Omron 1S Series User guide

Servo System 1S-series with safety functionality
Startup Guide
R88M-1AL[]/-1AM[] (AC Servomotors)
R88D-1SAN[]-ECT (AC Servo Drives)
I859-E1-01

2
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, 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.
NOTE

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Introduction
The AC Servo System 1S-Series with Built-in EtherCAT Communications and Safety
Functionality Startup Guide (hereinafter, may be referred to as "this Guide") describes the
procedures for installation and setup of a 1S-series Servo Drive with Built-in EtherCAT
Communications and Safety Functionality (hereinafter referred to as “1S-series Servo Drive
Advance Type”), where an NJ/NX-series CPU Unit is used in combination with1S-series AC
Servomotors/Servo Drives Advance Type and NX-series Safety Control Unit, by using the
Sysmac Studio. A simple installation model is used for the discussion. You can perform the
procedures that are presented in this Guide to quickly gain a basic understanding of a 1S-series
AC Servomotors/Servo Drives Advance Type.
The safety circuits described in this Guide are not safety certified. The described usage
examples of safety components and safety circuits may differ from your usage. This Guide does
not contain safety information and other details that are required for actual use. Thoroughly
read and understand the manuals for all of the devices that are used in this Guide to ensure that
the system is used safely. Review the entire contents of these materials, including all safety
precautions, precautions for safe use, and precautions for correct use.
Intended Audience
This Guide is intended for the following personnel.
•Personnel in charge of introducing FA systems
•Personnel in charge of designing FA systems
The personnel must also have the following knowledge.
•Knowledge of electrical systems (an electrical engineer or the equivalent)
•Knowledge of NJ/NX-series CPU Units
•Knowledge of NX-series Safety Units
•Knowledge of AC Servomotors/Drives
•Knowledge of operation procedure of Sysmac Studio
Applicable Products
This Guide covers the following products.
•Machine Automation Controller NJ/NX-series CPU Unit
•Automation Software Sysmac Studio
•1S-series Servomotor/Servo Drive Advance Type
•NX-series EtherCAT Coupler Unit
•NX-series Safety Control Unit

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Special Information
Special information in this Guide is classified as follows:
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure safe usage of the product.

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Terms and Conditions Agreement
Warranties
(a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from
defects in materials and workmanship for a period of twelve months from the date of sale by
Omron (or such other period expressed in writing by Omron). Omron disclaims all other
warranties, express or implied.
(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR
IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE
HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS
OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer
Remedy.
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form
originally shipped with Buyer responsible for labor charges for removal or replacement thereof)
the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer
an amount equal to the purchase price of the non-complying Product; provided that in no event
shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses
regarding the Products unless Omron’s analysis confirms that the Products were properly
handled, stored, installed and maintained and not subject to contamination, abuse, misuse or
inappropriate modification. Return of any Products by Buyer must be approved in writing by
Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability
or the results from the use of Products in combination with any electrical or electronic
components, circuits, system assemblies or any other materials or substances or environments.
Any advice, recommendations or information given orally or in writing, are not to be construed
as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published
information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL
LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS
BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the
Product on which liability is asserted.
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or
regulations which apply to the combination of the Product in the Buyer’s application or use of
the Product. At Buyer’s request, Omron will provide applicable third party certification
documents identifying ratings and limitations of use which apply to the Product. This information

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by itself is not sufficient for a complete determination of the suitability of the Product in
combination with the end product, machine, system, or other application or use. Buyer shall be
solely responsible for determining appropriateness of the particular Product with respect to
Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE
OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN
DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL
EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable
Product, or any consequence thereof.
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in determining suitability and does not constitute a warranty. It may represent
the result of Omron’s test conditions, and the user must correlate it to actual application
requirements. Actual performance is subject to the Omron’s Warranty and Limitations of
Liability
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change part numbers when published ratings or features
are changed, or when significant construction changes are made. However, some
specifications of the Product may be changed without any notice. When in doubt, special part
numbers may be assigned to fix or establish key specifications for your application. Please
consult with your Omron’s representative at any time to confirm actual specifications of
purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or
omissions.

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Precautions
•When building a system, check the specifications for all devices and equipment that will make
up the system and make sure that the OMRON products are used well within their rated
specifications and performances. Safety measures, such as safety circuits, must be
implemented in order to minimize the risks in the event of a malfunction.
•Thoroughly read and understand the manuals for all devices and equipment that will make up
the system to ensure that the system is used safely. Review the entire contents of these
manuals, including all safety precautions, precautions for safe use, and precautions for correct
use.
•Confirm all regulations, standards, and restrictions that the system must adhere to.
•Check the user program for proper execution before you use it for actual operation.
Trademarks
•Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in
Japan and other countries for OMRON factory automation products.
•Windows is either registered trademarks or trademarks of Microsoft Corporation in the USA
and other countries.
•EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
•Microsoft product screen shot(s) reprinted with permission from Microsoft Corporation.
•Other company names and product names in this Guide are the trademarks or registered
trademarks of their respective companies.
Software Licenses and Copyrights
The NJ-series CPU Units and Sysmac Studio incorporate certain third party software. The
license and copyright information associated with this software is available at
http://www.fa.omron.co.jp/nj_info_e/.

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Related Manuals
The following manuals are related. Use these manuals for reference.
Manual name
Cat. No.
Model
Application
Description
1S-Series AC
Servomotors/Servo Drives
with Built-in EtherCAT
Communications and
Safety Functionality User’s
Manual
I621
R88D-1SAN-ECT
R88M-1A□
Learning detailed
specifications of a 1S-series
Servo Drive Advance Type.
Describes how to install and wire the
Servo Drive, set parameters needed to
operate the Servo Drive, and remedies
to be taken and inspection methods to
be used in case that problem occur.
Sysmac Studio Version 1
Operation Manual
W504
SYSMAC-SE2□□□
Learning about the operating
procedures and functions of
the Sysmac Studio.
Describes the operating procedures of
the Sysmac Studio.
Sysmac Studio Drive
Functions Operation
Manual
I589
SYSMAC-SE2□□□
Learning how to set up and
adjust the Servo Drives.
Describes the operating procedures of
the Sysmac Studio.
NX-series CPU Unit
Hardware User’s Manual
W535
NX701-□□□□
Learning the basic
specifications of the
NX-series CPU Units,
including introductory
information, designing,
installation, and
maintenance. Mainly
hardware information is
provided.
Provides an introduction to the entire
NX-series system along with the
following information on the CPU Unit.
•Features and system configuration
•Introduction
•Part names and functions
•General specifications
•Installation and wiring
•Maintenance and inspection
NX-series
NX102 CPU unit
Hardware User’s Manual
W593
NX102-□□□□
Learning the basic
specifications of the NX102
CPU Units, including
introductory information,
designing, installation, and
maintenance. Mainly
hardware information is
provided.
Provides an introduction to the entire
NX102 system along with the following
information on the CPU Unit.
•Features and system configuration
•Introduction
•Part names and functions
•General specifications
•Installation and wiring
•Maintenance and inspection
NX-series
NX1P2 CPU unit
Hardware User’s Manual
W578
NX1P2-□□□□
Learning the basic
specifications of the NX1P2
CPU Units, including
introductory information,
designing, installation, and
maintenance. Mainly
hardware information is
provided.
Provides an introduction to the entire
NX1P2 system along with the following
information on the CPU Unit.
•Features and system configuration
•Introduction
•Part names and functions
•General specifications
•Installation and wiring
•Maintenance and inspection

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Manual name
Cat. No.
Model
Application
Description
NJ-series CPU Unit
Hardware User’s Manual
W500
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning the basic
specifications of the
NJ-series CPU Units,
including introductory
information, designing,
installation, and
maintenance. Mainly
hardware information is
provided.
Provides an introduction to the entire
NJ-series system along with the
following information on the CPU Unit.
•Features and system configuration
•Introduction
•Part names and functions
•General specifications
•Installation and wiring
•Maintenance and inspection
NJ/NX-series CPU Unit
Software User’s Manual
W501
NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning how to program and
set up an NJ/NX-series CPU
Unit. Mainly software
information is provided.
Provides the following information on a
Controller built with an NJ/NX-series
CPU Unit.
•CPU Unit operation
•CPU Unit features
•Initial settings
•Language specifications and
programming based on IEC 61131-3
NJ/NX-series CPU Unit
Motion Control User's
Manual
W507
NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning about motion
control settings and
programming concepts.
Describes the settings and operation of
the CPU Unit and programming
concepts for motion control.
NJ/NX-series
Instructions Reference
Manual
W502
NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning detailed
specifications on the basic
instructions of an NJ/ NX
CPU Unit.
Describes the instructions in the
instruction set (IEC 61131-3
specifications).
NJ/NX-series
Motion Control Instructions
Reference Manual
W508
NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning about the
specifications of the motion
control instructions that are
provided by OMRON.
Describes the motion control
instructions.
NJ/NX-series
Troubleshooting Manual
W503
NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning about the errors that
may be detected in an
NJ/NX-series Controller.
Describes concepts on managing errors
that may be detected in an NJ/NX-series
Controller and information on individual
errors.
NX-series
Safety Control Units
User's Manual
Z930
NX-SL□□□□
NX-SI□□□□
NX-SO□□□□
Learning how to use the
NX-series Safety Control
Units.
Describes the hardware, setup methods
and functions of the NX-series Safety
Control Units.

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Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers
of the manual.
Revision code
Date
Revised content
01
December 2020
Original production
Cat. No.
I859-E1-01
Revision code

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CONTENTS
Introduction······························································································3
Intended Audience .................................................................................................. 3
Applicable Products ................................................................................................ 3
Special Information ................................................................................................. 4
Terms and Conditions Agreement ·······························································5
Precautions ······························································································7
Trademarks ............................................................................................................. 7
Software Licenses and Copyrights.......................................................................... 7
Related Manuals ·······················································································8
Revision History ····················································································· 10
1. Servo System Configuration and Peripheral Products··························· 12
1.1. Outline ........................................................................................................... 12
1.2. Servo System Constructed in This Guide ...................................................... 13
1.3. System Configuration..................................................................................... 14
2. Before You Begin ·············································································· 16
3. Performing Setup·············································································· 17
3.1. Installation and Wiring.................................................................................... 19
3.2. System Configuration with Standard and Safety Controllers ......................... 28
3.3. Sysmac Studio Project Creation .................................................................... 29
3.4. Motor, ABS Encoder and I/O Setup ............................................................... 49
3.5. Easy Tuning for Gain Adjustment................................................................... 53
3.6. Creating a Motor Control Program................................................................. 57
4. Adding a Safety Function··································································· 61
4.1. Adding the Safe Stop 2 (SS2) Function ......................................................... 61
4.2. Adding the Safely-limited Speed (SLS) Function ........................................... 74
Appendices ···························································································· 86
Adding a Servo Drive and Axis from Motor Sizing Tool Results ............................ 86
Test Run and Data Trace ...................................................................................... 87
Manual Tuning ...................................................................................................... 89
Advanced Tuning .................................................................................................. 93

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1. Servo System Configuration and Peripheral
Products
1.1. Outline
The 1S-series Servo Drives Advance Type support 100-Mbps EtherCAT.
When you use the 1S-series Servo Drive Advance Type with a Machine Automation Controller
NJ/NX-series CPU Unit or CJ1W-NC□8□ Position Control Unit with EtherCAT interface, you can
construct a high-speed and sophisticated positioning control system.
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 tuning functions, adaptive notch filter, notch filter, and damping control, you can set up a system
that provides stable operation by suppressing vibration in low-rigidity machines.
The 1S-series Servo Drives Advance Type support the FSoE (Safety over EtherCAT) protocol as the
safety communications. You can build the safety system that uses safety functions from the safety
CPU unit on the EtherCAT network.
Additional Information
For further details on the 1S-series Servo Drives Advance Type, refer to the 1S-Series AC
Servomotors/Servo Drives with Built-in EtherCAT Communications and Safety Functionality User’s
Manual (Cat. No. I621).

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1.2. Servo System Constructed in This Guide
This Guide contains instructions from assembling the hardware that makes up a servo system to
constructing a system for safety functions and performing debugging on the system. The servo
system is built through the following steps:
◼Performing Setup
1
Installation and Wiring
▼
2
System Configuration with Standard and Safety Controllers
▼
3
Sysmac Studio Project Creation
▼
4
Motor, ABS Encoder and I/O Setup
▼
5
Easy Tuning for Gain Adjustment
▼
6
Creating a Motor Control Program
▼
◼Adding a Safety Function
1
Select a safety function from below and add it.
・Adding the Safe Stop 2 (SS2) Function
・Adding the Safely-limited Speed (SLS) Function
Additional Information
For information on how to set up the motion controller, refer to the Machine Automation Controller
NJ/NX-Series Startup Guide for Motion Control (Cat. No. W514).

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1.3. System Configuration
The following figure shows the system configuration and devices that are used in this Guide.
The system configuration is shown in the following figure.
⚫Configuration Devices
The models of the devices that are described in this Guide are given in the following table. When
selecting devices for an actual application, refer to the device manuals.
Device name
Model
Manual name
NX-series NX1 CPU Unit
(Standard controller)
NX102-[]
NX-series NX102 CPU Unit Hardware
User's Manual (W593)
Additional I/O Power Supply Unit
NX-PF0[]
NX-series System Units User’s Manual
(W523)
Digital Input Unit
NX-ID[]
NX-series Digital I/O Unit User’s Manual
(W521)
NX-series Safety CPU Unit
(Safety controller)
NX-SL3300
NX-series Safety Control Unit User's
Manual (Z930)
NX-series Safety Input Unit
NX-SID[]
Ethernet/EtherCAT Communications
Cable
XS5W-T[]
---
AC Servo Drive
R88D-1SAN[]
1S-series AC Servomotors/Servo Drives
with Built-in EtherCAT Communications
and Safety Functionality User’s Manual
(I621)
AC Servomotor
R88M-1A[]
Integrated Cable
R88A-CX1[]
Error clear button
A3[]
---
Safety Key Selector Switch
A22TK[]
---
Safety-door Switch
D4NS[]
---
Emergency Stop Pushbutton Switch
A22[]
---
NX-series NX1 CPU Unit
Additional I/O Power Supply Unit
Digital Input Unit
NX-series Safety CPU Unit
NX-series Safety
Input Unit
AC Servo Drive
AC Servomotor
Error clear button
Safety Key Selector Switch
Safety-door Switch
Emergency Stop Pushbutton
Switch
Safety reset button

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⚫Automation Software
Product
Number of licenses
Model
Sysmac Studio Standard Edition
Version 1.27
None (DVD only)
SYSMAC-SE200D
From 1 license to site license
SYSMAC-SE[]

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2. Before You Begin
◼Unpacking
1.
Unpack the motor package.
The package includes only one Servomotor and the instruction sheet. Cables are
provided separately.
2.
Unpack the drive package.
The Servo Drive comes with the following accessories.
•INSTRUCTION MANUAL × 1 copy
•Warning label × 1 sheet
•General Compliance Information and instructions for EU × 1 copy
•Attached connector
◼Installing the Sysmac Studio Standard Edition Version 1.27 or higher
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on how to
install the Sysmac Studio.
Additional Information
For further details on how to handle the drive and motor packages, refer to the Items to Check After
Unpacking in the 1S-Series AC Servomotors/Servo Drives with Built-in EtherCAT Communications and
Safety Functionality User’s Manual (Cat. No. I621).

17
3. Performing Setup
This section explains from assembling the hardware that makes up the servo system to adding the
STO function via FSoE and creating a motor control program. The next section 4.Adding a Safety
Function describes how to add safety functions other than the STO function.
The operation of the servo system set up in this section is explained below.
1. When the error clear button is pressed, the errors of the standard controller and Servo Drive are
reset.
2. When the guard with the Safety-door Switch is opened, the motor torque is turned OFF.
3. When the Emergency Stop Pushbutton Switch is pressed, the motor torque is turned OFF.
4. When the safety reset button is pressed, the errors of the Safety-door Switch and Emergency
Stop Pushbutton Switch are reset.
Input device
State
Operation
1. Error clear button
ON
Enable error reset command
OFF
Disable error reset command
2. Safety-door Switch
Open
Enable STO command
Close
Disable STO command
3. Emergency Stop
Pushbutton Switch
ON
Enable STO command
OFF
Disable STO command
4. Safety reset button
ON
Enable error reset commands for Safety-door Switch and
Emergency Stop Pushbutton Switch
OFF
Disable error reset commands for safety-door switch and
Emergency Stop Pushbutton Switch
1. Error clear button
2. Safety-door Switch
3. Emergency Stop Pushbutton Switch
4. Safety reset button

18
◼Operation of motion control and STO function
1. When the Servo ON command is enabled, the Servo Drive turns ON the Servo.
2. When the STO function is executed, the Servo Drive shifts to the STO state and turns OFF
torque.
3. When an operation command is enabled, the command velocity to the Servomotor is set to 600
r/min.

19
3.1. Installation and Wiring
◼Space Conditions around Servo Drives
Install the Servo Drive according to the following instructions.
Install the Servo Drive on the vertical metal surface.
To provide electrical conduction, remove any paint from the surface on which you install
the Servo Drives. Also, it is recommended that you apply conductive plating if you make
the mounting bracket by yourself.
The recommended tightening torque for installing the Servo Drive is 1.5 N·m. Make sure
that the threaded portion has the sufficient strength to withstand the recommended
torque.
You can install Servo Drives without the clearance of S2 if the operating ambient
temperature is from 0 to 45°C.
When mounting the shield clamp, use the threads included in the Servo Drive or
specified standard threads.
Before installing the Servo Drive on the control panel, mount the shield clamp to the
Servo Drive. Then connect the cable and fix the cable to the shield clamp.
When you connect PC to the USB connector of the Servo Drive, separate the USB cable
from other cables such as the main circuit power supply cable.

20
◼Mounting the Servo Drive
1.
Put the Servo Drive in place and secure the top first and then the bottom.
Temporarily tighten the screw to attach the lower part of the Servo Drive and slide the
Servo Drive from top to bottom to put the U-groove of the Servo Drive on the screw.
2.
Tighten the screw at the upper part.
3.
Tighten the screw at the lower part.
4.
Mount a shield clamp bracket to the Servo Drive.