex
3207 hex
3208 hex
3209 hex
3210 hex
3211 hex
3212 hex
Name Description
Notch 1 Frequency
Setting
Notch 1 Width
Setting
Notch 1 Depth
Setting
Notch 2 Frequency
Setting
Notch 2 Width
Setting
Notch 2 Depth
Setting
Notch 3 Frequency
Setting
*1
Notch 3 Width
Setting
*1
Notch 3 Depth
Setting
*1
Notch 4 Frequency
Setting
*1
Notch 4 Width
Setting
*2
Notch 4 Depth
Setting
*2
Set the center frequency of notch filter 1.
The notch filter is enabled at 50 to 4,999 Hz, and disabled if 5,000 Hz is set.
Select the width of the notch filter 1 frequency.
Increasing the value widens the notch width.
(Setting range: 0 to 20)
Select the depth of the notch filter 1 center frequency.
Increasing the value decreases the notch depth and thereby reduces the phase delay. The notch filter is disabled if 100 is set.
(Setting range: 0 to 99)
Set the center frequency of the notch filter 2.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 2 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 2 center frequency.
The details are the same with the notch filter 1 depth.
Set the center frequency of the notch filter 3.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 3 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 3 center frequency.
The details are the same with the notch filter 1 depth.
Set the center frequency of the notch filter 4.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 4 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 4 center frequency.
The details are the same with the notch filter 1 depth.
*1 If an adaptive filter is used, these objects are set automatically.
*2 These objects are set automatically when two adaptive filters are enabled.
Reference
page 9-16 page 9-16 page 9-16 page 9-16 page 9-16 page 9-16
Precautions for Correct Use
Identify the resonance frequency using the FFT analysis function or operation waveform of the waveform graphics function of CX-Drive and set the identified frequency as the notch filter frequency.
11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-22
11-7 Notch Filters
11
11-23
Notch Filter Width and Depth
Width Setting
This is the ratio of the frequency bandwidth at a damping factor of -3 [dB] relative to the center frequency when the depth is 0. This value should conform to the left column in the table below.
Depth Setting
This is the I/O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100. If the indication unit is [dB], this value should conform to the right column in the table below.
Set value
12
13
14
15
10
11
8
9
16
17
18
19
20
6
7
4
5
2
3
0
1
Width
Bandwidth/center frequency
2.00
2.38
2.83
3.36
4.00
4.76
5.66
6.73
8.00
9.51
11.31
13.45
16.00
0.50
0.59
0.71
0.84
1.00
1.19
1.41
1.68
Set value
40
45
50
60
20
25
30
35
70
80
90
100
10
15
4
5
2
3
0
1
Depth
I/O ratio (%)
40
45
50
60
20
25
30
35
0 (Cut off)
1
2
3
10
15
4
5
70
80
90
100 (Passed)
Damping factor
(dB)
−16.5
−14.0
−12.0
−10.5
−9.1
−8.0
−6.9
−6.0
−4.4
−∞
−40.0
−34.0
−30.5
−28.0
−26.0
−20.0
−3.1
−1.9
−0.9
0.0
Notch filter frequency characteristics
10
5
0
-5
-10
-15
-20
-25
-30
1 0
-3[dB]
1 0 0
Frequency [Hz]
1 0 0 0
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-8 Disturbance Observer Function
11-8 Disturbance Observer Function
You can lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value.
Disturbance torque
Internal torque command
+
Add to the direction that negates the disturbance
+
+
−
Motor+load
Torque command
+ −
Load model
Feedback
Motor Speed
Setting with
3623 hex
Gain
Filter
Set with 3624 hex
11
Disturbance observer
Disturbance torque
Estimation value
Operating Conditions
You can use the disturbance observer in the following situations.
Conditions
Operating mode Position control (semi-closed control)
Others
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled
Precautions for Correct Use
If there is a resonance point below the cut-off frequency estimated by the disturbance observer or if a large amount of high-frequency elements is found in the disturbance torque, the disturbance observer may not be effective.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-24
11-8 Disturbance Observer Function
11
Objects Requiring Settings
Index Name Description
3610 hex Function Expansion Settings Set the bits related to the disturbance observer.
3623 hex
Disturbance Torque
Compensation Gain
Set the compensation gain for disturbance torque.
3624 hex
Disturbance Observer Filter
Setting
Set the filter time constant for disturbance torque compensation.
Reference
Operating Procedure
1. Set the Function Expansion Setting (3610 hex).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions for enabling the function in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2. Set the Disturbance Observer Filter Setting (3624 hex).
Set a small value for the Disturbance Torque Compensation Gain (3623 hex).
Change the value in the Disturbance Observer Filter Setting (3624 hex) from a large value gradually to a smaller one.
The smaller the value set of the Disturbance Observer Filter Setting (3624 hex) is, the lesser disturbance torque lag can be estimated, and the more effective control over the disturbance influence can be obtained. But the smaller the value is, the larger the operation noise can be.
You must consider the balance of these advantage and disadvantage to set a value.
3. Set the Disturbance Torque Compensation Gain (3623 hex).
After you set the Disturbance Observer Filter Setting (3624 hex), increase the value of the
Disturbance Torque Compensation Gain (3623 hex) from a small value to a large value. The larger the value set on the Disturbance Torque Compensation Gain (3623 hex) is, the more effective control over the disturbance influence can be obtained. But the larger the value is, the larger the operation noise will be. Set this object in combination with the Disturbance Observer
Filter Setting (3624 hex) to achieve balanced settings.
11-25
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-9 Friction Torque Compensation Function
11-9 Friction Torque Compensation Function
Two types of friction torque compensations can be set to reduce the influence of mechanical frictions. One is the unbalanced load compensation that offsets the constantly applied unbalance torque. The other is the dynamic friction compensation that changes the offset direction in accordance with the operating direction.
Operating Conditions
You can use the function under the following conditions:
Conditions
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled
Objects Requiring Settings
The torque compensation function needs the combined settings of following three objects.
Index
3607 hex
3608 hex
3609 hex
Torque Command Value
Offset
Forward Direction Torque
Offset
Name
Reverse Direction Torque
Offset
Description
Set the unbalanced load compensation value to always add to the internal torque command.
Set the dynamic friction compensation value to add to the internal torque command for forward operation.
Set the dynamic friction compensation value to add to the internal torque command for reverse operation.
Reference
11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-26
11-9 Friction Torque Compensation Function
11
Operation Example
The friction torque compensation is applied in the input direction of the position command as shown in the drawing below.
3607 hex
(Torque command value offset)
Command speed
Forward
3608 hex (Forward Direction
Torque Offset)
3609 hex
(Reverse Direction
Torque Offset)
Time
Reverse
Motor de-energized Motor power supply
Motor de-energized
The Torque Command Value Offset (3607 hex) reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis by setting the torque command.
By setting the friction torque for each rotation direction in the Forward Direction Torque Offset
(3608 hex) and Reverse Direction Torque Offset (3609 hex), you can reduce the deterioration of and inconsistencies in the positioning stabilization time due to dynamic friction for loads that require a large amount of dynamic friction torque due to a radial load, such as the belt-driven shaft.
Precautions for Correct Use
You can use unbalanced load compensation and the dynamic friction compensation together or separately. The following application limit applies.
Servo ON
The unbalanced load compensation and the dynamic friction compensation values are held until the first position command is input. When the position command is input, the unbalanced load compensation is updated based on 3607 hex. Also, based on the command direction, the dynamic friction compensation value is updated according to objects 3608 and 3609 hex.
11-27
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-10 Hybrid Vibration Suppression Function
11-10 Hybrid Vibration Suppression Function
This function suppresses the vibration that is caused by the amount of the torsion between the motor and the load in the Fully-closed Control Mode. You can use this function to increase the gain setting.
Operating Conditions
The hybrid vibration suppression function can be used in the following situations.
Conditions
Operating mode Fully-closed Control mode
Others
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled
11
Objects Requiring Settings
Index
3634 hex
Name
Hybrid Vibration
Suppression Gain
3635 hex
Hybrid Vibration
Suppression Filter
Description
Set the hybrid vibration suppression gain.
In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
Set the hybrid vibration suppression filter.
Reference
Operating Procedure
1. Set the Hybrid Vibration Suppression Gain (3634 hex) to the same value as the position loop gain.
2. Gradually increase the set value of the Hybrid Vibration Suppression Filter (3635 hex) while driving with fully-closed control and check the changes in the response.
If the response improves, find the combination of 3634 hex and 3635 hex that result in the optimal response by adjusting them.
Precautions for Correct Use
This function is effective when the amount of torsion between the motor shaft and the load is large.
It may be less effective when the amount of torsion is small.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-28
11-11 Feed-forward Function
11
11-11 Feed-forward Function
The feed-forward function come in 2 types: speed feed-forward and torque feed-forward.
The speed feed-forward can minimize the position error and increase the responsiveness during position or fully-closed control.
Responsiveness is improved by adding the speed feed-forward value calculated from the internal position command and related objects (3110 hex and 3111 hex) to the speed command calculated by comparing the internal position command and the position feedback.
If the Velocity offset (60B1 hex) is set, both the set value and the speed feed-forward valued are added to the Control effort (60FA hex).
The torque feed-forward can increase the responsiveness of the speed control system.
Responsiveness is improved by adding the torque feed-forward value calculated from the
Control effort (60FA hex) and related objects (3112 hex and 3113 hex) to the torque command calculated by comparing the Control effort (60FA hex) and the speed feedback.
If the Torque offset (60B2 hex) is set, both the set value and the torque feed-forward valued are added to the torque command.
Objects Requiring Settings
Index
3110 hex
3111 hex
3112 hex Torque Feed-forward Gain
3113 hex
Speed Feed-forward
Command Filter
Torque Feed-forward
Command Filter
60B1 hex Velocity offset
60B2 hex
Name
Speed Feed-forward Gain
Torque offset
Description
The speed command from position control processing is added to the product of the Control effort (60FA hex) that is calculated from the internal position command times the ratio in this object.
Set the time constant for the first-order lag filter that is applied to speed feed-forward input.
The torque command from speed control processing is added to the product of the Control effort (60FA hex) times the ratio in this object.
Set the time constant for the first-order lag filter that is applied to torque feed-forward input.
Set the offset for the speed command.
It will be added to the Control effort (60FA hex).
Set the offset for the torque command.
It will be added to the torque command value.
Reference
11-29
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-11 Feed-forward Function
Operating Procedure
Speed Feed-forward Operating Method
1. Set the Speed Feed-forward Command Filter (3111 hex).
Set it to approx. 50 (0.5 ms).
2. Adjust the Speed Feed-forward Gain (3110 hex).
Gradually increase the value of the Speed Feed-forward Gain (3110 hex) and finely adjust it to avoid overshooting during acceleration/deceleration.
If the speed feed-forward gain is set to 100%, the position error is calculated at 0. However, large overshooting will occur during acceleration/deceleration.
The position error during an operation at a certain speed will decrease based on the following formula according to the speed feed-forward gain value.
Position error [command units] = Command speed [command units/s]/Position loop gain [1/s]
× (100 - Speed feed-forward gain [%])/100
11
Motor speed
Position error
Command speed
Speed FF gain
0 [%]
50 [%]
80 [%]
Time
The position error in the range of constant speed becomes smaller as the speed feed-forward gain increases.
Precautions for Correct Use
If the updating cycle of the position command input is longer than the Servo Drive control cycle, or if the input command frequency is not uniform, the operating noise may increase while the speed feed-forward is enabled. Apply the position command filter (first-order lag or FIR smoothing) or increase the speed feed-forward filter setting.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-30
11
11-11 Feed-forward Function
Torque Feed-forward Operating Method
1. Set the Inertia Ratio (3004 hex).
Set the inertia ratio as correctly as possible.
If the inertia ratio is calculated for the selected motor, input the calculated value.
If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Set the Torque Feed-forward Command Filter (3113 hex).
Set it to approx. 50 (0.5 ms).
3. Adjust the Torque Feed-forward Gain (3112 hex).
Gradually increase the value of the Torque Feed-forward Gain (3112 hex).
Since the position error during acceleration/deceleration at a constant speed can be brought close to 0, it can be controlled almost to 0 throughout the entire operation range during a trapezoidal speed pattern under ideal conditions where no disturbance torque is working.
In reality, disturbance torque is always applied and, therefore, the position error cannot be completely 0.
Motor speed
Position error
Command speed
Speed Feed-forward Gain = 100 [%] (fixed)
Torque
Feed-forward Gain
0 [%]
50 [%]
Time
100 [%]
Torque feed-forward can reduce the position error in a range of constant acceleration/ deceleration.
Precautions for Correct Use
If you increase the torque feed-forward filter time constant, the operation noise will be reduced.
However, the position error where the acceleration changes will become larger.
The torque feed-forward function cannot be used when realtime autotuning is being used. Set both the Torque Feed-forward Gain (3112 hex) and Torque Feed-forward Command Filter (3113 hex) to 0.
11-31
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-12 Instantaneous Speed Observer Function
11-12 Instantaneous Speed Observer Function
This function uses a load model to estimate the motor speed. It improves the speed detection accuracy and can provide both high responsiveness and minimum vibration when stopping.
Motor Controller
Effort
Speed control
Speed estimation value
Instantaneous speed observer
Load model
To position control
Servo Drive
Internal torque command
Current control
Motor current
Motor
(Total inertia)
Feedback motor position
Encoder
Load
11
Operating Conditions
The instantaneous speed observer function can be used in the following situations.
Conditions
Operating mode Position control (semi-closed control)
Others
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled
Objects Requiring Settings
Index
3610 hex
3004 hex
3100 hex
3101 hex
Name
Function
Expansion Settings
Inertia Ratio
Set whether to enable or disable the instantaneous observer function.
Set the inertia ratio.
Description
Position Loop Gain
1
Set the position loop gain.
Speed Loop Gain 1 Set the speed loop gain.
Reference
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-32
11-12 Instantaneous Speed Observer Function
11
Operating Procedure
1. Set the Inertia Ratio (3004 hex).
Set the inertia ratio as correctly as possible.
If the Inertia Ratio (3004 hex) is obtained in realtime auto gain tuning, use the set value.
If the inertia ratio is calculated for the selected motor, input the calculated value.
If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop Integral
Time Constant 1 (3102 hex), and Torque Command Filter Time Constant 1 (3104 hex).
If no problem occurs in realtime autotuning, you can continue to use the settings.
3. Set the Function Expansion Setting (3610 hex).
Set whether to enable or disable the instantaneous speed observer function in bit 0.
If you set this to 1 (enabled), the speed detection method switches to instantaneous speed observer.
If the machine operation noise or vibration increases, or fluctuations in the torque monitor waveform increase significant enough to cause a problem, return the setting to 0 and make sure that the inertia ratio or the adjustment objects are correct.
If the machine operation noise or vibration decreases, or fluctuations in the torque monitor waveform decrease, make small adjustments to the Inertia Ratio (3004 hex) to find the setting that makes the smallest fluctuations while monitoring the position error waveform and the actual speed waveform.
If Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), or Speed Loop Integral Time
Constant 1 (3102 hex) is changed, the optimal value for the Inertia Ratio (3004 hex) may change, so make small adjustments to the value of the Inertia Ratio (3004 hex) again to set a value that makes the smallest fluctuations.
Precautions for Correct Use
This function may not function properly or the effect may not be apparent under the following conditions.
• If there is a large resonance point at a frequency of 300 Hz or lower.
• If there is a non-linear element (play), such as a large backlash.
• If the load inertia changes.
• If there is a large disturbance torque with high-frequency elements applied.
• If the setting range for positioning is small.
11-33
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Troubleshooting and Maintenance
This chapter describes the items to check when problems occur, troubleshooting using the error displays, troubleshooting based on the operating conditions, and periodic maintenance.
12
12-1 Troubleshooting .........................................................12-1
12-2 Warnings .....................................................................12-4
12-3 Errors ...........................................................................12-7
12-4 Troubleshooting .......................................................12-13
12-5 Periodic Maintenance...............................................12-31
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-1 Troubleshooting
12-1 Troubleshooting
12
Preliminary Checks When a Problem Occurs
This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs.
Checking the Power Supply Voltage
Check the voltage at the power supply input terminals.
Main Circuit Power Supply Input Terminals (L1, L2, L3)
R88D-KN@L-ECT-R (50 to 400 W): Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KN@H-ECT-R (100 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
R88D-KN@H-ECT-R (750 W to 1.5 kW): 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
(2 kW to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN@F-ECT-R (750 W to 5 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
Control Circuit Power Supply Input Terminals (L1C, L2C)
R88D-KN@L-ECT-R (50 to 400 W): Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KN@H-ECT-R (100 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
(2 kW to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN@F-ECT-R (750 W to 5 kW): 24 VDC (21.6 to 26.4 V)
If the voltage is out of range, there is a risk of operation failure. Be sure that the power supply is within the specified range.
Check the voltage of the sequence input power supply (+24 VIN terminal (CN1 pin 7)).
It must be between 11 and 25 VDC.
If the voltage is out of range, there is a risk of operation failure. Be sure that the power supply is within the specified range.
Checking Whether an Error Has Occurred
Make an analysis using the 7-segment display on the front of the Servo Drive or using CX-Drive tools.
When an Error Has Occurred
… Check the error display (@@) and make an analysis based on the error that is indicated.
When an Error Has Not Occurred
… Make an analysis according to the error conditions.
In either case, refer to 12-4 Troubleshooting on page 12-13 for details.
12-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-1 Troubleshooting
Precautions When a Problem Occurs
When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop, so always take the following precautions.
You should assume that anything not described in this manual is not possible with this product.
Precautions
Disconnect the wiring before checking for cable breakage. If you test conduction with the cable connected, test results may not be accurate due to conduction via bypassing circuit.
If the encoder signal is lost, the motor may run away, or an error may occur. Be sure to disconnect the motor from the mechanical system before checking the encoder signal.
When measuring the encoder output, perform the measurement based on the GND (CN1 pin 16).
When an oscilloscope is used for measurement, it will not be affected by noise if measurements are performed using the differential between CH1 and CH2.
When performing tests, first check that there are no persons in the vicinity of the equipment, and that the equipment will not be damaged even if the motor runs away. Before performing the tests, verify that you can immediately stop the machine using an immediate stop in case the machine runs out of control.
12
Replacing the Servomotor or Servo Drive
Use the following procedure to replace the Servomotor or Servo Drive.
Replacing the Servomotor
1. Replace the motor.
2. Perform origin adjustment (for position control).
When the motor is replaced, the motor's origin position (phase Z) may deviate, so origin adjustment must be performed.
Refer to the position controller's manual for details on performing origin adjustment.
3. Set up the absolute encoder.
If a motor with an absolute encoder is used, the absolute value data in the absolute encoder is cleared when the motor is replaced, so setup is again required. The multi-rotation data will be different from before it was replaced, so initialize the Motion Control Unit settings.
For details, refer to Absolute Encoder Setup on page 10-6.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-2
12
12-1 Troubleshooting
Replacing the Servo Drive
1. Take a record of all object settings.
Use the CX-Drive or other software and take a record of the settings of all objects.
2. Replace the Servo Drive.
3. Set the objects.
Use the CX-Drive or other software and set all of the objects.
4. Set up the absolute encoder.
If a motor with an absolute encoder is used, the absolute value data in the absolute encoder is cleared when the Servo Drive is replaced, so setup is again required. The multi-rotation data will be different from before it was replaced, so initialize the Motion Control Unit settings.
For details, refer to Absolute Encoder Setup on page 10-6.
12-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-2 Warnings
12-2 Warnings
This function outputs a warning signal and notifies state such as an overload before an error occurs. Set whether to hold warning state by setting the Warning Hold Selection (3759 hex).
If not holding warnings is selected, a warning will be cleared automatically when the cause of the warning has been eliminated. If holding warnings is selected, the normal procedure to clear errors must be performed after removing the cause of the error.
Battery warnings, however, are held in the encoder. The error will be cleared once the hold state has been cleared in the encoder.
Related Objects
Index
3440 hex
3441 hex
3638 hex
3759 hex
Bit 0
Bit 1
3800 hex
Name Description
Warning Output
Selection 1
Warning Output
Selection 2
Select the warning for Warning Output 1
(WARN1).
0: Output for all warnings.
1 or higher: Refer to Warning List on page 12-5.
Select the warning for Warning Output 2
(WARN2).
0: Output for all warnings.
1 or higher: Refer to Warning List on page 12-5.
Warning Mask Setting Set a mask for warning detection. If you set the corresponding bit to 1, the detection of the corresponding warning is disabled.
Refer to Warning List on page 12-5.
Warning Hold
Selection for
Communicationsrelated Warnings
Select whether to hold servo-related and communications-related warning state.
0: Do not hold
1: Hold
Warning Hold
Selection for General
Warnings
Communications
Control
Controls errors and warnings related to
EtherCAT communications. If you set the corresponding bit to 1, the detection of the corresponding warning is disabled.
Reference
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4
12-2 Warnings
12
Warning List
General Warnings
Warning number
Warning name Warning condition
Warning
Output
Selection
(3440 hex,
3441 hex)
*1
Warning
Mask Setting
(3638 hex)
*2
A0 hex
A1 hex
A5 hex
Overload
Warning
Excessive
Regeneration
Warning
The load ratio is 85% or more of the protection level.
The regeneration load ratio is 85% or more of the level.
A2 hex Battery Warning The battery voltage is 3.2 V or less.
A3 hex
Fan Warning The fan stop state continues for 1 second.
A4 hex
Encoder Communications
Warning
The encoder communications errors occurred in series more frequently than the specified value.
The encoder detects the overheat warning.
A6 hex
A7 hex
A8 hex
Encoder
Overheating
Warning
*3
Vibration
Detection
Warning
Life Expectancy
Warning
Vibrating is detected.
The life expectancy of the capacitor or the fan is shorter than the specified value.
The external encoder detects a warning.
A9 hex
External
Encoder Error
Warning
External
Encoder Communications
Warning
The external encoder has communications errors in series more than the specified value.
1
2
3
4
5
6
7
8
9
10
Bit 7
Bit 5
Bit 0
Bit 6
Bit 4
Bit 3
Bit 9
Bit 2
Bit 8
Bit 10
*1. Set the Warning Output Selection 1 (3440 hex) to the warning type to output to Warning Output 1
(WARN1), and set the Warning Output Selection 2 (3441 hex) to the warning type to output to the
Warning Output 2 (WARN2). If you set these objects to 0, all warning types are output.
*2. Detection of general warnings can be masked with the Warning Mask Setting (3638 hex) and detection of EtherCAT communications-related warnings can be masked with the Communications
Control (3800 hex). When the bit is set to 1, the warning detection is masked.
*3 The encoder overheating warning is enabled only when using a 20-bit incremental encoder. It is disabled for all other types of encoders.
Precautions for Correct Use
Do not use any settings for Error Output Selection 1 (3440 hex) and Error Output Selection 2
(3441 hex) other than those given in the above table.
12-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-2 Warnings
Warnings Related to EtherCAT Communications
Warning number
Warning name
Warning condition
Warning Output
Selection
(3440 hex,
3411 hex)
*1
Communications
Control
(3800 hex)
*2
B0 hex
B1 hex
Data Setting
Warning
Command
Warning
An object setting is out of range.
Object operating conditions are not satisfied.
A forced brake operation request was sent while the servo was ON.
A Switch ON command was sent when the main circuit power supply was OFF and object 3508 hex = 0.
An Enable Operation command was sent to request turning ON the servo when the Servomotor was operating at 30 r/min or higher.
A latch operation was started under the following conditions.
An absolute external encoder was used and phase Z was selected as the trigger for fully-closed control.
The absolute multi-rotation data is being cleared or the Config operation is being performed.
The Statusword (6041 hex) bit 9
(remote) is 0 (local).
An operation command was applied in the drive-prohibited direction after an immediate stop for a drive prohibition input.
EtherCAT communications errors occurred one or more times.
11
12
Bit 4
Bit 5
B2 hex
EtherCAT
Communications
Warning
13 Bit 6
*1. Set the Warning Output Selection (3440 hex) to the warning type to output to Warning Output 1
(WARN1), and set Warning Output Selection 2 (3441 hex) to the warning type to output to Warning
Output 2 (WARN2). If you set these objects to 0, all warning types are output.
*2. Detection of general warnings can be masked with the Warning Mask Setting (3638 hex) and detection of EtherCAT communications-related warnings can be masked with the Communications Control
(3800 hex). The warning detection is masked when you set the corresponding bit to 1.
12
Precautions for Correct Use
Do not use any settings for Error Output Selection 1 (3440 hex) and Error Output Selection 2
(3441 hex) other than those given in the above table.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-6
12-3 Errors
12
12-3 Errors
If the Servo Drive detects an abnormality, it outputs an error (ALM), turns OFF the power drive circuit, and displays the main error number on the front panel.
Precautions for Correct Use
Refer to Troubleshooting with Error Displays on page 12-13 for troubleshooting errors.
Reset the error using one of the following methods. Remove the cause of the error first.
• Turn OFF the power supply, then turn it ON again.
• Reset the error via EtherCAT communications or from the CX-Drive via USB communications.
However, some errors can only be reset by turning the power supply OFF then ON again. Refer
to the Error List on page 12-8.
An Overload Error (Error No. 16) cannot be reset for 10 seconds after it occurs.
If "hh," "FF," or "HH" is displayed as the error number, the internal MPU has malfunctioned. Turn OFF the power immediately if one of these error numbers is displayed.
12-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-3 Errors
Error List
1
0
0
0
1
0
1
0
1
0
0
0
7
1
5
6
2
1
4
0
1
0
5
8
3
4
0
1
2
Error No. (hex)
Main Sub
14
15
16
18
23
24
25
11
12
13
21
26
27
29
30
(st)
33
0
0
0
Error detection function
Control Power Supply Undervoltage
Overvoltage
Main Power Supply Undervoltage
(insufficient voltage between P and N)
Main Power Supply Undervoltage (AC cutoff detected)
Overcurrent
IPM Error
Servo Drive Overheat
Overload
Regeneration Overload
Regeneration Tr Error
Encoder Communications Disconnection
Error
Encoder Communications Error
Encoder Communications Data Error
Error Counter Overflow
Excessive Hybrid Deviation Error
Overspeed
Overspeed 2
Absolute Value Cleared
Command Error
Command Generation Error
Operation Command Duplicated
Position Data Initialized
Error Counter Overflow 1
Error Counter Overflow 2
Safety Input Error
ABS
ABS
History
−
√
−
Attribute
Can be reset
Immediate stop
*1
√
√
√
−
−
−
Interface Input Duplicate Allocation Error 1
Interface Input Duplicate Allocation Error 2
Interface Input Function Number Error 1
Interface Input Function Number Error 2
Interface Output Function Number Error 1
Interface Output Function Number Error 2
External Latch Input Allocation Error
−
√
√
√
√
√
√
√
√
√
−
√
√
√
√
√
√
√
−
√
√
√
√
√
√
√
√
√
√
√
−
−
−
−
−
−
−
−
√
√
−
−
−
−
√
√
−
√
−
−
−
√
*2
−
−
−
−
−
√
−
−
−
−
−
−
−
−
√
−
−
−
−
−
−
√
−
−
−
−
√
−
−
−
√
−
−
−
√
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-8
12
12
12-3 Errors
44
45
47
48
49
Error No. (hex)
Main Sub
34
36
Error detection function
0
Overrun Limit Error
0 to 2 Object Error
37
38
40
41
42
43
50
51
55
83
87
4
5
0
2
3
2
1
0
1
4
5
2
3
0
1
0
0
0
0
0 to 2 Object Corrupted
0
1
0
0
0
0
Drive Prohibition Input Error 1
Drive Prohibition Input Error 2
Absolute Encoder System Down
Error
Absolute Encoder Counter
Overflow Error
Absolute Encoder Overspeed
Error
Encoder Initialization Error
0
0
1
ABS
ABS
ABS
Absolute Encoder 1-rotation
Counter Error
Absolute Encoder Multi-rotation
Counter Error
Absolute Encoder Status Error
ABS
ABS
ABS
Encoder Phase-Z Error
Encoder CS Signal Error
External Encoder Connection Error
External Encoder Communications Data
Error
External Encoder Status Error 0
External Encoder Status Error 1
External Encoder Status Error 2
External Encoder Status Error 3
External Encoder Status Error 4
External Encoder Status Error 5
Phase-A Connection Error
Phase-B Connection Error
Phase-Z Connection Error
EtherCAT State Change Error
EtherCAT Illegal State Change Error
Communications Synchronization Error
Synchronization Error
Sync Manager WDT Error
Immediate Stop Input Error
√
√
√
√
−
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
−
−
−
−
√
√
History
−
√
√
√
*3
Attribute
Can be reset
Immediate stop
*1
√ −
− −
−
−
−
−
−
−
−
−
√
*3
−
−
−
−
−
√
√
√
√
√
−
√
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
12-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-3 Errors
Error No. (hex)
Error detection function
Main Sub
88
90
91
92
93
0
1
0
0
0
1
3
3
4
0
2
Node Address Setting Error
ESC Initialization Error
SII Verification Error
Communications Setting Error
Command Error
Encoder Data Restoration Error
External Encoder Data Restoration Error
Object Setting Error 1
Object Setting Error 2
External Encoder Connection Error
Function Setting Error
95
99
0 to 4 Motor Non-conformity
0 Other Error 1
Other numbers Other errors
History
−
√
√
√
√
√
√
√
√
√
√
√
√
Attribute
Can be reset
−
−
√
√
−
−
−
−
√
−
−
−
−
Immediate stop
*1
−
−
−
−
−
−
−
−
−
−
−
−
−
*1. An immediate stop error is displayed if an immediate stop is performed when −4 to −7 is set for the
Fault reaction option code (605E hex). Refer to the description of object 605E hex on page 6-41.
*2. This error cannot be reset for 10 seconds after it occurs.
*3. The error cannot be reset unless the absolute value is cleared.
Note 1. If an error that cannot be reset occurs, remove the error factor and turn OFF the control power to reset the error.
2. If a resettable error occurs, reset the error via EtherCAT communications or on the CX-Drive.
3. If "hh," "FF," or "HH" is displayed as the error number, the internal MPU has malfunctioned. Turn
OFF the power immediately if one of these error numbers is displayed.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-10
12-3 Errors
12
Immediate Stop Operation at Errors
The immediate stop function controls the motor and stop it immediately if an error that supports for immediate stopping occurs.
Related Objects
Index Name Explanation
Set the state during deceleration and after stopping for when an error occurs.
3511 hex Immediate Stop Torque Set the torque limit for immediate stops.
3513 hex
3614 hex
3615 hex
Overspeed Detection
Level Setting
Error Detection
Allowable Time Setting
Overspeed Detection
Level Setting at
Immediate Stop
If the motor rotation speed exceeds the set value, an
Overspeed Error (Error No. 26.0) will occur.
Set the allowable time until stopping if an immediate stop is executed when an error is detected.
If the motor speed exceeds the set value during an immediate stop resulting from an error, an
Overspeed 2 Error (Error No. 26.1) will occur.
Reference
12-11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-3 Errors
Immediate Stop Operation
Speed
[r/min]
Motor speed
Speed command
Speed deemed as stop
[30 r/min]
Error
Torque limit
Overspeed protection threshold
No error
Normal torque limit
Normal operation
Normal operation
(Command from the Host)
Time
Error occurs for immediate stop
Normal torque limit
Immediate Stop Torque (3511 hex)
(measure to reduce shock for immediate stops)
Normal operation
Overspeed Detection Level Setting at Immediate Stop
(3615 hex) (to protect again runaway for immediate stops)
Immediate stop operation
Error state (Operation after stopping:
Dynamic brake/free)
Immediate stop time
12
Precautions for Correct Use
To prevent operation from running out of control for an immediate stop, set the allowable
Overspeed Detection Level Setting at Immediate Stop (3615 hex). An Overspeed 2 Error (Error
No. 26.1) does not support immediate stopping. If it occurs, an error trip will occur immediately.
Set a higher value for the Overspeed Detection Level Setting at Immediate Stop (3615 hex) than for the Overspeed Detection Level Setting (3513 hex). If a value lower than the Overspeed
Detection Level Setting (3513 hex) is set, an Overspeed 2 Error (Error No. 26.1) will occur before an Overspeed Error (Error No. 26.0). Thus an immediate stop will not occur. If an Overspeed Error
(Error No. 26.0) and an Overspeed 2 error (Error No. 26.1) occur at the same time, the immediate stop will not occur, either.
If the actual rotation speed is not lower than 30 r/min after the time set on the Error Detection
Allowable Time Setting (3614 hex) elapses from when an error that supports immediate stopping occurs, an error state will occur immediately.
If an error that does not support immediate stopping occurs during an immediate stop, an error state will occur immediately.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-12
12-4 Troubleshooting
12-4 Troubleshooting
If an error occurs in the machine, determine the error conditions from the error displays and operation state, identify the cause of the error, and take appropriate measures.
12
Troubleshooting with Error Displays
Error List
Error No. (hex)
Main Sub
11
12
0
0
Name Cause Measures
Control
Power Supply
Undervoltage
The voltage between the positive and negative terminals in the control power supply converter dropped below the specified value.
• The power supply voltage is low. A momentary power interruption occurred.
• Insufficient power supply capacity: the power supply voltage dropped because there was inrush current when the main power supply was turned ON.
• The Servo Drive is faulty (circuit fault).
Measure the voltage between the L1C and L2C lines on the connectors and the terminal block.
• Increase the power supply voltage.
Change the power supply.
• Increase the power supply capacity.
• Replace the Servo Drive.
Overvoltage The power supply voltage exceeded the allowable input voltage range, causing the voltage between the positive and negative terminals in the converter to exceed the specified value. The power supply voltage is high. The voltage was suddenly increased by the phase advance capacitor or the uninterruptible power supply (UPS).
• The Regeneration Resistor wiring is broken.
Measure the voltage between the connector (L1, L2, and L3) lines. Input the correct voltage. Remove the phase advance capacitor.
• The External Regeneration Resistor is inappropriate and cannot absorb all of the regenerative energy. The load inertia is too large, gravitational torque on the vertical axis is too large, or there is some other problem to absorb the regenerative energy.
• Use a tester to measure the resistance of the external resistor between the B1 and B2 terminals on the Servo Drive. If the resistance is infinite, the wiring is broken. Replace the external resistor.
• Change the regeneration resistance and wattage to the specified values.
(Calculate the regenerative energy and connect an External Regeneration
Resistor with the required regeneration absorption capacity. Reduce the descent speed.)
• Replace the Servo Drive.
• The Servo Drive is faulty (circuit fault).
12-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Error No. (hex)
Main Sub
13
0
1
Name Cause Measures
Main Circuit
Power Supply Undervoltage
(Undervoltage between positive and negative terminals)
If the Undervoltage Error Selection (3508 hex) is set to 1, a momentary power interruption occurred between L1 and L3 for longer than the value specified for the
Momentary Hold Time (3509 hex).
Alternatively, the voltage between the positive and negative terminals in the main power supply converter dropped below the specified value while the servo was ON.
• The power supply voltage is low. A momentary power interruption occurred.
Measure the voltage between the connector (L1, L2, and L3) lines.
• A momentary power interruption occurred.
Main Power
Supply Undervoltage (AC interruption detected)
• Insufficient power supply capacity: the power supply voltage dropped because there was inrush current when the main power supply was turned ON.
• Phase-failure: a Servo Drive with 3phase input specifications was operated with single-phase power supply.
• The Servo Drive is faulty (circuit fault).
• Increase the power supply voltage.
Change the power supply. Eliminate the cause of the failure of the electromagnetic contactor on the main circuit power supply, and then turn ON the power again.
• Check the setting of the Momentary
Hold Time (3509 hex). Set each phase of the power supply correctly.
• Increase the power supply capacity.
Refer to Servo Drive Model Table on page 2-5 for information on the power
supply capacity.
• Connect each phase (L1, L2, and L3) of the power supply correctly. Use L1 and
L3 for single-phase 100 V and singlephase 200 V.
• Replace the Servo Drive.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-14
12-4 Troubleshooting
12
Error No. (hex)
Main Sub
14
15
0
1
0
Name Cause Measures
Overcurrent The current flowing through the converter exceeded the specified value.
• The Servo Drive is faulty (faulty circuit, faulty IGBT part, etc.).
IPM Error
• The Servomotor cable is short-circuited between phases U, V, and W.
• The Servomotor cable is ground-faulted.
• Motor windings are burned out.
• The Servomotor wiring contacts are faulty.
• The relay for the dynamic brake has been welded due to frequent servo ON/
OFF operations.
• The Servomotor is not suitable for the
Servo Drive.
• The pulse input timing is the same as or earlier than the servo ON timing.
• Disconnect the Servomotor cable, and turn ON the servo. If the problem immediately recurs, replace the Servo
Drive with a new one.
• Check to see if the Servomotor cable is short-circuited between phases U, V and W by checking for loose wire strands on the connector lead. Connect the Servomotor cable correctly.
• Check the insulation resistance between phases U, V, and W of the Servomotor cable and the grounding wire of the
Servomotor. If the insulation is faulty, replace the Servomotor.
• Check the balance between the resistance of each wire of the
Servomotor. If resistance is unbalanced, replace the Servomotor.
• Check for missing connector pins in
Servomotor connections U, V, and W. If any loose or missing connector pins are found, secure them firmly.
• Replace the Servo Drive. Do not start or stop the system by turning the servo ON or OFF.
• Check model (capacity) of the
Servomotor and the Servo Drive on the nameplates. Replace the Servomotor with a Servomotor that matches the
Servo Drive.
• Wait at least 100 ms after the servo has been turned ON, then input pulses.
Servo Drive
Overheat
The temperature of the Servo Drive radiator or power elements exceeded the specified value.
• The ambient temperature of the Servo
Drive exceeded the specified value.
• Overload
• Improve the ambient temperature and the cooling conditions of the Servo
Drive.
• Increase the capacities of the Servo
Drive and the Servomotor. Set longer acceleration and deceleration times.
Reduce the load.
12-15
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Error No. (hex)
Main Sub
16
18
0
0
1
Name Cause Measures
Overload When the feedback value for torque command exceeds the overload level specified in the Overload Detection Level
Setting (3512 hex), overload protection is performed according to the overload characteristics.
• The load was heavy, the effective torque exceeded the rated torque, and operation continued too long.
Check if torque (current) waveforms oscillate or excessively oscillates vertically during analog output or communications. Check the overload warning display and the load rate through communications.
• Increase the capacities of the Servo
Drive and the Servomotor. Set longer acceleration and deceleration times.
Reduce the load.
• Readjust the gain.
• Vibration or hunting occurred due to faulty gain adjustment. The Servomotor vibrates or makes unusual noise. The
Inertia Ratio (3004 hex) setting is faulty.
• The Servomotor wiring is incorrect or broken.
• The machine was hit by an object, or the machine load suddenly became heavy.
The machine was distorted.
• The electromagnetic brake remains ON.
• Connect the Servomotor cable as shown in the wiring diagram. Replace the cable.
• Remove the distortion from the machine. Reduce the load.
• When multiple machines were wired, the wiring was incorrect and the Servomotor cable to was connected to a Servomotor for another axis.
• Measure the voltage at the brake terminals. Turn OFF the brake.
• Wire the Servomotor and the encoder correctly so that the wiring matches the axes.
Regeneration
Overload
Refer to 3-2 Overload Characteristics (Electronic Thermal Function) on page 3-31 for
information on overload characteristics.
The regenerative energy exceeds the processing capacity of the Regeneration
Resistor.
• The regenerative energy during deceleration caused by a large load inertia increased the converter voltage, and then insufficient energy absorption by the Regeneration Resistor further increased the voltage.
• The Servomotor rotation speed is too high to absorb the regenerative energy within the specified deceleration time.
• The operating limit of the external resistor is limited to a 10% duty.
Check the load rate of the Regeneration
Resistor through communications. This
Regeneration Resistor cannot be used for continuous regenerative braking.
• Check the operation pattern (speed monitor). Check the load rate of the
Regeneration Resistor and check for the excessive regeneration warning display.
Increase the capacities of the Servo
Drive and the Servomotor, and length the deceleration time. Use an External
Regeneration Resistor.
• Check the operation pattern (speed monitor). Check the load rate of the
Regeneration Resistor and the excessive regeneration warning display.
Increase the capacities of the Servo
Drive and the Servomotor, and lengthen the deceleration time. Reduce the
Servomotor rotation speed. Use an
External Regeneration Resistor.
• Set the Regeneration Resistor Selection
(3016 hex) to 2.
Regeneration
Tr Error
Precautions for Correct Use
Always provide a temperature fuse or other protective measure when setting the
External Regeneration Resistor Setting (3017 hex) to 2. Otherwise, the Regeneration
Resistor will not be protected, generate excessive heat, and be burnt.
The Servo Drive regeneration drive Tr is faulty.
Replace the Servo Drive.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-16
12-4 Troubleshooting
12
Error No. (hex)
Main Sub
21
23
24
25
26
0
1
0
0
0
0
1
Name Cause Measures
Encoder
Communications Disconnection Error
Encoder
Communications Error
A disconnection was detected because communications between the encoder and the Servo Drive were stopped more frequently than the specified value.
Wire the encoder correctly as shown in the wiring diagram. Correct the connector pin connections.
There was a communications error in data from the encoder. There was a data error mainly due to noise. The encode cable is connected, but a communications data error occurred.
• Provide the required encoder power supply voltage 5 VDC ±5% (4.75 to 5.25
V). Be careful especially when the encode cable is long.
• If the Servomotor cable and the encoder cable are bundled together, separate them.
• Connect the shield to FG.
Encoder
Communications Data
Error
No communications error occurred with the data from the encoder, but there is an error in the contents of the data. There was a data error mainly due to noise. The encode cable is connected, but a communications data error occurred.
• Provide the required encoder power supply voltage 5 VDC ±5% (4.75 to 5.25
V). Be careful especially when the encode cable is long.
• If the Servomotor cable and the encoder cable are bundled together, separate them.
• Connect the shield to FG.
Error Counter
Overflow
Position error pulses exceeded the setting of the Following error window (6065 hex).
• Motor operation does not follow the command.
• The value of the Following error window
(6065 hex) is small.
• Check to see if the Servomotor rotates according to the position command pulse. Check on the torque monitor to see if the output torque is saturated.
Adjust the gain. Maximize the set values on the Positive torque limit value (60E0 hex) and the Negative torque limit value
(60E1 hex). Wire the encoder as shown in the wiring diagram. Lengthen the acceleration and deceleration times.
Reduce the load and the speed.
• Increase the set value of object 6065 hex.
Excessive
Hybrid
Deviation
Error
During fully-closed control, the difference between the load position from the external encoder and the Servomotor position from the encoder was larger than the number of pulses set as the Hybrid
Following Error Counter Overflow Level
(3328 hex).
• Check the Servomotor and load connection.
• Check the external encoder and Servo
Drive connection.
• When moving the load, check to see if the change in the Servomotor position
(encoder feedback value) has the same sign as the change in the load position
(external encoder feedback value).
Check to see if the External Feedback
Pulse Dividing Numerator and
Denominator (3324 hex and 3325 hex), and External Feedback Pulse Direction
Switching (3326 hex) are set correctly.
Overspeed The Servomotor rotation speed exceeded the value set on the Overspeed Detection
Level Setting (3513 hex).
Overspeed 2 The Servomotor rotation speed exceeded the value set for the Overspeed Detection
Level Setting at Immediate Stop (3615 hex).
• Do not give excessive speed commands.
• Check the input frequency, dividing ratio, and multiplication ratio of the command pulse.
• If overshooting occurred due to faulty gain adjustment, adjust the gain.
• Wire the encoder as shown in the wiring diagram.
12-17
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Error No. (hex)
Main Sub
27
29
30
(st)
1
4
5
6
7
1
2
0
Name Cause Measures
Absolute
Value
Cleared
ABS
Command
Error
The multi-rotation counter for the absolute encoder was cleared during USB communications by the CX-Drive.
• Check to see if the multi-rotation counter for the absolute encoder was cleared during USB communications by the CX-
Drive.
Note: This operation is performed for safety and is not an error.
The position command variation after the electronic gear is higher than the specified value.
• Check to see if the position command variation is large.
• Check the electronic gear ratio.
• Check to see if the backlash compensation amount is too large.
During position command processing, an error such as an "over the calculation range" error occurred.
Check to see if the electronic gear ratio, and the acceleration and deceleration rates meet the restrictions.
Command
Generation
Error
Operation
Command
Duplicated
Position Data
Initialized
A Config operation was performed or the multi-rotation counter was cleared for the absolute encoder during EtherCAT communications.
Error Counter
Overflow 1
ABS
An attempt was made to establish
EtherCAT communications (change from
Init to Pre-Operational state) or to turn ON the servo from the controller (enable operation) while executing an FFT that operates with the Servo Drive alone or a trial run.
Check to see if EtherCAT communications is established or the servo is turned ON (enable operation) while an FFT or a trial run was being conducted.
The value that is obtained by dividing the absolute encoder position (in pulses) by the electronic gear ratio exceeded ±2
31
(2,147,483,648) during the initialization of position data, after the control power was turned ON in absolute value mode, after a
Config operation, after FFT was executed, or after a trial run was executed.
Check to see if Config operation was performed or the multi-rotation counter was cleared for the absolute encoder during EtherCAT communications.
Note: This operation is performed for safety and is not an error.
Review the operation range of the absolute external encoder position and the electronic gear ratio.
Error Counter
Overflow 2
The position error in pulses exceeded
±2
29
(536,870,912). Alternatively, the position error in command units exceeded
±2
30
(1,073,741,824).
• Check to see if the Servomotor rotates according to the position command.
• Check on the torque monitor to see if the output torque is saturated.
• Adjust the gain.
• Maximize the set values on the Positive torque limit value (60E0 hex) and the
Negative torque limit value (60E1 hex).
• Wire the encoder as shown in the wiring diagram.
Safety Input
Error
At least one of the input photocouplers for safety inputs 1 and 2 turned OFF.
Check the input wiring of safety inputs 1 and 2.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-18
12-4 Troubleshooting
12
Error No. (hex)
Name Cause Measures
Main Sub
33
34
36
37
0
1
2
3
Interface
Input
Duplicate
Allocation
Error 1
Interface
Input
Duplicate
Allocation
Error 2
There is a duplicate setting in the input signal (IN1, IN2, IN3, and IN4) function allocations.
There is a duplicate setting in the input signal (IN5, IN6, IN7, and IN8) function allocations.
Interface
Input
Function
Number Error
1
There is an undefined number specification in the input signal (IN1, IN2,
IN3, and IN4) function allocations.
Alternatively, a logic setting error was detected.
Interface
Input
Function
Number Error
2
There is an undefined number specification in the input signal (IN5, IN6,
IN7, and IN8) function allocations.
Alternatively, a logic setting error was detected.
Allocate the functions to the connector pins correctly.
4
5
8
0
0 Object Error Data in the Object Save Area was
1 corrupted when the power supply was turned ON and data was read from the
EEPROM.
2
0
1
2
Interface
Output
Function
Number Error
1
There is an undefined number specification in the output signal (OUTM1) function allocation.
Interface
Output
Function
Number Error
2
There is an undefined number specification in the output signal (OUTM2) function allocation.
External
Latch Input
Allocation
Error
There is an error in the latch input function allocation.
• The function was allocated to input signals other than IN5, IN6, or IN7.
• The function was allocated to NC.
• The function was not allocated for all control modes.
Overrun Limit
Error
The Servomotor exceeded the allowable operating range set in the Overrun Limit
Setting (3514 hex) with respect to the position command input range.
• The gain is not appropriate.
• The set value of object 3514 hex is too small.
• Check the gains (the balance between position loop gain and speed loop gain) and the inertia ratio.
• Increase the set value of object 3514 hex. Alternatively, set object 3514 hex to
0 to disable the protection function.
Object
Corrupted
EEPROM write verification data was corrupted when the power supply was turned ON and data was read from the
EEPROM.
• Reset all of the objects.
• If this error occurs repeatedly, the Servo
Drive may be faulty. In this case, replace the Servo Drive. Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
The Servo Drive is faulty. Replace the
Servo Drive. Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
12-19
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Error No. (hex)
Main Sub
38
40
41
42
43
44
45
47
48
0
1
0
0
0
0
0
0
0
0
Name Cause Measures
Drive
Prohibition
Input Error 1
Drive
Prohibition
Input Error 2
Absolute encoder system down error
When the Drive Prohibition Input
Selection (3504 hex) was set to 0, both the
Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition Input (NOT) turned ON. When object 3504 hex was set to 2, either the Forward Drive Prohibition input or the Reverse Drive Prohibition input turned ON.
Check for any problems with the switches, wires, and power supplies that are connected to the Forward Drive
Prohibition input or the Reverse Drive
Prohibition input. In particular, check to see if the control signal power supply (12 to 24 VDC) turned ON too slowly.
When object 3504 hex was set to 0,
EtherCAT communications were interrupted and either POT or NOT was
ON, an operation command (such as a trial run or FFT) was received from the
CX-Drive. Conversely, POT or NOT turned ON while operation was being performed for a CX-Drive operation command.
The voltage of the built-in capacitor dropped below the specified value because the power supply to the encoder or the battery power supply was down.
Connect the battery power supply, and then clear the absolute encoder.
Unless the absolute encoder is cleared, the error cannot be reset.
ABS
Absolute
Encoder
Counter
Overflow
Error
ABS
Absolute
Encoder
Overspeed
Error
ABS
The multi-rotation counter of the encoder exceeded the specified value.
• Set the Operation Switch When Using
Absolute Encoder (3015 hex) to an appropriate value.
• Make sure that the traveling distance from the origin of the machine is no more than 32,767 revolutions.
The Servomotor rotation speed exceeded the specified value when only the battery power supply was used during a power interruption.
• Check the power supply voltage (5V
±5%) on the encoder side.
• Check the connections to connector
CN2. Unless the absolute encoder is cleared, the error cannot be reset.
Encoder
Initialization
Error
Absolute
Encoder
1-rotation
Counter Error
ABS
An encoder initialization error was detected.
Replace the Servomotor.
The encoder detected a 1-rotation counter error.
Replace the Servomotor.
Replace the Servomotor.
Absolute
Encoder
Multi-rotation
Counter Error
ABS
Absolute
Encoder
Status Error
ABS
Encoder
Phase-Z Error
The encoder detected a multi-rotation counter error.
The rotation of the encoder was higher than the specified value when the power supply was turned ON.
A missing serial incremental encoder phase-Z pulse was detected.
The encoder is faulty.
Do not let the Servomotor move when the power supply is turned ON.
Replace the Servomotor.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-20
12-4 Troubleshooting
12
Error No. (hex)
Main Sub
49
50
51
55
83 -
0
0
1
0
1
2
3
4
5
0
1
2
Name Cause Measures
Encoder CS
Signal Error
External
Encoder
Connection
Error
A logic error was detected in the CS signal for serial incremental encoder.
The encoder is faulty.
Replace the Servomotor.
A disconnection was detected because communications between the external encoder and the Servo Drive were interrupted more than the specified number of times.
Wire the external encoder correctly as shown in the connection diagram. Correct the connector pin connections.
External
Encoder
Communications Data
Error
External
Encoder
Status Error 0
There was a communications error in data from external encoder. There was a data error mainly due to noise. The external encoder connection cable is connected, but a communications data error occurred.
• Provide the required external encoder power supply voltage 5 VDC ±5% (4.75 to 5.25 V). Be careful especially when the external encoder connection cable is long.
• If the Servomotor cable and the external encoder connection cable are bundled together, separate them.
• Connect the shield to FG. Refer to the external encoder connection diagram.
Bit 0 of the external encoder error code
(ALMC) was set to 1.
Refer to the external encoder specifications.
Eliminate the cause of the error and then clear the external encoder error.
Then, temporarily turn OFF the control power supply to reset.
External
Encoder
Status Error 1
Bit 1 of the external encoder error code
(ALMC) was set to 1.
Refer to the external encoder specifications.
External
Encoder
Status Error 2
Bit 2 of the external encoder error code
(ALMC) was set to 1.
Refer to the external encoder specifications.
External
Encoder
Status Error 3
Bit 3 of the external encoder error code
(ALMC) was set to 1.
Refer to the external encoder specifications.
External
Encoder
Status Error 4
Bit 4 of the external encoder error code
(ALMC) was set to 1.
Refer to the external encoder specifications.
External
Encoder
Status Error 5
Bit 5 of the external encoder error code
(ALMC) was set to 1.
Refer to the external encoder specifications.
Phase-A
Connection
Error
Phase-B
Connection
Error
An error such as broken wiring was detected in the external encoder phase-A connection.
An error such as broken wiring was detected in the external encoder phase-B connection.
Check the external encoder phase A connection.
Check the external encoder phase-B connection.
Phase-Z
Connection
Error
An error such as broken wiring was detected in the external encoder phase-Z connection.
Check the external encoder phase-Z connection.
Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12-24.
12-21
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Error No. (hex)
Main Sub
87 0
Name Cause Measures
Immediate
Stop Input
Error
An Immediate Stop (STOP) signal was entered.
Check the Immediate Stop (STOP) signal wiring.
Refer to Troubleshooting Errors Related to EtherCAT Communications on page 12-24.
88
90
91 -
-
-
92
93
95
99
0
1
0
2
3
4
0
Encoder Data
Restoration
Error
External
Encoder Data
Restoration
Error
Initialization of internal position data was not processed correctly in semi-closed control mode and absolute value mode.
Initialization of internal position data was not processed correctly in fully-closed control mode and absolute value mode.
• Provide the required encoder power supply voltage 5 VDC ±5% (4.75 to 5.25
V). Be careful especially when the encode cable is long.
• If the Servomotor cable and the encoder cable are bundled together, separate them.
• Connect the shield to FG.
• Provide the required external encoder power supply voltage 5 VDC ±5% (4.75 to 5.25 V). Be careful especially when the external encoder connection cable is long.
• If the Servomotor cable and the external encoder connection cable are bundled together, separate them.
• Connect the shield to FG. Refer to the external encoder connection diagram.
Object Setting
Error 1
Object Setting
Error 2
External
Encoder
Connection
Error
Electronic gear ratio exceeded the allowable range.
External encoder ratio exceeded the allowable range.
The set value of the External Feedback
Pulse Type Selection (3323 hex) differs from the external encoder type that is actually connected for serial communications. Electronic gear ratio exceeded the allowable range.
Check the object settings. The electronic gear ratio must be set between 1/1000 and 1000.
Check the object settings. The external encoder ratio must be set between 1/40 and 160.
Set object 3323 hex to conform with the external encoder type that is actually connected.
Function
Setting Error
The function that was set does not support the communications cycle.
• The electronic gear object ratio was not
1:1 when the communications cycle was set to 250/500 µs.
Check the communications cycle settings or the electronic gear object.
The Servomotor does not match the
Servo Drive.
Replace the Servomotor with a
Servomotor that matches the Servo Drive.
Other Error 1 • Error reset is executed when safety input 1 or safety input 2 is still in OFF status.
• Power circuit detected a hardware error.
• Be sure to clear the error when both safety input 1 and 2 have returned to ON status.
• Turn OFF the power once, and turn it
ON again.
• If the error is displayed even after the power is turned ON again, the system may be faulty. Stop using the system, and replace the Servomotor and/or the
Servo Drive. Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-22
12
12
12-4 Troubleshooting
Error No. (hex)
Name Cause Measures
Main Sub
Other numbers
Other errors The control circuit malfunctioned due to excess noise or some other problem. The self-diagnosis function of the Servo Drive was activated, and an error occurred in the Servo Drive.
• Turn OFF the power once, and turn it
ON again.
• If the error is displayed even after the power is turned ON again, the system may be faulty. Stop using the system, and replace the Servomotor and/or the
Servo Drive. Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
12-23
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Troubleshooting Errors Related to EtherCAT Communications
Error number
Main Sub
83
88
90
91
1
2
3
4
5
0
1
3
0
1
Name Error timing Cause Measures
EtherCAT state change error
EtherCAT illegal state change error
Communications sync error
Sync error
Sync
Manager
WDT Error
Node address setting error
ESC initialization error
SII verification error
Communications setting error
Command error
Occurs during operation.
Occurs during operation.
Occurs during operation.
Occurs during operation.
A communications state change command was received for which the current communications state could not be changed.
An undefined communications state change command was received.
The number of consecutive errors in receiving data during the communication sync time exceeded the value specified for the Communications Control
Setting.
Control PCB error
Check the specifications of the communications state change command for the host controller.
Check the specifications of the communications state change command for the host controller.
• Connect the EtherCAT communications cable correctly.
• Check to see if the EtherCAT communications cable is exposed to excessive noise.
Replace the Servo Drive.
Occurs during operation.
Occurs during operation.
Occurs when the power supply is turned ON.
Occurs when the power supply is turned ON.
Occurs when the power supply is turned ON.
Occurs when the power supply is turned ON.
PDO communications were stopped for more than the specified period of time.
The node address that was read from the rotary switches was not between 00 and 99.
Control PCB error
Control PCB error
• Check the operation of the host controller.
• Connect the EtherCAT communications cable correctly.
• Turn OFF the power supply, then turn it ON again.
• Replace the Servo Drive.
• Turn OFF the power supply, then turn it ON again.
• Replace the Servo Drive.
• Turn OFF the power supply, then turn it ON again.
• Replace the Servo Drive.
• An out-of-range value was set from the host controller.
• A command that changes the communications state to an unsupported state was received.
• When bit 9 (Remote) of the
Statusword (6041 hex) was set to 1 (remote), and the Servo
Drive was in operation enabled state (Servo ON), a command that changes the communications state from
Operational to another state
(Init, Pre-Operational, Safe-
Operational) was received.
• Make EtherCAT communications settings such as the synchronous cycle
(SYNC0 cycle) correctly.
• Check the specifications of the communications state change command for the host controller.
Check the command specifications of the host controller.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-24
12
12-4 Troubleshooting
12
Troubleshooting Using the Operation State
Symptom Probable cause Items to check Measures
The 7-segment display does not light.
The ERR indicator flashes or lights.
The L/A IN and the L/A
OUT indicators are OFF.
An error occurred.
The servo does not lock.
The control power is not supplied.
A communications-related error occurred.
A link in the EtherCAT physical communications layer has not been established yet.
Read the error number and the error log.
The power cable is not connected correctly.
The Servomotor power supply is not ON.
Check to see if the power supply input is within the allowed power supply voltage range.
Check to see if the power supply input is wired correctly.
Refer to Troubleshooting Errors Related to EtherCAT
Check to see if the communications cable is connected correctly.
Connect the communications cable correctly.
Check to see if the host controller has started.
Check to see if the
Servomotor power cable is connected properly.
Check the main circuit wiring and power voltage.
Supply the correct power supply voltage.
Wire correctly.
Start the host controller.
Take appropriate measures against the cause of the error that
Wire the Servomotor power cable correctly.
Input the correct power and voltage for the main circuit.
• Turn ON POT and
NOT. Input +24 VIN to
CN1.
The Forward or Reverse
Drive Prohibition Input (POT or NOT) is OFF.
• Check to see if the input for
Forward or Reverse Drive
Prohibition Input (POT or
NOT) is OFF.
• Check the input of +24 VIN to CN1.
The torque limit is set to 0.
Check to see if the torque limits in the Positive torque limit value (60E0 hex) and the
Negative torque limit value
(60E1 hex) are set to 0.
The Servo Drive has broken down.
−
Set the maximum torque to be used for each of these objects.
Replace the Servo Drive.
12-25
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
The servo locks but the
Servomotor does not rotate.
Symptom
The Servomotor operates momentarily, but then it does not operate after that.
The Servo Drive has broken down.
The position commands given are too little.
The Servomotor power cable is wired incorrectly.
The Servomotor rotates without a command.
Probable cause
The host controller does not give a command.
It is hard to determine if the
Servomotor is rotating
The holding brake is operating.
The Servomotor power cable is wired incorrectly.
The encoder cable is wired incorrectly.
Power is not supplied.
Items to check
For a position command, check to see if the speed and position are set to 0.
Check to see it the speed command given by the host controller is too small.
Check the brake interlock output (BKIR) signal and the
+24 VDC power supply.
The torque limits set in the
Positive torque limit value
(60E0 hex) and the Negative torque limit value (60E1 hex) are too small.
The Servo Drive has broken down.
The Forward or Reverse
Drive Prohibition Input (POT or NOT) is OFF.
Check to see if the torque limits in objects 60E0 hex and
60E1 hex are set to a value close to 0.
−
Check the ON/OFF state of the POT and NOT signals from the CX-Drive.
The control mode does not conform to the command.
Replace the Servo Drive.
Check the set value of the
Control Mode Selection (3001 hex).
Check the wiring.
• Turn ON the POT and
NOT signals.
• Disable them in the settings when the POT and NOT signals are not used.
Set the control mode according to the command.
Wire correctly.
Check the power supply and the 7-segment display.
Check the voltage between the power terminals.
−
Measures
Enter position and speed data. Start the
Servomotor.
Check the speed command from the host controller.
Check to see if the holding brake on a
Servomotor with brake is released when the servo is locked.
Set the maximum torque to be used for each of these objects.
Turn ON the power.
Wire the power-ON circuit correctly.
Replace the Servo Drive.
The encoder cable is wired incorrectly.
There are inputs of small values in speed control mode.
The Servo Drive has broken down.
Check the position data and the electronic gear ratio at the host controller.
Check the wiring of the
Servomotor power cable's phases U, V, and W.
Check the encoder cable's wiring.
Check if there is an input in speed control mode.
−
Set the correct data.
Wire correctly.
Wire correctly.
Set the speed command to 0. Alternatively, change the mode to position control mode.
Replace the Servo Drive.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-26
12-4 Troubleshooting
12
Symptom
The Servomotor rotates in the reverse direction from the command.
The holding brake does not work.
Probable cause
The value set in the Rotation
Direction Switching (3000 hex) is incorrect.
The command given by the host controller is incorrect.
Power is supplied to the holding brake.
Motor rotation is unstable. The Servomotor power
The Servomotor is overheating.
The machine position is misaligned.
cable or encoder cable is wired incorrectly.
Low rigidity is causing vibration.
The load's moment of inertia exceeds the Servo Drive's allowable value.
Loose joint and/or large clearance with the machine
The load and gain do not match.
The ambient temperature is too high.
The heat radiation condition for the Servomotor is inappropriate.
The Servomotor is overloaded.
The Servomotor vibrates during rotation.
The coupling of the
Servomotor axis and the machine is abnormal.
The host controller gave a deceleration stop command.
Items to check
Check the set value of object
3000 hex.
Measures
Change the set value of object 3000 hex.
• The size of the absolute command is set incorrect.
• The polarity of an incremental command is set incorrect.
Check to see if power is supplied to the holding brake.
• Check the actual and target values.
• Check the rotation direction.
• Check the brake interlock output (BKIR) signal and the relay circuit.
• Check to see if the holding brake is worn down.
Wire correctly.
Check the wiring of the
Servomotor power cable's phases U, V, and W and check the encoder cable's wiring.
Measure the vibration frequency of the load.
Calculate the load inertia.
Check the joint with the machine.
Check the response waveforms for speed and torque.
Check to see if the ambient temperature around the
Servomotor is over 40°C.
• Check to see if the specified radiation conditions are observed.
• For a Servomotor with a brake, check the load ratio.
Measure the torque on the analog monitor on the front panel or from the CX-Drive.
Check to see if the coupling of the Servomotor and the machine is misaligned.
Check the control ladder program in the host controller.
Enable the damping control. Set the damping filter frequency.
• Check if manual tuning can achieve proper adjustment.
• Increase the
Servomotor capacity.
Remove the joint looseness with the machine.
Adjust the speed loop gain to stabilize the rotation.
• Lower the ambient temperature around the
Servomotor to 40°C or less. (Use a fan or air conditioner.)
• Lower the load ratio.
• Improve the radiation conditions.
• Reduce the load.
• Improve ventilation.
• Decrease the acceleration and deceleration rates.
• Lower the speed and check the load.
• Tighten the coupling again.
• Replace the coupling with a coupling that has no looseness.
Review the control in the host controller.
12-27
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Symptom
The Servomotor does not stop or is hard to stop even if the servo is turned
OFF while the
Servomotor is rotating.
The Servomotor or the load generates abnormal noise or vibration.
Probable cause Items to check
The load inertia is too large. • Check the load inertia.
• Check the Servomotor rotation speed.
• The dynamic brake resistance is disconnected.
The dynamic brake is disabled.
Check if the dynamic brake is disabled or broken.
Vibration occurs due to improper mechanical installation.
Vibration occurs due to low mechanical rigidity.
Vibration occurs due to machine resonance.
There is a problem with the bearings.
The gain is wrong.
The Speed Feedback Filter
Time Constant 1 (3103 hex) is wrong.
The Torque Command Filter
Time Constant 1 (3104 hex) does not match the load.
Check to see if the vibration frequency is 100 Hz or lower.
Check to see if the resonance frequency is high or low.
Check for noise or vibration around the bearings.
−
Check the set value of object
3103 hex. Normally set 0.
Review the set value of object
3104 hex.
Measures
• Review the load inertia.
• Replace the
Servomotor and Servo
Drive with proper ones.
• Enable the dynamic brake, if it is disabled.
• Replace the brake if it is broken or if the resistor is disconnected.
Retighten the mounting screws.
Check to see if the
Servomotor's mounting screws are loose.
Check the load for eccentricity.
Check to see if the coupling with the load is unbalanced.
Check to see if the decelerator is generating any abnormal noise.
Eliminate the eccentricity. It results in torque fluctuation and noise.
Balance the rotation.
Check the decelerator specifications. Check the decelerator for malfunctions.
If the frequency is 100 Hz or lower, set the correct damping frequency for the damping filter to eliminate the vibration.
If the resonance frequency is high, set the adaptive filter to eliminate the resonance.
Alternatively, measure the resonance frequency and set Notch Filter 1 and
2.
Check to see if the bearings are mounted properly, and adjust them if necessary.
Check if manual tuning can achieve proper adjustment.
Return the setting to the default value of 0.
Alternatively, set a large value and operate the
Servomotor.
Set a larger value for object 3104 hex to eliminate the vibration.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-28
12-4 Troubleshooting
12
Symptom
The Servomotor or the load generates abnormal noise or vibration.
Overshooting at startup or when stopping
Probable cause
The Position Loop Gain 1
(3100 hex) is too large.
The Speed Loop Gain 1
(3101 hex) and the Speed
Loop Integral Time Constant
1 (3102 hex) are balanced incorrectly.
Noise is entering into the control I/O signal cable because the cable does not meet specifications.
Noise is entering into the control I/O signal cable because the cable is longer than the specified length.
Noise is entering into the cable because the encoder cable does not meet specifications.
Noise is entering into the encoder cable because the cable is longer than the specified length.
Noise is entering into the signal lines because the encoder cable is stuck or the sheath is damaged.
Excessive noise on encoder cable.
The FG's potential is fluctuating due to devices near the Servomotor, such as welding machines.
Errors are being caused by excessive vibration or shock on the encoder.
The Position Loop Gain 1
(3100 hex) is too large.
The Speed Loop Gain 1
(3101 hex) and the Speed
Loop Integral Time Constant
1 (3102 hex) are balanced incorrectly.
The machine rigidity set by realtime autotuning is incorrect.
The set inertia ratio differs from the load.
Items to check
Review the setting of object
3100 hex.
Review the set values of objects 3101 hex and 3102 hex.
Check to see if the cable is a twisted-pair cable or shielded twisted-pair cable with core wires that are at least 0.08 mm dia.
Check the length of the control
I/O signal cable.
Check to see if it is a shielded twisted-pair cable with core wires that are at least 0.12 mm dia.
Check the length of the encoder cable.
Check the encoder cable for damage.
Check to see if the encoder cable is bound together with or too close to high-current lines.
Check for ground problems
(loss of ground or incomplete ground) at equipment such as welding machines near the
Servomotor.
There are problems with mechanical vibration or
Servomotor installation (such as the precision of the mounting surface, attachment, or axial offset).
Review the setting of object
3100 hex.
Review the set values of objects 3101 hex and 3102 hex.
Review the setting of the machine rigidity.
Review the set value of the
Inertial Ratio (3004 hex).
Measures
Use the CX-Drive or the analog monitor to measure the response and adjust the gain.
Use a control I/O signal cable that meets specifications.
Shorten the control I/O signal cable to 3 m or less.
Use an encoder cable that meets specifications.
Shorten the encoder cable to less than 50 m.
Correct the encoder cable's pathway.
Install the encoder cable where it won't be subjected to surges.
Ground the equipment properly and prevent current from flowing to the encoder FG.
Reduce the mechanical vibration or correct the
Servomotor's installation.
Adjust the gain to prevent overshooting.
Use the CX-Drive or the analog monitor to measure the response and adjust the gain.
Match the machine rigidity setting to the load rigidity.
Adjust the set value of object 3004 hex with the load.
12-29
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-4 Troubleshooting
Symptom
Vibration is occurring at the same frequency as the power supply.
The position is misaligned. (Position misalignment occurs without an error being output.)
Probable cause
Inductive noise is occurring. Check to see if the drive control signal lines are too long.
There is an error in the coupling of the mechanical system and the Servomotor.
The gain is wrong.
−
Items to check
Check to see if the control signal lines and power supply lines are bound together.
Check to see if the coupling of the mechanical system and the Servomotor is misaligned.
The load inertia is too large. • Check the load inertia.
• Check the Servomotor rotation speed.
• The dynamic brake resistance is disconnected.
Shorten the control signal lines.
Measures
• Separate control signal lines from power supply lines.
• Use a low-impedance power supply for control signals.
Correct the coupling between the mechanical system and the
Servomotor.
Check if manual tuning can achieve proper adjustment.
• Review the load inertia.
• Replace the
Servomotor and Servo
Drive with proper ones.
12
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-30
12
12-5 Periodic Maintenance
12-5 Periodic Maintenance
Caution
After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation.
Equipment damage may result.
Never repair the product by disassembling it.
Electric shock or injury may result.
Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly. Some of the electrical and mechanical components require maintenance depending on application conditions. Periodic inspection and replacement are necessary to ensure proper long-term operation of Servomotors and
Servo Drives. (Quoted from The Recommendation for Periodic Maintenance of a General-
purpose Inverter
published by JEMA.)
The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotors and Servo Drives. Recommended maintenance times are given below for Servomotors and Servo Drives. Use these for reference in periodic maintenance.
Servomotor Life Expectancy
The lifetimes for the different motor parts are listed below.
Bearings: 20,000 hours
Decelerator:20,000 hours
Oil seal: 5,000 hours
Encoder: 30,000 hours
These values assume an ambient motor operating temperature of 40°C, a shaft load within the specified value, operation within the rated values (rated torque and rated rotation speed), and proper installation as described in this manual.
The oil seal can be replaced.
The radial load during Servomotor operation on timing pulleys and other components contacting belts is two or more times the static load or more. Consult with the belt and pulley manufacturers and adjust designs and system settings so that the motor allowable axial load is not exceeded even during operation. If a motor is used under a shaft load exceeding the allowable limit, the motor shaft can break and the bearings can be damaged.
12-31
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-5 Periodic Maintenance
Servo Drive Life Expectancy
The lifetimes for the different drive parts are given below.
Aluminum electrolytic capacitors: 28,000 hours (at an ambient drive operating temperature of
55°C, constant output at rated torque, constant output at rated rotation speed, and installation as described in this manual)
Axial-flow fan: 10,000 to 30,000 hours (The limit depends on the operating conditions.)
Inrush current prevention relay: Approx. 20,000 operations (The limit depends on the operation conditions.)
When using the Servo Drive in continuous operation, use fans or air conditioners to maintain the ambient temperature below 40°C. We recommend that the ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the Servo Drive.
The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature. Generally, an increase of 10°C in the operating ambient temperature will reduce capacitor service life by 50%.
For example, when the ambient operating temperature is 25°C, the life expectancy will be as follows:
12
Life expectancy at 25°C = Life expectancy at 55°C × 2
55 - 25
10
= 224,000 hours
The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied. If the Servo Drive is not used for a long time, we recommend periodic inspection and a part replacement period of 5 years. If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection period of 5 years is recommended.
Upon request, OMRON will inspect the Servo Drive and Servomotor and determine if part replacement is required.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-32
12-5 Periodic Maintenance
12
Replacing the Absolute Encoder Battery
ABS
Replace the Absolute Encoder Backup Battery Unit if it has been used for more than 3 years or if an Absolute Encoder System Down Error (Error No. 40) has occurred.
Replacement Battery Model and Specifications
Item
Name
Model
Battery model
Battery voltage
Current capacity
Specifications
Absolute Encoder Backup Battery Unit
R88A-BAT01G
ER6V (Toshiba)
3.6 V
2,000 mA • h
Mounting the Backup Battery Unit
Mounting the Battery Unit for the First Time
Connect the Absolute Encoder Backup Battery Unit to the motor, then set up the absolute
encoder. Refer to Absolute Encoder Setup on page 10-6.
After the Absolute Encoder Backup Battery Unit is attached, it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery.
If you do not refresh the battery, battery errors may occur due to voltage delay in the battery.
Replacing the Battery Unit
If a battery warning occurs, the absolute encoder power supply must be replaced.
Replace the Battery Unit with the control power supply of the Servo Drive turned ON. If the
Battery Unit is replaced with the control power supply of the Servo Drive OFF, data held in the encoder will be lost.
Precautions for Correct Use
If the absolute encoder is cleared using the front panel or the absolute value is cleared using communications, all error and multi-rotation data will be lost and the absolute encoder must be set
up again. Refer to Absolute Encoder Setup on page 10-6.
12-33
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-5 Periodic Maintenance
Battery Unit Mounting Method
1. Prepare the replacement Battery Unit (R88A-BAT01G).
R88A-BAT01G
2. Remove the Battery Unit box cover.
12
Raise the tabs and remove the cover.
3. Put the Battery Unit into the battery box.
Insert the Battery Unit.
Plug in the connector.
4. Close the cover to the battery box.
Close the battery box cover by making sure the connector wires are not pinched.
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
12-34
Appendix
The appendix provides a list of objects and EtherCAT terminology.
A-1 Object List .................................................................... A-1
A-2 EtherCAT Terminology.............................................. A-19
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A
A-1 Object List
A-1 Object List
Some objects are enabled by turning the power supply OFF and then ON again. After changing these objects, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again.
See below for the data attributes.
A: Always enabled
B: Prohibited to change during motor rotation or commanding.
If it is changed during motor rotation or commanding, the reflection timing is unknown.
C: Updated after the control power is reset, or after a Config command is executed via EtherCAT communications.
R: Updated when the control power supply is reset.
It is not updated for a Config command via EtherCAT communications.
RO: Read only
Index
1000 hex
1001 hex
1008 hex
1009 hex
100A hex
Sub Name
0 Device type
0 Error register
0 Manufacturer device name
0 Manufacturer hardware version
Manufacturer software version
0
1010 hex
1011 hex
1018 hex
10F0 hex
Store parameters
0 Number of entries
1 Save all parameters
Restore default parameters
0 Number of entries
1 Restore all default parameters
Identity object
0 Number of entries
1 Vender ID
2 Product code
3 Revision number
4 Serial number
Backup parameters mode
0 Number of entries
1 Backup parameter checksum
2 Backup parameter changed
Size
4 bytes (U32)
1 byte (U8)
20 bytes (VS)
20 bytes (VS)
20 bytes (VS)
−
1 byte (U8)
4 bytes (U32)
−
1 byte (U8)
4 bytes (U32)
−
1 byte (U8)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
−
1 byte (U8)
4 bytes (U32)
1 bit (BOOL)
Data attribute
RO
RO
RO
RO
RO
−
RO
RO
A
RO
RO
RO
−
RO
B
−
RO
RO
−
RO
A
PDO map
Saving to
EEPROM
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
A-1
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting
0002 0192 hex
0
R88D-KN@@@-ECT
−
Contains a number indicating the Servo Drive software version.
−
01 hex
0000 0001 hex
−
01 hex
0000 0001 hex
−
04 hex
0000 0083 hex
Refer to the table for object
1018 hex on page 6-25.
0000 0000 hex
−
02 hex
−
0
Setting range
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Unit
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
Corresponding
Pn number
−
−
−
−
Relevant control modes
All
All
All
All
−
All
−
All
All
All
All
All
−
All
All
All
−
All
All
−
All
All
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-2
A-1 Object List
A
Index Sub
10F3 hex
1701 hex
1B01 hex
1C00 hex
1C10 hex
1C11 hex
Name
Diagnosis history
0 Number of entries
1 Maximum messages
2 Newest message
5 Flags
6 Diagnosis message 1
7 Diagnosis message 2
: :
19 Diagnosis message 14
258th RxPDO mapping parameter
0 Number of objects
1 1st object
2 2nd object
3 3rd object
4 4th object
258th TxPDO mapping parameter
0 Number of objects
1 1st object
2 2nd object
3 3rd object
4 4th object
5 5th object
6 6th object
7 7th object
8 8th object
9 9th object
Sync manager communication type
0 Number of used sync manager channels
1 Communication type SM0
2 Communication type SM1
3 Communication type SM2
4 Communication type SM3
Sync manager 0 PDO assignment
0 Number of assigned PDOs
Sync manager 1 PDO assignment
0 Number of assigned PDOs
Size
−
1 byte (U8)
1 byte (U8)
1 byte (U8)
2 bytes (U16)
16 bytes (VS)
16 bytes (VS)
:
16 bytes (VS)
−
1 byte (U8)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
−
1 byte (U8)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
−
1 byte (U8)
1 byte (U8)
1 byte (U8)
1 byte (U8)
1 byte (U8)
−
1 byte (U8)
−
1 byte (U8)
PDO map
Saving to
EEPROM
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
: :
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
− −
Not possible. Not possible.
Data attribute
RO
RO
RO
−
RO
RO
A
RO
RO
:
RO
−
RO
RO
RO
−
RO
RO
RO
RO
RO
RO
RO
RO
RO
RO
−
RO
RO
RO
RO
RO
−
RO
−
RO
A-3
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Default setting
−
13 hex
00 hex
06 hex
0000 hex
−
−
:
−
−
04 hex
6040 0010 hex
607A 0020 hex
60B8 0010 hex
60FE 0120 hex
−
09 hex
603F 0010 hex
6041 0010 hex
6064 0020 hex
6077 0010 hex
60F4 0020 hex
60B9 0010 hex
60BA 0020 hex
60BC 0020 hex
60FD 0020 hex
−
04 hex
01 hex
02 hex
03 hex
04 hex
−
00 hex
−
00 hex
Setting range
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
00 to 0E hex
06 to 13 hex
0000 to 0001 hex
−
−
:
A-1 Object List
Unit
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
:
−
−
−
−
Relevant control modes
csp csp csp
− csp csp
All
All
All
:
All
− csp csp
−
All
All
All csp csp csp csp csp csp csp csp
−
All
All
All
All
All
−
All
−
All
Corresponding
Pn number
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
:
−
−
−
−
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-4
A
A-1 Object List
Index Sub Name
1C12 hex
1C13 hex
1C32 hex
1C33 hex
Sync manager 2 PDO assignment
0 Number of assigned RxPDOs
1 Assigned PDO 1
Sync manager 3 PDO assignment
0 Number of assigned TxPDOs
1 Assigned PDO 1
SM2 synchronization
0 Number of synchronization parameters
1 Synchronization type
2 Cycle time
4 Synchronization types supported
5 Minimum cycle time
6 Calc and copy time
9 Delay time
32 Sync error
SM3 synchronization
0 Number of synchronization parameters
1 Synchronization type
2 Cycle time
4 Synchronization types supported
5 Minimum cycle time
6
Calc and copy time
9 Delay time
32 Sync error
2100 hex 0 Error History Clear
2200 hex 0 Communications Error Setting
3000 hex 0 Rotation Direction Switching
3001 hex 0 Control Mode Selection
3002 hex 0 Realtime Autotuning Mode Selection
3003 hex 0
Realtime Autotuning Machine Rigidity
Setting
3004 hex 0 Inertia Ratio
3015 hex 0
Operation Switch when Using Absolute
Encoder
3016 hex 0 Regeneration Resistor Selection
3017 hex 0 External Regeneration Resistor Setting
3100 hex 0 Position Loop Gain 1
Size
Data attribute
RO
RO
RO
RO
RO
−
RO
RO
RO
−
RO
−
RO
RO
RO
−
RO
RO
−
RO
RO
RO
C
R
B
RO
RO
A
C
−
1 byte (U8)
2 bytes (U16)
−
1 byte (U8)
2 bytes (U16)
−
1 byte (U8)
2 bytes (U16)
4 bytes (U32)
2 bytes (U16)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
1 bit (BOOL)
−
1 byte (U8)
2 bytes (U16)
4 bytes (U32)
2 bytes (U16)
4 bytes (U32)
4 bytes (U32)
4 bytes (U32)
1 bit (BOOL)
4 bytes (U32)
1 byte (U8)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
PDO map
Saving to
EEPROM
− −
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
− −
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
2 bytes (INT16)
2 bytes (INT16)
B
B
Not possible.
Not possible.
Possible.
Possible.
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
C
C
C
B
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
A-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting Setting range Unit
−
01 hex
1701 hex
−
01 hex
1B01 hex
−
20 hex
0002 hex
0000 0000 hex
0004 hex
0000 32C8 hex
0007 A120 hex
0000 0000 hex
0
−
20 hex
0002 hex
0000 0000 hex
0004 hex
0000 32C8 hex
0006 06F8 hex
0000 0000 hex
0
0000 0000 hex
1
1
0
1
11 / 13
*1
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
0 to 15
00 to 0F hex
0 to 1
0 to 6
0 to 6
− ns ns ns
−
−
Times
−
− ns
−
−
− ns ns ns
−
−
−
−
−
−
−
−
−
−
−
− ns
− 0 to 31 Pn003 All
250
2
0 to 10000 % Pn004 All
0 to 2
−
Pn015 csp
0 / 3
*2
0
320 / 480
*3
0 to 3
0 to 4
0 to 30000
−
−
0.1/s
Pn016
Pn017
Pn100
All
All csp
*1. The default setting is 11 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 13 for other
Drives.
*2. The default setting is 0 for a Drive for 100 V and 400 W, for 200 V and 750 W or greater, or for a Drive for 400 V. It is set to 3 for other Drives.
*3. The default setting is 320 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 480 for other
Drives.
Relevant control modes
All
All
All
All
All
All
All
All
All
All
All
All
All
All
All
All
−
All
All
−
All
All
All
−
All
All
−
All
All
Corresponding Pn number
−
−
−
−
−
−
−
−
−
−
−
−
Pn000
Pn001
Pn002
−
−
−
−
−
−
−
−
−
−
−
−
−
−
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-6
A-1 Object List
A
Index Sub Name Size
3101 hex 0 Speed Loop Gain 1
3102 hex 0 Speed Loop Integral Time Constant 1
2 bytes (INT16)
2 bytes (INT16)
3103 hex 0 Speed Feedback Filter Time Constant 1 2 bytes (INT16)
3104 hex 0 Torque Command Filter Time Constant 1 2 bytes (INT16)
3105 hex 0 Position Loop Gain 2
3106 hex 0 Speed Loop Gain 2
2 bytes (INT16)
2 bytes (INT16)
3107 hex 0 Speed Loop Integral Time Constant 2 2 bytes (INT16)
3108 hex 0 Speed Feedback Filter Time Constant 2 2 bytes (INT16)
3109 hex 0 Torque Command Filter Time Constant 2 2 bytes (INT16)
3110 hex 0 Speed Feed-forward Gain 2 bytes (INT16)
3111 hex 0 Speed Feed-forward Command Filter
3112 hex 0 Torque Feed-forward Gain
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16) 3113 hex 0 Torque Feed-forward Command Filter
3114 hex 0
Gain Switching Input Operating Mode
Selection
3115 hex 0 Switching Mode in Position Control
3116 hex 0
Gain Switching Delay Time in Position
Control
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
3117 hex 0 Gain Switching Level in Position Control 2 bytes (INT16)
3118 hex 0
Gain Switching Hysteresis in Position
Control
3119 hex 0 Position Gain Switching Time
2 bytes (INT16)
2 bytes (INT16)
3200 hex 0 Adaptive Filter Selection
3201 hex 0 Notch 1 Frequency Setting
3202 hex 0 Notch 1 Width Setting
3203 hex 0 Notch 1 Depth Setting
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
Data attribute
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
B
PDO map
Saving to
EEPROM
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Not possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
A-7
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting
180 / 270
210 / 310
0
*1
*2
84 / 126
*3
380 / 570
*4
180 / 270
*5
10000
0
84 / 126
*6
300
50
0
0
1
Setting range
1 to 32767
1 to 10000
0 to 5
0 to 2500
0 to 30000
1 to 32767
1 to 10000
0 to 5
0 to 2500
0 to 1000
0 to 6400
0 to 1000
0 to 6400
0 to 1
Unit
0.1 Hz
0.1 ms
−
0.01 ms
0.1 Hz
0.1 Hz
0.1 ms
−
0.01 ms
0.1%
0.01 ms
0.1%
0.01 ms
−
Corresponding Pn number
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
Pn108
Pn109
Pn110
Pn111
Pn112
Pn113
Pn114
0
50
0 to 10
0 to 10000
−
0.1 ms
Pn115
Pn116 csp csp
50
33
0 to 20000
0 to 20000
−
−
Pn117
Pn118 csp csp
33
0
5000
2
0
0 to 10000
0 to 4
50 to 5000
0 to 20
0 to 99
0.1 ms
−
Hz
−
−
Pn119
Pn200
Pn201
Pn202
Pn203 csp csp
All
All
All
*1. The default setting is 180 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 270 for other Drives.
*2. The default setting is 310 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 210 for other Drives.
*3. The default setting is 126 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 84 for other Drives.
*4. The default setting is 380 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 570 for other Drives.
*5. The default setting is 180 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 270 for other Drives.
*6. The default setting is 126 for a Drive for 200 V and 1 kW or greater, or for a Drive for 400 V. It is set to 84 for other Drives.
Relevant control modes
csp
All
All
All
All
All
All
All
All csp csp csp csp
All
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-8
A-1 Object List
A
Index
3212 hex
3213 hex
3214 hex
3215 hex
3216 hex
3217 hex
3218 hex
3219 hex
3204 hex
3205 hex
3206 hex
3207 hex
3208 hex
3209 hex
3210 hex
3211 hex
3220 hex
3221 hex
3222 hex
3323 hex
3324 hex
3325 hex
3326 hex
3327 hex
3328 hex
3329 hex
3400 hex
3401 hex
3402 hex
3403 hex
3404 hex
3405 hex
3406 hex
Sub Name Size
0 Notch 2 Frequency Setting
0 Notch 2 Width Setting
0 Notch 2 Depth Setting
0 Notch 3 Frequency Setting
0 Notch 3 Width Setting
0 Notch 3 Depth Setting
0 Notch 4 Frequency Setting
0 Notch 4 Width Setting
0 Notch 4 Depth Setting
0 Damping Filter Selection
0 Damping Frequency 1
0 Damping Filter 1 Setting
0 Damping Frequency 2
0 Damping Filter 2 Setting
0 Damping Frequency 3
0 Damping Filter 3 Setting
0 Damping Frequency 4
0 Damping Filter 4 Setting
0 Position Command Filter Time Constant
0 External Feedback Pulse Type Selection
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
0 External Feedback Pulse Dividing Numerator 4 bytes (INT32)
0
External Feedback Pulse Dividing
Denominator
4 bytes (INT32)
0 External Feedback Pulse Direction Switching 2 bytes (INT16)
2 bytes (INT16) 0 External Feedback Pulse Phase-Z Setting
0
Hybrid Following Error Counter Overflow
Level
0 Hybrid Following Error Counter Reset
4 bytes (INT32)
0
0
0 Input Signal Selection 3
0 Input Signal Selection 4
0
0
0
Input Signal Selection 1
Input Signal Selection 2
Input Signal Selection 5
Input Signal Selection 6
Input Signal Selection 7
2 bytes (INT16)
4 bytes (INT32)
4 bytes (INT32)
4 bytes (INT32)
4 bytes (INT32)
4 bytes (INT32)
4 bytes (INT32)
4 bytes (INT32)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
Data attribute
B
B
B
B
B
B
B
B
B
R
B
B
R
B
B
B
B
B
B
B
B
R
R
R
C
C
C
C
C
C
C
C
C
PDO map
Saving to
EEPROM
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
A-9
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting
0
0
0
0
0
0
0
0
5000
2
0
5000
2
0
5000
2
0
0
0
0
0
10000
0
0
16000
0
0094 9494 hex
0081 8181 hex
0082 8282 hex
0022 2222 hex
002B 2B2B hex
0021 2121 hex
0020 2020 hex
Setting range
50 to 5000
0 to 20
0 to 99
50 to 5000
0 to 20
0 to 99
50 to 5000
0 to 20
0 to 99
0 to 3
0 to 2000
0 to 1000
0 to 2000
0 to 1000
0 to 2000
0 to 1000
0 to 2000
0 to 1000
0 to 10000
0 to 2
0 to 1048576
1 to 1048576
0 to 1
0 to 1
1 to 134217728
0 to 100
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 00FF FFFF hex
Unit
−
−
Command units
Rotations
−
−
−
−
−
−
−
−
−
0.1Hz
0.1Hz
0.1Hz
0.1Hz
0.1Hz
0.1Hz
−
−
Hz
−
0.1Hz
0.1Hz
0.1ms
−
−
Hz
−
−
Hz
−
Relevant control modes
csp csp csp csp
All csp csp csp csp csp csp csp full csp full
All
All
All
All
All
All
All
All csp full csp full csp full csp full csp full
All
All
All
All
All
All
All
Corresponding Pn number
Pn212
Pn213
Pn214
Pn215
Pn216
Pn217
Pn218
Pn219
Pn204
Pn205
Pn206
Pn207
Pn208
Pn209
Pn210
Pn211
Pn220
Pn221
Pn222
Pn323
Pn324
Pn325
Pn326
Pn327
Pn328
Pn329
Pn400
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-10
A-1 Object List
A
Index
3439 hex
3440 hex
3441 hex
3442 hex
3504 hex
3505 hex
3508 hex
3509 hex
3511 hex
3512 hex
3513 hex
3514 hex
3515 hex
3520 hex
3521 hex
3525 hex
3526 hex
3605 hex
3606 hex
3607 hex
3407 hex
3410 hex
3411 hex
3416 hex
3417 hex
3418 hex
3419 hex
3421 hex
3434 hex
3437 hex
3438 hex
Sub Name Size
0 Input Signal Selection 8
0 Output Signal Selection 1
0 Output Signal Selection 2
0 Analog Monitor 1 Selection
0 Analog Monitor 1 Scale Setting
0 Analog Monitor 2 Selection
0 Analog Monitor 2 Scale Setting
0 Analog Monitor Output Setting
4 bytes (INT32)
4 bytes (INT32)
4 bytes (INT32)
2 bytes (INT16)
4 bytes (INT32)
2 bytes (INT16)
4 bytes (INT32)
2 bytes (INT16)
0
0
Zero Speed Detection
Brake Timing when Stopped
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16) 0 Brake Timing During Operation
0
Brake Threshold Speed During
Operation
0 Warning Output Selection 1
2 bytes (INT16)
0 Warning Output Selection 2
0 Position Completion Range 2
2 bytes (INT16)
2 bytes (INT16)
4 bytes (INT32)
0 Drive Prohibition Input Selection 2 bytes (INT16)
0 Stop Selection for Drive Prohibition Input 2 bytes (INT16)
0 Undervoltage Error Selection
0 Momentary Hold Time
0 Immediate Stop Torque
0 Overload Detection Level Setting
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
0 Overspeed Detection Level Setting
0 Overrun Limit Setting
0 Control Input Signal Read Setting
0 Position Setting Unit Selection
0 Torque Limit Selection
0 Forward External Torque Limit
0 Reverse External Torque Limit
0 Gain 3 Effective Time
0 Gain 3 Ratio Setting
0 Torque Command Value Offset
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
B
B
B
C
C
A
A
B
A
B
B
B
B
B
C
C
C
A
A
A
Data attribute
A
A
A
A
C
A
C
C
A
B
B
PDO map
Saving to
EEPROM
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
Not possible. Possible.
A-11
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting Setting range Unit
002E 2E2E hex
0003 0303 hex
0002 0202 hex
0
0
4
0
0
50
0
0
30
0
0
10
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 00FF FFFF hex
0 to 21
0 to 214748364
0 to 21
0 to 214748364
0 to 2
10 to 20000
0 to 10000
0 to 10000
30 to 3000
0 to 13
0 to 13
0 to 262144
0
0
6
5000
5000
0
100
0
0
10
0
0
1
70
1
0
0 to 2
0 to 2
0 to 1
70 to 2000
0 to 5000
0 to 500
0 to 20000
0 to 1000
0 to 3
0 to 1
0 to 7
0 to 5000
0 to 5000
0 to 10000
50 to 1000
-100 to 100
*1. For units, refer to information on object 3416 hex on page 9-26.
*2. Monitor unit in object 3416 hex/V
*3. Monitor unit in object 3418 hex/V
−
−
−
0.1%
0.1%
0.1 ms
%
%
−
−
− ms
0.1%
% r / min
0.1 rotation
−
−
−
*1
*2
−
*3
− r / min ms ms r / min
−
−
Command units Pn442
Pn504
Pn505
Pn508
Pn509
−
Pn512
Pn513
Pn514
Pn515
Pn520
Pn521
−
−
Pn605
Pn606
Pn607
Corresponding Pn number
Pn434
Pn437
Pn438
Pn439
Pn440
Pn441
Pn407
Pn410
Pn411
Pn416
Pn417
Pn418
Pn419
Pn421
Relevant control modes
All
All
All
All
All
All
All
All
All
All
All
All
All
All csp csp csp csp
All
All csp csp csp
All
All
All csp
All
All
All
All
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-12
A-1 Object List
A
Index
3608 hex
3609 hex
3610 hex
3611 hex
3614 hex
3632 hex
3634 hex
3635 hex
3637 hex
3638 hex
3700 hex
3701 hex
3704 hex
3705 hex
3706 hex
3758 hex
3759 hex
3800 hex
3801 hex
3803 hex
4000 hex
4100 hex
4102 hex
603F hex
6040 hex
6041 hex
605B hex
3615 hex
3618 hex
3623 hex
3624 hex
3631 hex
Sub Name Size
0 Forward Direction Torque Offset
0 Reverse Direction Torque Offset
2 bytes (INT16)
2 bytes (INT16)
0 Function Expansion Setting 2 bytes (INT16)
0 Electric Current Response Setting 2 bytes (INT16)
0
0
0
0
Error Detection Allowable Time
Setting
Overspeed Detection Level Setting at Immediate Stop
Power Supply ON Initialization
Time
Disturbance Torque Compensation
Gain
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
0 Disturbance Observer Filter Setting 2 bytes (INT16)
0
Realtime Autotuning Estimated
Speed Selection
2 bytes (INT16)
0
Realtime Autotuning Customization
Mode Setting
2 bytes (INT16)
0 Hybrid Vibration Suppression Gain 2 bytes (INT16)
0 Hybrid Vibration Suppression Filter 2 bytes (INT16)
0 Vibration Detection Threshold 2 bytes (INT16)
0 Warning Mask Setting
0 LED Display Selection
0
Power ON Address Display
Duration Setting
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
0 Backlash Compensation Selection 2 bytes (INT16)
0 Backlash Compensation Amount 2 bytes (INT16)
0
Backlash Compensation Time
Constant
2 bytes (INT16)
0 Touch Probe Trigger Selection
0 Warning Hold Selection
0 Communications Control
0 Software Position Limit Function
0 Origin Range
0 Statusword 1
0 Config
2 bytes (U16)
2 bytes (U16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (INT16)
2 bytes (U16)
4 bytes (U32)
Data attribute
B
B
B
B
B
A
R
B
B
B
B
R
C
B
B
B
B
B
C
A
A
RO
B
C
A
B
B
PDO map
Saving to
EEPROM
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Not possible.
Not possible.
Not possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
Not possible.
Possible.
TxPDO Not possible.
Not possible. Not possible.
0 Absolute Encoder Setup
0 Error code
0 Controlword
0 Statusword
0 Shutdown option code
4 bytes (U32)
2 bytes (U16)
2 bytes (U16)
2 bytes (U16)
2 bytes (INT16)
B
RO
A
RO
B
Not possible. Not possible.
TxPDO
RxPDO
TxPDO
Not possible.
Not possible.
Not possible.
Not possible.
Possible.
A-13
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting
0
0
64
100
200
0
0
0
53
1
0
4
0
0
0
10
0
0
0
0
0100 hex
0
0
3
10
0000 hex
0000 0000 hex
0000 0000 hex
0000 hex
0000 hex
0000 hex
-1
Setting range
-100 to 100
-100 to 100
0 to 127
50 to 100
0 to 1000
0 to 20000
0 to 100
−100 to 100
10 to 2500
0 to 3
−32768 to 32767
0 to 30000
0 to 6400
0 to 1000
−32768 to 32767
0 to 32767
0 to 1000
0 to 2
−32768 to 32767
0 to 6400
0000 to FFFF hex
0000 to FFFF hex
−32768 to 32767
0 to 3
0 to 250
0000 to FFFF hex
0000 0000 to FFFF FFFF hex
0000 0000 to FFFF FFFF hex
0000 to FFFF hex
0000 to FFFF hex
0000 to FFFF hex
−5 to 0
Unit
%
%
−
% ms r / min
0.1 s
%
0.01 ms
−
−
0.1/s
0.01 ms
0.1%
−
−
100 ms
−
Command units
0.01 ms
−
−
−
−
Command units
−
−
−
−
−
−
−
Corresponding Pn number
Pn608
Pn609
Pn610
Pn611
Pn614
Relevant control modes
All
All csp semi
All
All
Pn615
Pn618
Pn623
Pn624
Pn631
All
All csp semi csp semi
All
All csp csp csp
All csp full csp full
All
All
All
All
All
All
All
All
All
All
All except csp full
All
All
All
All
Pn632
Pn634
Pn635
Pn637
Pn638
Pn700
Pn701
Pn704
Pn705
Pn706
−
−
Pn800
Pn801
Pn803
−
−
−
−
−
−
−
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-14
A-1 Object List
A
Index Sub Name
605C hex 0 Disable operation option code
605E hex 0 Fault reaction option code
6060 hex 0 Modes of operation
6061 hex 0 Modes of operation display
6062 hex 0 Position demand value
6063 hex 0 Position actual internal value
6064 hex 0 Position actual value
6065 hex 0 Following error window
606C hex 0 Velocity actual value
6072 hex 0 Max torque
6074 hex 0 Torque demand
6077 hex 0 Torque actual value
607A hex 0 Target position
607C hex 0 Home offset
Software position limit
607D hex
0 Number of entries
1 Min position limit
6091 hex
2 Max position limit
Gear ratio
0 Number of entries
1 Motor revolutions
2 Shaft revolutions
60B0 hex 0 Position offset
60B1 hex 0 Velocity offset
60B2 hex 0 Torque offset
60B8 hex 0 Touch probe function
60B9 hex 0 Touch probe status
RO
RO
A
RO
A
RO
RO
A
C
−
RO
A
A
A
A
C
A
−
RO
C
A
RO
Size
2 bytes (INT16)
2 bytes (INT16)
1 byte (INT8)
1 byte (INT8)
4 bytes (INT32)
Data attribute
B
B
A
RO
RO
PDO map
Saving to
EEPROM
Not possible.
Possible.
Not possible.
Possible.
RxPDO
TxPDO
TxPDO
Not possible.
Not possible.
Not possible.
4 bytes (INT32)
4 bytes (INT32)
4 bytes (U32)
4 bytes (INT32)
2 bytes (U16)
2 bytes (INT16)
2 bytes (INT16)
4 bytes (INT32)
4 bytes (INT32)
−
1 byte (U8)
4 bytes (INT32)
4 bytes (INT32)
−
1 byte (U8)
4 bytes (U32)
4 bytes (U32)
4 bytes (INT32)
4 bytes (INT32)
2 bytes (INT16)
2 bytes (U16)
2 bytes (U16)
TxPDO Not possible.
TxPDO Not possible.
Not possible.
Possible.
TxPDO Not possible.
RxPDO
TxPDO
TxPDO
RxPDO
Not possible.
Not possible.
Not possible.
Not possible.
Not possible.
Possible.
− −
Not possible. Not possible.
Not possible.
Possible.
Not possible.
Possible.
− −
Not possible. Not possible.
Not possible.
Possible.
Not possible.
Possible.
RxPDO Not possible.
RxPDO
RxPDO
Not possible.
Not possible.
RxPDO
TxPDO
Not possible.
Not possible.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting Setting range Unit
Corresponding Pn number
Relevant control modes
-1
-1
0
0
0
0
−
2
−50000
50000
−
02 hex
1
0
100000
0
5000
0
0
0
0
0
0
1
0
0
0
−5 to 0
−7 to 0
0 to 10
0 to 10
−2147483648 to 2147483647
−2147483648 to 2147483647
−2147483648 to 2147483647
0 to 134217728 or 4294967295
−2147483648 to 2147483647
0 to 5000
-5000 to 5000
-5000 to 5000
−2147483648 to 2147483647
−1073741823 to 1073741823
−
02 hex
−1073741823 to 1073741823
−1073741823 to 1073741823
−
−
0 to 1073741824
1 to 1073741824
−2147483648 to 2147483647
−2147483648 to 2147483647
-5000 to 5000
−
−
−
−
−
−
Command units
Encoder units/external encoder units
*1
Command units
Command units
Command units/s
0.1%
0.1%
0.1%
Command units
Command units
−
−
Command units
Command units
−
−
−
−
Command units
Command units/s
0.1%
−
−
−
−
−
−
−
−
All
All
All
All csp
All
All
−
−
*2
All
−
−
All
All
All
All csp
All csp
All
*2 csp csp csp
All
All
*1. Encoder units are used for semi-closed control and external encoder units are used for fully-closed control.
*2. Command: CSP, Monitor: All
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-16
A
A-1 Object List
Index
60BA hex
60BC hex
60E0 hex
60E1 hex
60F4 hex
60FD hex
60FE hex
6402 hex
6502 hex
Sub Name
0 Touch probe pos1 pos value
0 Touch probe pos2 pos value
0 Positive torque limit value
0 Negative torque limit value
0 Following error actual value
0 Digital inputs
Digital outputs
0 Number of entries
1 Physical outputs
2 Bit mask
0 Motor type
0 Supported drive modes
Size
4 bytes (INT32)
4 bytes (INT32)
2 bytes (U16)
2 bytes (U16)
4 bytes (INT32)
4 bytes (U32)
−
1 byte (U8)
4 bytes (U32)
4 bytes (U32)
2 bytes (U16)
4 bytes (U32)
Data attribute
−
RO
A
B
RO
RO
RO
RO
B
B
RO
RO
PDO map
Saving to
EEPROM
TxPDO
TxPDO
Not possible.
Not possible.
TxPDO
TxPDO
Not possible.
Not possible.
Possible.
Possible.
Not possible.
Not possible.
− −
Not possible. Not possible.
RxPDO Not possible.
Not possible. Not possible.
Not possible. Not possible.
Not possible. Not possible.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 Object List
Default setting
0
0
5000
5000
0
0000 0000 hex
−
02 hex
0000 0000 hex
0000 0000 hex
3
0000 0080 hex
Setting range
−2147483648 to 2147483647
−2147483648 to 2147483647
0 to 5000
0 to 5000
−536870912 to 536870912
0000 0000 to FFFF FFFF hex
−
−
0000 0000 to FFFF FFFF hex
0000 0000 to FFFF FFFF hex
−
−
Unit
Command units
Command units
0.1%
0.1%
Command units
−
−
−
−
−
−
−
Corresponding Pn number
−
−
−
−
−
−
−
−
−
−
−
−
Relevant control modes
All
All
All
All csp
All
All
All
−
−
All
All
A
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-18
A
A-2 EtherCAT Terminology
A-2 EtherCAT Terminology
object index subindex process data
Receive PDO
Transmit PDO sync manager
Use the following list of EtherCAT terms for reference.
Term
−
Abbreviation
object dictionary service data object process data object distributed clock device profile fieldbus memory management unit physical device internal interface
CAN in Automation
CAN application protocol over
EtherCAT
EEPROM
EtherCAT Technology Group
EtherCAT slave controller
EtherCAT state machine
EtherCAT slave information
OD
SDO
−
−
−
PDO
RxPDO
TxPDO
SM
DC
−
FMMU
PDI
CiA
CoE
EEPROM
ETG
ESC
ESM
ESI
Description
Abstract representation of a particular component within a device, which consists of data, parameters, and methods.
Data structure addressed by Index and Subindex that contains description of data type objects, communication objects and application objects.
CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written.
Address of an object within an application process.
Sub-address of an object within the object dictionary.
Collection of application objects designated to be transferred cyclically or acyclically for the purpose of measurement and control.
Structure described by mapping parameters containing one or several process data entities.
A process data object received by an EtherCAT slave.
A process data object sent from an EtherCAT slave.
Collection of control elements to coordinate access to concurrently used objects.
Method to synchronize slaves and maintain a global time base.
Collection of device dependent information and functionality providing consistency between similar devices of the same device type.
Single element of the fieldbus memory management unit: one correspondence between a coherent logical address space and a coherent physical memory location.
A series of elements to access data link services from the application layer.
CiA is the international users’ and manufacturers’ group that develops and supports higher-layer protocols.
A CAN application protocol service implemented on EtherCAT.
Electrically erasable PROM.
The ETG is a global organization in which OEM, End Users and Technology Providers join forces to support and promote the further technology development.
A controller for EtherCAT slave communication.
An EtherCAT communication state machine.
An XML file that contains setting information for an EtherCAT slave.
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OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Index
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
I
I
Index
Numerics
1,000-r/min Servomotors model table
Servo Drives
.................................................... rotation speed characteristics
..........................
.................................................