Omron 1s series User manual

AC Servomotors/Servo Drives

1S-series with Built-in

EtherCAT®Communications and

Safety Functionality

User’s Manual

I621-E1-01

R88M-1AL/-1AM(AC Servomotors)

R88D-1SAN-ECT (AC Servo Drives)

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. Neverthe-

less, 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.

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other

countries for OMRON factory automation products.

•

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

Other company names and product names in this document are the trademarks or registered trademarks of their

respective companies.

Trademarks

NOTE

Introduction

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Introduction

Thank you for purchasing a 1S-series Servo Drive Advance Type. This User’s Manual describes the

installation and wiring methods of the 1S-series Servo Drives and parameter setting method which is

required for the operation, as well as troubleshooting and inspection methods.

This User’s Manual is intended for the following personnel, who must also have electrical knowledge

(certified electricians or individuals who have equivalent knowledge).

• Personnel in charge of introducing the FA equipment

• Personnel in charge of designing the FA systems

• Personnel in charge of installing and connecting the FA equipment

• Personnel in charge of managing the FA systems and facilities

This User’s Manual contains information you need to know to correctly use the 1S-series Servo Drives

and peripheral equipment.

Before using the Servo Drive, read this User’s Manual and gain a full understanding of the information

provided herein.

After you finished reading this User’s Manual, keep it in a convenient place so that it can be referenced

at any time.

Make sure this User’s Manual is delivered to the end user.

Intended Audience

Notice

Manual Structure

21S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Manual Structure

This section explains the page structure and symbol icons.

The following page structure is used in this manual.

Note The above page is only a sample for illustrative purposes. It is not the actual content of this User’s Manual.

Page Structure

7 Applied Functions

7 - 30 1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

7-9 Soft Start Function

This function sets the acceleration and deceleration against the velocity command input inside the

Servo Drive and uses these values for speed control.

With this function, soft starts are possible when the step rotation velocity commands are input. To

reduce any impacts made by acceleration changes, you can also use the velocity command filter

(first-order lag).

For a step velocity command input, set the time until the velocity command reaches 1,000 r/min in

Acceleration Time.

Similarly, set the time until the velocity command slows from 1,000 r/min down to 0 r/min in Decelera-

tion Time.

Acceleration Time (ms) = Vc/1,000 r/min × Acceleration Time × 0.1 ms

Deceleration Time (ms) = Vc/1,000 r/min × Deceleration Time × 0.1 ms

7-9-1 Objects Requiring Settings

Index

(hex)

Subindex

(hex) Name Description Refer-

ence

3021 –Velocity Command Filter –P. 9 - 1 9

01 Acceleration Time Sets the acceleration time during accelera-

tion.

P. 9 - 1 9

02 Deceleration Time Sets the deceleration time during decelera-

tion.

P. 9 - 1 9

03 IIR Filter Enable Selects whether to enable or disable the

IIR filter in the velocity command filter.

0: Disabled

1: Enabled

P. 9 - 2 0

04 Filter Cutoff Frequency Sets the cutoff frequency for the IIR filter. P. 9-20

7-9-2 Soft Start Acceleration/Deceleration Time

Time

Velocity command [r/min]

Acceleration Time × 0.1 ms Deceleration Time × 0.1 ms

1,000 [r/min]

Velocity command before

acceleration control

(step type command)

Velocity command after

acceleration control

(trapezoidal type command)

Level 1

heading

Level 2

heading

Level 3

heading

Manual name

Manual Structure

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Note This illustration is provided only as a sample. It may not literally appear in this manual.

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Version Information

Information on differences in specifications and functionality for Servo Drives with different unit

versions and for different versions of the Sysmac Studio is given.

Special Information

7 - 31

7 Applied Functions

1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

7-9 Soft Start Function

7-9-3 Velocity Command Filter (First-order Lag)

Precautions for Correct Use

Do not set the Acceleration Time and the Deceleration Time when the position loop structure

with a host controller is used.

The velocity command filter (first-order lag) is an IIR filter used for speed commands.

7-9-3 Velocity Command Filter (First-order Lag)

Vc × 0.632

(s)

Vc × 0.368

Time

Velocity command [r/min]

Target velocity

Velocity command

before filter process

Velocity command

after filter process

1/(2π × Filter Cutoff Frequency)

Icons indicate precautions,

additional information, or

reference information.

Special information

Level 2 heading

Gives the current heading.

Page tab

Gives the number of

the main section.

Level 3 heading

Gives the current heading.

Manual Configuration

41S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Manual Configuration

This User’s Manual consists of the following sections.

Read the necessary section or sections by reference to the following table.

Section Outline

Section 1 Features and Sys-

tem Configuration

This section explains the features of the Servo Drive and name of each part.

Section 2 Models and Exter-

nal Dimensions

This section explains the models of Servo Drives, Servomotors, Decelera-

tors, and peripheral devices, and provides the external dimensions and

mounting dimensions.

Section 3 Specifications

This section provides the general specifications, characteristics, connector

specifications, and I/O circuits of the Servo Drives as well as the general

specifications, characteristics, encoder specifications of the Servomotors

and other peripheral devices.

Section 4 Configuration and

Wiring

This section explains the conditions for installing Servo Drives, Servomotors,

and Decelerators, the wiring methods including wiring conforming to EMC

Directives, the regenerative energy calculation methods, as well as the per-

formance of External Regeneration Resistors.

Section 5 EtherCAT Commu-

nications

This section explains EtherCAT communications under the assumption that

the Servo Drive is connected to a Machine Automation Controller

NJ/NX-series CPU Unit, NY-series IPC Machine Controller, or Position Con-

trol Unit (Model: CJ1W-NC8).

Section 6 Basic Control

Functions

This section explains the outline and settings of basic control functions.

Section 7 Applied Functions This section provides the outline and settings of the applied functions such

as electronic gear and gain switching.

Section 8 Safety Function This section provides the outline of each safety function (STO, SS1, SS2,

SOS, SLS, SLP, SDI, and SBC) and examples of operation and connection.

Section 9 Details on Servo

Parameters

This section explains the details on each servo parameter, including the set

values, settings, and the display.

Section 10 Operation This section provides the operational procedure and explains how to operate

in each mode.

Section 11 Adjustment Func-

tions

This section explains the functions, setting methods, and items to note

regarding adjustments.

Section 12 Troubleshooting This section explains the items to check when problems occur, and trouble-

shooting by the use of error displays or operation state.

Section 13 Maintenance and

Inspection

This section explains maintenance and inspection of the Servomotors and

Servo Drives.

Appendices The appendices provide explanation for the profile that is used to control the

Servo Drive, lists of objects, and Sysmac error status codes.

Sections in this Manual

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

6 I

Features and System

Configuration

Models and External

Dimensions

Operation

Specifications

Adjustment Functions

Troubleshooting

Configuration and

Wiring

Maintenance and

Inspection

EtherCAT

Communications Appendices

Applied Functions

Basic Control

Functions Index

Safety Function

Details on Servo Parameters

Sections in this Manual

CONTENTS

61S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

CONTENTS

Introduction ..............................................................................................................1

Manual Structure ......................................................................................................2

Manual Configuration ..............................................................................................4

Sections in this Manual ...........................................................................................5

Terms and Conditions Agreement ........................................................................18

Safety Precautions ................................................................................................. 20

Items to Check After Unpacking ...........................................................................31

Related Manuals .....................................................................................................39

Terminology ............................................................................................................43

Revision History .....................................................................................................45

Section 1 Features and System Configuration

1-1 Outline .................................................................................................................................. 1-2

1-1-1 Features of 1S-series Servo Drive Advance Type ....................................................................1-2

1-1-2 EtherCAT .................................................................................................................................. 1-3

1-1-3 Object Dictionary ......................................................................................................................1-4

1-2 System Configuration ......................................................................................................... 1-5

1-3 Names and Functions .........................................................................................................1-6

1-3-1 Servo Drive Part Names........................................................................................................... 1-6

1-3-2 Servo Drive Functions ............................................................................................................ 1-10

1-3-3 Servomotor Part Names ......................................................................................................... 1-13

1-3-4 Servomotor Functions............................................................................................................. 1-15

1-3-5 Shield Clamp Part Names ...................................................................................................... 1-16

1-4 System Block Diagram...................................................................................................... 1-17

1-5 Applicable Standards........................................................................................................1-21

1-5-1 EU Directives ..........................................................................................................................1-21

1-5-2 UL and cUL Standards............................................................................................................ 1-22

1-5-3 Korean Radio Regulations (KC) .............................................................................................1-23

1-5-4 SEMI F47................................................................................................................................1-23

1-5-5 Australian EMC Labeling Requirements (RCM) ..................................................................... 1-23

1-5-6 EAC Requirements ................................................................................................................. 1-23

1-6 Unit Versions...................................................................................................................... 1-24

1-6-1 Confirmation Method ..............................................................................................................1-24

1-6-2 Unit Versions and Sysmac Studio Versions............................................................................1-24

1-7 Procedures to Start Operation ......................................................................................... 1-25

1-7-1 Overall Procedure...................................................................................................................1-25

1-7-2 Procedure Details ...................................................................................................................1-27

Section 2 Models and External Dimensions

2-1 Servo System Configuration .............................................................................................. 2-2

CONTENTS

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

2-2 How to Read Model Numbers............................................................................................. 2-4

2-2-1 Servo Drive............................................................................................................................... 2-4

2-2-2 Servomotor............................................................................................................................... 2-5

2-2-3 Integrated Cable....................................................................................................................... 2-6

2-2-4 Decelerator............................................................................................................................... 2-7

2-3 Model Tables ........................................................................................................................ 2-9

2-3-1 Servo Drive Model Table .......................................................................................................... 2-9

2-3-2 Servomotor Model Tables....................................................................................................... 2-10

2-3-3 Servo Drive and Servomotor Combination Tables.................................................................. 2-12

2-3-4 Decelerator Model Tables....................................................................................................... 2-13

2-3-5 Servomotor and Decelerator Combination Tables.................................................................. 2-15

2-3-6 Table of Integrated Cables, Connectors, and Shield Clamps................................................. 2-16

2-3-7 External Regeneration Resistor and External Regeneration Resistance Unit

Model Tables .......................................................................................................................... 2-18

2-3-8 Reactor Model Table............................................................................................................... 2-19

2-4 External and Mounting Dimensions ................................................................................ 2-20

2-4-1 Servo Drive Dimensions......................................................................................................... 2-20

2-4-2 Servomotor Dimensions ......................................................................................................... 2-22

2-4-3 Cable Outlet Direction of Integrated Connector ..................................................................... 2-42

2-4-4 Cable Wiring Dimension for a Case of Servomotor Installing ................................................ 2-43

2-4-5 Decelerator Dimensions......................................................................................................... 2-45

2-4-6 Dimensions of External Regeneration Resistors and

External Regeneration Resistance Units................................................................................ 2-54

2-4-7 Reactor Dimensions ............................................................................................................... 2-55

Section 3 Specifications

3-1 Servo Drive Specifications ................................................................................................. 3-3

3-1-1 General Specifications ............................................................................................................. 3-3

3-1-2 Characteristics.......................................................................................................................... 3-4

3-1-3 EtherCAT Communications Specifications............................................................................... 3-8

3-1-4 Main Circuit and Motor Connections ........................................................................................3-9

3-1-5 Control I/O Connector (CN1) Specifications........................................................................... 3-14

3-1-6 Control Input Circuits.............................................................................................................. 3-16

3-1-7 Control Input Details............................................................................................................... 3-17

3-1-8 Control Output Circuits ........................................................................................................... 3-18

3-1-9 Control Output Details ............................................................................................................ 3-19

3-1-10 Encoder Pulse Output Specifications ..................................................................................... 3-19

3-1-11 Safety Signal Connector (CN14) Specifications..................................................................... 3-20

3-1-12 Safe Brake Control Connector (CN15) Specifications............................................................ 3-24

3-1-13 Brake Interlock Connector (CN12) Specifications .................................................................. 3-25

3-1-14 Encoder Connector (CN2) Specifications............................................................................... 3-26

3-1-15 EtherCAT Communications Connector (RJ45) Specifications................................................ 3-26

3-1-16 USB Connector (CN7) Specifications..................................................................................... 3-27

3-1-17 Power ON Sequence.............................................................................................................. 3-27

3-1-18 Overload Characteristics (Electronic Thermal Function) ........................................................ 3-28

3-2 Servomotor Specifications ............................................................................................... 3-31

3-2-1 General Specifications ........................................................................................................... 3-31

3-2-2 Encoder Specifications........................................................................................................... 3-32

3-2-3 Characteristics........................................................................................................................ 3-33

3-3 Decelerator Specifications ............................................................................................... 3-44

3-4 Cable and Connector Specifications ............................................................................... 3-47

3-4-1 Integrated Cable Specifications.............................................................................................. 3-47

3-4-2 Combination of Integrated Cable and Extension Cable ......................................................... 3-53

3-4-3 Resistance to Bending of Integrated Cable............................................................................ 3-54

3-4-4 EtherCAT Communications Cable Specifications................................................................... 3-55

3-5 Specifications of External Regeneration Resistors and

External Regeneration Resistance Units ........................................................................ 3-58

3-5-1 General Specifications ........................................................................................................... 3-58

3-5-2 Characteristics........................................................................................................................ 3-58

CONTENTS

81S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

3-5-3 External Regeneration Resistance Unit Specifications...........................................................3-60

3-6 Reactor Specifications......................................................................................................3-61

3-6-1 General Specifications............................................................................................................ 3-61

3-6-2 Characteristics ........................................................................................................................3-61

3-6-3 Terminal Block Specifications .................................................................................................3-62

3-7 Noise Filter Specifications................................................................................................ 3-63

Section 4 Configuration and Wiring

4-1 Installation Conditions........................................................................................................ 4-2

4-1-1 Servo Drive Installation Conditions...........................................................................................4-2

4-1-2 Servomotor Installation Conditions ........................................................................................... 4-5

4-1-3 Decelerator Installation Conditions ...........................................................................................4-9

4-1-4 External Regeneration Resistance Unit Installation Conditions..............................................4-12

4-2 Wiring ................................................................................................................................. 4-13

4-2-1 Peripheral Equipment Connection Examples .........................................................................4-14

4-2-2 Procedure for Wiring Connector-type Terminal Blocks and for Mounting a Shield Clamp...... 4-24

4-2-3 Procedure for Attaching an Integrated Connector ..................................................................4-27

4-2-4 Procedure for Change of Cable Outlet Direction for Integrated Cable ................................... 4-29

4-3 Wiring Conforming to EMC Directives ............................................................................ 4-31

4-3-1 Peripheral Equipment Connection Examples .........................................................................4-32

4-3-2 Selecting Connection Component .......................................................................................... 4-38

4-4 Regenerative Energy Absorption..................................................................................... 4-43

4-4-1 Calculating the Regenerative Energy .....................................................................................4-43

4-4-2 Servo Drive Regeneration Absorption Capacity ..................................................................... 4-46

4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device...............4-47

4-4-4 Connecting an External Regeneration Resistor......................................................................4-48

4-5 Adjustment for Large Load Inertia................................................................................... 4-49

Section 5 EtherCAT Communications

5-1 Display Area and Settings .................................................................................................. 5-2

5-1-1 Node Address Setting............................................................................................................... 5-2

5-1-2 Status Indicators ....................................................................................................................... 5-3

5-2 Structure of the CAN Application Protocol over EtherCAT ............................................. 5-5

5-3 EtherCAT State Machine ..................................................................................................... 5-6

5-4 Process Data Objects (PDOs) ............................................................................................ 5-7

5-4-1 PDO Mapping Settings .............................................................................................................5-7

5-4-2 Sync Manager PDO Assignment Settings ................................................................................5-8

5-4-3 Fixed PDO Mapping .................................................................................................................5-8

5-4-4 Variable PDO Mapping ........................................................................................................... 5-11

5-4-5 Safety PDO Mapping.............................................................................................................. 5-12

5-4-6 Sync Manager PDO Mapping Assignment Settings ............................................................... 5-14

5-5 Service Data Objects (SDOs)............................................................................................ 5-15

5-6 Synchronization Mode and Communications Cycle ...................................................... 5-16

5-6-1 Distributed Clock (DC) Mode..................................................................................................5-16

5-6-2 Free-Run Mode....................................................................................................................... 5-16

5-7 Emergency Messages ....................................................................................................... 5-17

5-8 Sysmac Device Features .................................................................................................. 5-18

Section 6 Basic Control Functions

6-1 Outline of Control Functions.............................................................................................. 6-2

CONTENTS

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

6-1-1 Basic Control and Control Methods.......................................................................................... 6-2

6-1-2 Control Method......................................................................................................................... 6-3

6-2 Control Blocks ..................................................................................................................... 6-5

6-2-1 Block Diagram for Position Control .......................................................................................... 6-5

6-2-2 Block Diagram for Velocity Control........................................................................................... 6-7

6-2-3 Block Diagram for Torque Control ............................................................................................ 6-9

6-3 Cyclic Synchronous Position Mode ................................................................................ 6-10

6-4 Cyclic Synchronous Velocity Mode................................................................................. 6-12

6-5 Cyclic Synchronous Torque Mode................................................................................... 6-14

6-6 Profile Position Mode........................................................................................................ 6-16

6-7 Profile Velocity Mode ........................................................................................................ 6-21

6-8 Homing Mode..................................................................................................................... 6-24

6-9 Connecting with OMRON Controllers.............................................................................. 6-25

Section 7 Applied Functions

7-1 General-purpose Input Signals .......................................................................................... 7-3

7-1-1 Objects Requiring Settings....................................................................................................... 7-4

7-1-2 Default Setting.......................................................................................................................... 7-6

7-1-3 Function Input Details............................................................................................................... 7-7

7-2 General-purpose Output Signals ....................................................................................... 7-8

7-2-1 Objects Requiring Settings....................................................................................................... 7-8

7-2-2 Default Setting........................................................................................................................ 7-10

7-2-3 Function Output Details...........................................................................................................7-11

7-3 Drive Prohibition Functions ............................................................................................. 7-15

7-3-1 Objects Requiring Settings..................................................................................................... 7-15

7-3-2 Description of Operation......................................................................................................... 7-16

7-4 Software Position Limit Functions .................................................................................. 7-17

7-4-1 Operating Conditions.............................................................................................................. 7-17

7-4-2 Objects Requiring Settings..................................................................................................... 7-17

7-4-3 Description of Operation......................................................................................................... 7-18

7-5 Backlash Compensation................................................................................................... 7-20

7-5-1 Operating Conditions.............................................................................................................. 7-20

7-5-2 Objects Requiring Settings..................................................................................................... 7-20

7-5-3 Description of Operation......................................................................................................... 7-21

7-6 Brake Interlock................................................................................................................... 7-22

7-6-1 Objects Requiring Settings..................................................................................................... 7-22

7-6-2 Description of Operation......................................................................................................... 7-24

7-6-3 Operation Timing.................................................................................................................... 7-25

7-7 Electronic Gear Function.................................................................................................. 7-29

7-7-1 Objects Requiring Settings..................................................................................................... 7-29

7-7-2 Operation Example................................................................................................................. 7-29

7-8 Torque Limit Switching ..................................................................................................... 7-30

7-8-1 Operating Conditions.............................................................................................................. 7-30

7-8-2 Objects Requiring Settings..................................................................................................... 7-30

7-8-3 Torque Limit Switching Method .............................................................................................. 7-31

7-9 Soft Start ............................................................................................................................ 7-32

7-9-1 Objects Requiring Settings..................................................................................................... 7-32

7-9-2 Soft Start Acceleration/Deceleration Time.............................................................................. 7-32

7-9-3 Velocity Command First-order Lag Filter................................................................................ 7-33

7-10 Gain Switching Function .................................................................................................. 7-34

7-10-1 Objects Requiring Settings..................................................................................................... 7-34

7-10-2 Mode Selection....................................................................................................................... 7-36

7-10-3 Gain Switching in Position Control ......................................................................................... 7-37

CONTENTS

10 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

7-11 Touch Probe Function (Latch Function).......................................................................... 7-38

7-11-1 Related Objects ......................................................................................................................7-38

7-11-2 Trigger Signal Settings............................................................................................................ 7-40

7-11-3 Operation Sequence...............................................................................................................7-41

7-12 Encoder Dividing Pulse Output Function ....................................................................... 7-42

7-12-1 Objects Requiring Settings .....................................................................................................7-43

7-12-2 Dividing Ratio.......................................................................................................................... 7-43

7-12-3 Output Reverse Selection....................................................................................................... 7-44

7-12-4 Z-phase Output.......................................................................................................................7-44

7-13 Dynamic Brake................................................................................................................... 7-45

7-13-1 Operating Conditions ..............................................................................................................7-45

7-13-2 Objects Requiring Settings .....................................................................................................7-45

7-13-3 Description of Operation ......................................................................................................... 7-46

Section 8 Safety Function

8-1 Outline of Safety Functions................................................................................................ 8-3

8-1-1 Description of Safety Functions ................................................................................................ 8-3

8-1-2 Configuration for Safety System...............................................................................................8-4

8-1-3 Network Connection and Settings ............................................................................................ 8-7

8-1-4 Operating Procedure for Safety Function .................................................................................8-8

8-1-5 Safety Reaction Time for Safety Distance .............................................................................. 8-11

8-1-6 Data Necessary for Designing Programs of Each Controller..................................................8-12

8-1-7 PFH......................................................................................................................................... 8-15

8-1-8 Position/Velocity Data Monitored by Safety Functions ...........................................................8-16

8-1-9 Precaution on Use ..................................................................................................................8-19

8-1-10 Procedure for Reset of Safety Error .......................................................................................8-20

8-1-11 Safety Program.......................................................................................................................8-21

8-2 Safe Torque OFF (STO) Function..................................................................................... 8-22

8-2-1 STO Function via Safety Input Signals ...................................................................................8-23

8-2-2 STO Function via EtherCAT Communications........................................................................8-32

8-2-3 STO with SBC Functions via EtherCAT Communications ...................................................... 8-36

8-3 Safe Stop 1 (SS1) Function............................................................................................... 8-39

8-3-1 Objects Requiring Settings .....................................................................................................8-41

8-3-2 Operation Procedure ..............................................................................................................8-43

8-3-3 Operation Timing ....................................................................................................................8-44

8-3-4 Example of Safety Program....................................................................................................8-47

8-3-5 Concurrent Use of SS1 Function and SBC Function..............................................................8-48

8-4 Safe Stop 2 (SS2) Function............................................................................................... 8-54

8-4-1 Objects Requiring Settings .....................................................................................................8-55

8-4-2 Operation Procedure ..............................................................................................................8-57

8-4-3 Operation Timing ....................................................................................................................8-58

8-4-4 Example of Safety Program....................................................................................................8-61

8-5 Safe Operating Stop (SOS) Function............................................................................... 8-62

8-5-1 Objects Requiring Settings .....................................................................................................8-62

8-5-2 Operation Procedure ..............................................................................................................8-63

8-5-3 Operation Timing ....................................................................................................................8-64

8-5-4 Example of Safety Program....................................................................................................8-67

8-6 Safely-limited Speed (SLS) Function............................................................................... 8-68

8-6-1 Objects Requiring Settings .....................................................................................................8-70

8-6-2 Operation Procedure ..............................................................................................................8-72

8-6-3 Operation Timing ....................................................................................................................8-73

8-6-4 Example of Safety Program................................................................................................... 8-78

8-7 Safely-limited Position (SLP) Function ........................................................................... 8-79

8-7-1 Configuration Example for SLP System.................................................................................. 8-79

8-7-2 Objects Requiring Settings .....................................................................................................8-81

8-7-3 Operation Procedure .............................................................................................................8-84

8-7-4 Operation Timing ....................................................................................................................8-85

8-7-5 Example of Safety Program................................................................................................... 8-88

CONTENTS

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

8-7-6 Setting of Safety Origin Position............................................................................................. 8-89

8-8 Safe Direction (SDI) Function......................................................................................... 8-102

8-8-1 Objects Requiring Settings.................................................................................................. 8-102

8-8-2 Operation Procedure ........................................................................................................... 8-103

8-8-3 Operation Timing................................................................................................................. 8-104

8-8-4 Example of Safety Program .................................................................................................8-110

8-9 Safe Brake Control (SBC) Function ............................................................................... 8-112

8-9-1 Configuration Method for SBC ..............................................................................................8-113

8-9-2 Required Settings for Objects ...............................................................................................8-115

8-9-3 Operation Procedure.............................................................................................................8-116

8-9-4 Connection Method ...............................................................................................................8-117

8-9-5 Connection Examples ...........................................................................................................8-119

8-9-6 Operation Timing.................................................................................................................. 8-120

8-9-7 SBC Power Monitor.............................................................................................................. 8-120

8-9-8 Safety Relay Stuck Error Detection...................................................................................... 8-121

8-10 Safety Position/Velocity Validation Monitoring Function ............................................ 8-123

8-10-1 Details about Validation Monitoring ...................................................................................... 8-123

8-10-2 Objects Requiring Settings................................................................................................... 8-124

8-10-3 Operation Procedure ............................................................................................................ 8-124

8-10-4 Operation Timing .................................................................................................................. 8-125

Section 9 Details on Servo Parameters

9-1 Object Description Format ................................................................................................. 9-5

9-2 Common Control Objects ................................................................................................... 9-7

9-2-1 3000 hex: Basic Functions ....................................................................................................... 9-7

9-2-2 3001 hex: Machine ................................................................................................................. 9-13

9-2-3 3002 hex: Optimized Parameters........................................................................................... 9-14

9-2-4 3010 hex: Position Command ................................................................................................9-16

9-2-5 3011 hex: Position Command Filter........................................................................................ 9-18

9-2-6 3012 hex: Damping Control.................................................................................................... 9-19

9-2-7 3013 hex: Damping Filter 1 .................................................................................................... 9-20

9-2-8 3014 hex: Damping Filter 2 .................................................................................................... 9-21

9-2-9 3020 hex: Velocity Command................................................................................................. 9-23

9-2-10 3021 hex: Velocity Command Filter........................................................................................9-24

9-2-11 3030 hex: Torque Command .................................................................................................. 9-25

9-2-12 3031 hex: Velocity Limit in Torque Control ............................................................................. 9-25

9-2-13 3040 hex: Profile Command................................................................................................... 9-26

9-2-14 3041 hex: Command Dividing Function ................................................................................. 9-27

9-3 Control Method Objects.................................................................................................... 9-29

9-3-1 3112 hex: ODF Velocity Feed-forward.................................................................................... 9-29

9-3-2 3113 hex: ODF Torque Feed-forward ..................................................................................... 9-30

9-3-3 3120 hex: TDF Position Control ............................................................................................. 9-31

9-3-4 3121 hex: TDF Velocity Control.............................................................................................. 9-32

9-4 Control Loop Objects........................................................................................................9-34

9-4-1 3210 hex: Internal Position Command ................................................................................... 9-34

9-4-2 3211 hex: Position Detection.................................................................................................. 9-35

9-4-3 3212 hex: Gain Switching in Position Control ........................................................................ 9-35

9-4-4 3213 hex: 1st Position Control Gain.......................................................................................9-36

9-4-5 3214 hex: 2nd Position Control Gain...................................................................................... 9-37

9-4-6 3220 hex: Internal Velocity Command.................................................................................... 9-37

9-4-7 3221 hex: Velocity Detection .................................................................................................. 9-38

9-4-8 3222 hex: Gain Switching in Velocity Control......................................................................... 9-39

9-4-9 3223 hex: 1st Velocity Control Gain .......................................................................................9-39

9-4-10 3224 hex: 2nd Velocity Control Gain ......................................................................................9-40

9-4-11 3230 hex: Internal Torque Command ..................................................................................... 9-41

9-4-12 3231 hex: Torque Detection.................................................................................................... 9-41

9-4-13 3232 hex: Filter Switching in Torque Control.......................................................................... 9-41

9-4-14 3233 hex: 1st Torque Command Filter ................................................................................... 9-42

9-4-15 3234 hex: 2nd Torque Command Filter .................................................................................. 9-43

CONTENTS

12 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

9-5 Torque Output Setting Objects ........................................................................................ 9-44

9-5-1 3310 hex: Torque Compensation............................................................................................9-44

9-5-2 3320 hex: Adaptive Notch Filter..............................................................................................9-46

9-5-3 3321 hex: 1st Notch Filter.......................................................................................................9-47

9-5-4 3322 hex: 2nd Notch Filter......................................................................................................9-49

9-5-5 3323 hex: 3rd Notch Filter ...................................................................................................... 9-51

9-5-6 3324 hex: 4th Notch Filter....................................................................................................... 9-53

9-5-7 3330 hex: Torque Limit............................................................................................................9-55

9-6 Homing Objects ................................................................................................................. 9-57

9-7 Applied Function Objects ................................................................................................. 9-61

9-7-1 3B10 hex: Drive Prohibition ....................................................................................................9-61

9-7-2 3B11 hex: Software Position Limit ..........................................................................................9-62

9-7-3 3B20 hex: Stop Selection ....................................................................................................... 9-64

9-7-4 3B21 hex: Deceleration Stop..................................................................................................9-66

9-7-5 3B30 hex: Touch Probe 1........................................................................................................9-67

9-7-6 3B31 hex: Touch Probe 2........................................................................................................9-70

9-7-7 3B40 hex: Zone Notification 1................................................................................................. 9-71

9-7-8 3B41 hex: Zone Notification 2................................................................................................. 9-72

9-7-9 3B50 hex: Position Detection Function...................................................................................9-73

9-7-10 3B51 hex: Positioning Completion Notification .......................................................................9-73

9-7-11 3B52 hex: Positioning Completion Notification 2 .................................................................... 9-74

9-7-12 3B60 hex: Speed Detection Function .....................................................................................9-75

9-7-13 3B70 hex: Vibration Detection ................................................................................................9-76

9-7-14 3B71 hex: Runaway Detection ............................................................................................... 9-77

9-7-15 3B80 hex: Load Characteristic Estimation..............................................................................9-78

9-8 Error- and Warning-related Objects................................................................................. 9-81

9-8-1 4000 hex: Error Full Code.......................................................................................................9-81

9-8-2 4020 hex: Warning Customization..........................................................................................9-82

9-8-3 4021 hex: Warning Output 1 Setting....................................................................................... 9-84

9-8-4 4022 hex: Warning Output 2 Setting....................................................................................... 9-85

9-8-5 4030 hex: Information Customization .....................................................................................9-86

9-9 Monitoring-related Objects............................................................................................... 9-87

9-9-1 4110 hex: Monitor Data via PDO ............................................................................................9-87

9-9-2 4120 hex: EtherCAT Communications Error Count ................................................................9-88

9-9-3 4130 hex: Safety Status Monitor.............................................................................................9-88

9-9-4 4131 hex: Safety Command Monitor 1 ................................................................................... 9-92

9-9-5 4132 hex: Safety Command Monitor 2 ................................................................................... 9-93

9-9-6 4140 hex: Lifetime Information ............................................................................................... 9-94

9-9-7 4150 hex: Overload ................................................................................................................ 9-96

9-10 Display-related Objects..................................................................................................... 9-98

9-11 Power Device-related Objects .......................................................................................... 9-99

9-11-1 4310 hex: Regeneration ......................................................................................................... 9-99

9-11-2 4320 hex: Main Circuit Power Supply................................................................................... 9-100

9-12 External Device-related Objects..................................................................................... 9-102

9-13 Encoder-related Objects ................................................................................................. 9-104

9-14 I/O-related Objects........................................................................................................... 9-107

9-14-1 4600 hex: I/O Monitor ........................................................................................................... 9-107

9-14-2 4601 hex: Function Input ......................................................................................................9-108

9-14-3 4602 hex: Function Output ................................................................................................... 9-110

9-14-4 4604 hex: Control Input Change Count .................................................................................9-111

9-14-5 4605 hex: Control Output Change Count ............................................................................. 9-112

9-14-6 4610 hex: Brake Interlock Output .........................................................................................9-113

9-14-7 4620 hex: Encoder Dividing Pulse Output ............................................................................ 9-114

9-15 General-purpose Input Setting Objects......................................................................... 9-116

9-15-1 Setting................................................................................................................................... 9-116

9-15-2 4630 hex: Positive Drive Prohibition Input ............................................................................ 9-117

9-15-3 4631 hex: Negative Drive Prohibition Input .......................................................................... 9-117

9-15-4 4632 hex: External Latch Input 1 .......................................................................................... 9-117

9-15-5 4633 hex: External Latch Input 2 .......................................................................................... 9-118

CONTENTS

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

9-15-6 4634 hex: Home Proximity Input ...........................................................................................9-118

9-15-7 4635 hex: Positive Torque Limit Input....................................................................................9-118

9-15-8 4636 hex: Negative Torque Limit Input..................................................................................9-119

9-15-9 4637 hex: Error Stop Input ....................................................................................................9-119

9-15-10 4638 hex: Monitor Input 1......................................................................................................9-119

9-15-11 4639 hex: Monitor Input 2..................................................................................................... 9-120

9-15-12 463A hex: Monitor Input 3 .................................................................................................... 9-120

9-15-13 463B hex: Monitor Input 4 .................................................................................................... 9-120

9-15-14 463C hex: Monitor Input 5 .................................................................................................... 9-121

9-15-15 463D hex: Monitor Input 6 .................................................................................................... 9-121

9-15-16 463E hex: Monitor Input 7 .................................................................................................... 9-121

9-15-17 463F hex: Monitor Input 8 .................................................................................................... 9-122

9-16 General-purpose Output Setting Objects...................................................................... 9-123

9-16-1 Setting .................................................................................................................................. 9-123

9-16-2 4650 hex: Error Output......................................................................................................... 9-124

9-16-3 4651 hex: Servo Ready Output ............................................................................................ 9-124

9-16-4 4652 hex: Positioning Completion Output 1 ......................................................................... 9-124

9-16-5 4653 hex: Positioning Completion Output 2 ......................................................................... 9-125

9-16-6 4654 hex: Velocity Attainment Detection Output .................................................................. 9-125

9-16-7 4655 hex: Torque Limit Output ............................................................................................. 9-125

9-16-8 4656 hex: Zero Speed Detection Output.............................................................................. 9-126

9-16-9 4657 hex: Velocity Conformity Output.................................................................................. 9-126

9-16-10 4658 hex: Warning Output 1................................................................................................. 9-126

9-16-11 4659 hex: Warning Output 2................................................................................................. 9-127

9-16-12 465A hex: Velocity Limiting Output....................................................................................... 9-127

9-16-13 465B hex: Error Clear Attribute Output................................................................................. 9-127

9-16-14 465C hex: Remote Output 1................................................................................................. 9-128

9-16-15 465D hex: Remote Output 2................................................................................................. 9-128

9-16-16 465E hex: Remote Output 3................................................................................................. 9-128

9-16-17 465F hex: Zone Notification Output 1................................................................................... 9-129

9-16-18 4660 hex: Zone Notification Output 2................................................................................... 9-129

9-16-19 4661 hex: Position Command Status Output ....................................................................... 9-129

9-16-20 4662 hex: Distribution Completed Output ............................................................................ 9-130

9-16-21 4663 hex: External Brake Interlock Output........................................................................... 9-130

9-17 Safety Related Object......................................................................................................9-132

9-17-1 4F00 hex: Safety Origin Position Setting.............................................................................. 9-132

9-17-2 4F01 hex: Safety Position/Velocity Validation Monitoring Function...................................... 9-134

9-17-3 4F02 hex: Discrepancy Distance Measurement................................................................... 9-135

9-17-4 4F03 hex: Safety Motor Rotation Direction Selection........................................................... 9-136

9-17-5 4F08 hex: Safety Relay Activate .......................................................................................... 9-137

9-17-6 4F09 hex: Safety Relay OFF Delay Time 1.......................................................................... 9-137

9-17-7 4F0A hex: Safety Relay OFF Delay Time 2.......................................................................... 9-137

9-17-8 4F16 hex: Error Detection Activate In SLS Deactivate......................................................... 9-138

9-17-9 4F18 hex: Safety Present Pulse Position ............................................................................. 9-138

9-17-10 4F19 hex: Safety Present Position ....................................................................................... 9-139

9-17-11 4F1A hex: Safety Present Motor Velocity ............................................................................. 9-139

9-17-12 4F20 hex: Safety Function Disable Setting .......................................................................... 9-140

Section 10 Operation

10-1 Operational Procedure......................................................................................................10-2

10-2 Preparing for Operation ....................................................................................................10-3

10-2-1 Items to Check Before Turning ON the Power Supply ........................................................... 10-3

10-2-2 Turning ON the Power Supply................................................................................................ 10-4

10-2-3 Checking the Displays............................................................................................................ 10-5

10-2-4 Absolute Encoder Setup......................................................................................................... 10-7

10-2-5 Setting Up an Absolute Encoder from the Sysmac Studio ..................................................... 10-7

10-3 Test Run ............................................................................................................................. 10-8

10-3-1 Preparations for Test Run....................................................................................................... 10-8

10-3-2 Test Run via USB Communications from the Sysmac Studio ................................................ 10-9

CONTENTS

14 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

10-4 Confirmation of Safety Functions.................................................................................. 10-10

10-4-1 Preparation Before Confirmation of Safety Function ............................................................10-10

10-4-2 Confirmation of Safety Function ...........................................................................................10-10

Section 11 Adjustment Functions

11-1 Outline of Adjustment Functions ..................................................................................... 11-3

11-1-1 Adjustment Methods ............................................................................................................... 11-3

11-1-2 Adjustment Procedure ............................................................................................................ 11-4

11-2 Easy Tuning ....................................................................................................................... 11-6

11-2-1 Objects That Are Set............................................................................................................... 11-6

11-2-2 Executing Easy Tuning ........................................................................................................... 11-8

11-3 Advanced Tuning............................................................................................................... 11-9

11-3-1 Objects That Are Set............................................................................................................... 11-9

11-3-2 Executing Advanced Tuning ................................................................................................. 11-10

11-4 Manual Tuning ..................................................................................................................11-11

11-4-1 Objects That Are Set..............................................................................................................11-11

11-4-2 Executing Manual Tuning ......................................................................................................11-11

11-5 Data Trace ........................................................................................................................ 11-12

11-6 FFT .................................................................................................................................... 11-13

11-7 Damping Control ............................................................................................................. 11-14

11-7-1 Objects Requiring Settings ................................................................................................... 11-14

11-7-2 Operating Procedure ............................................................................................................ 11-16

11-7-3 Setting Frequency with Sysmac Studio ................................................................................ 11-17

11-8 Load Characteristic Estimation...................................................................................... 11-18

11-8-1 Objects Requiring Settings ................................................................................................... 11-19

11-8-2 Setting Load Characteristic Estimation Function .................................................................. 11-20

11-9 Adaptive Notch Filter ...................................................................................................... 11-21

11-9-1 Objects Requiring Settings ................................................................................................... 11-21

11-9-2 Operating Procedure ............................................................................................................ 11-22

11-10 Notch Filters..................................................................................................................... 11-23

11-10-1 Objects Requiring Settings ................................................................................................... 11-24

11-10-2 Notch Filter Width and Depth................................................................................................ 11-25

11-11 Friction Torque Compensation Function ...................................................................... 11-26

11-11-1 Operating Conditions ............................................................................................................ 11-26

11-11-2 Objects Requiring Settings ................................................................................................... 11-26

11-11-3 Operation Example ............................................................................................................... 11-27

11-12 Feed-forward Function.................................................................................................... 11-29

11-12-1 Feed-forward Control in TDF Control.................................................................................... 11-29

11-12-2 Feed-forward Control in ODF Control................................................................................... 11-31

Section 12 Troubleshooting

12-1 Actions for Problems ........................................................................................................ 12-2

12-1-1 Preliminary Checks When a Problem Occurs.........................................................................12-2

12-1-2 Precautions When a Problem Occurs.....................................................................................12-3

12-1-3 Replacing the Servomotor or Servo Drive ..............................................................................12-4

12-2 Warnings ............................................................................................................................ 12-6

12-2-1 Related Objects ...................................................................................................................... 12-6

12-2-2 Warning List............................................................................................................................12-8

12-3 Errors................................................................................................................................ 12-10

12-3-1 Error List ...............................................................................................................................12-10

12-3-2 Deceleration Stop Operation at Errors..................................................................................12-13

12-4 Information....................................................................................................................... 12-14

CONTENTS

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

12-4-1 Related Objects.................................................................................................................... 12-14

12-4-2 Information List..................................................................................................................... 12-14

12-5 Troubleshooting .............................................................................................................. 12-15

12-5-1 Troubleshooting Using Error Displays .................................................................................. 12-16

12-5-2 Troubleshooting Using AL Status Codes.............................................................................. 12-41

12-5-3 Troubleshooting Using the Operation State ......................................................................... 12-44

Section 13 Maintenance and Inspection

13-1 Periodic Maintenance........................................................................................................ 13-2

13-2 Servo Drive Lifetime.......................................................................................................... 13-3

13-3 Servomotor Lifetime.......................................................................................................... 13-4

Appendices

A-1 CiA 402 Drive Profile ...........................................................................................................A-2

A-1-1 Controlling the State Machine of the Servo Drive .................................................................... A-2

A-1-2 Modes of Operation.................................................................................................................. A-4

A-1-3 Modes of Operation and Applied/Adjustment Functions ..........................................................A-5

A-1-4 Changing the Mode of Operation ............................................................................................. A-5

A-1-5 Homing Mode Specifications.................................................................................................... A-7

A-2 CoE Objects .......................................................................................................................A-12

A-2-1 Object Dictionary Area............................................................................................................ A-12

A-2-2 Data Type ...............................................................................................................................A-12

A-2-3 Object Description Format...................................................................................................... A-13

A-2-4 Communication Objects ......................................................................................................... A-14

A-2-5 PDO Mapping Objects............................................................................................................ A-19

A-2-6 Sync Manager Communication Objects .................................................................................A-34

A-2-7 Manufacturer Specific Objects ............................................................................................... A-38

A-2-8 Servo Drive Profile Object ...................................................................................................... A-41

A-2-9 Safety Function Objects ......................................................................................................... A-61

A-3 Object List ..........................................................................................................................A-77

A-4 Sysmac Error Status Codes ...........................................................................................A-116

A-4-1 Error List............................................................................................................................... A-116

A-4-2 Error Descriptions................................................................................................................. A-132

A-5 Use Case of Safety Function ..........................................................................................A-205

A-5-1 Function to Stop Servomotor................................................................................................A-205

A-5-2 Monitoring Function..............................................................................................................A-216

A-5-3 Function block for 1S-series Servo Drives Advance Type....................................................A-227

A-6 Response Time in EtherCAT Process Data Communications.....................................A-236

A-6-1 Input Response Time ........................................................................................................... A-236

A-6-2 Output Response Time......................................................................................................... A-236

A-7 Version Information.........................................................................................................A-237

A-7-1 Relationship between Unit Versions and Sysmac Studio Versions ......................................A-237

Index

Terms and Conditions Agreement

18 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Terms and Conditions Agreement

Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-

ship for a period of twelve months from the date of sale by Omron (or such other period expressed in

writing by Omron). Omron disclaims all other warranties, express or implied.

Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT

NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF

THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE

PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based

on infringement by the Products or otherwise of any intellectual property right.

Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally

shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-

plying 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 combi-

nation with any electrical or electronic components, circuits, system assemblies or any other materi-

als 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.

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-

SEQUENTIAL 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.

Warranty, Limitations of Liability

Warranties

Limitation on Liability; Etc

Terms and Conditions Agreement

1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Omron Companies shall not be responsible for conformity with any standards, codes or regulations

which apply to the combination of the Product in the Buyer’s application or use of the Product. At

Buyer’s request, Omron will provide applicable third party certification documents identifying ratings

and limitations of use which apply to the Product. This information by itself is not sufficient for a com-

plete determination of the suitability of the Product in combination with the end product, machine, sys-

tem, 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 applica-

tion 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.

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or

any consequence thereof.

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 perfor-

mance is subject to the Omron’s Warranty and Limitations of Liability.

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.

Information presented by Omron Companies has been checked and is believed to be accurate; how-

ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

Application Considerations

Suitability of Use

Programmable Products

Disclaimers

Performance Data

Change in Specifications

Errors and Omissions

Safety Precautions

20 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (I621)

Safety Precautions

• To ensure that the 1S-series Servomotor/Servo Drive Advance Type as well as peripheral equipment

are used safely and correctly, be sure to read this Safety Precautions section and the main text

before using the product. Learn all items you should know before use, regarding the equipment as

well as the required safety information and precautions.

• Make an arrangement so that this User’s Manual also gets to the end user of this product.

• After reading this User’s Manual, keep it in a convenient place so that it can be referenced at any

time.

• The precautions indicated here provide important information for safety. Be sure to heed the informa-

tion provided with the precautions.

• The following signal words are used to indicate and classify precautions in this User’s Manual.

Even those items denoted by the caution symbol may lead to a serious outcome depending on the situ-

ation. Accordingly, be sure to observe all safety precautions.

This User’s Manual uses the following symbols.

Explanation of Displays

Explanation of Symbols

The circle and slash symbol indicates operations that you must not do.

The specific operation is shown in the circle and explained in text.

This example indicates prohibiting disassembly.

The triangle symbol indicates precautions and warnings.

The specific operation is shown in the triangle and explained in text.

This example indicates a precaution for electric shock.

The triangle symbol indicates precautions and warnings.

The specific operation is shown in the triangle and explained in text.

This example indicates a general precaution.

The filled circle symbol indicates operations that you must do.

The specific operation is shown in the circle and explained in text.

This example indicates a requirement for the ground.

Indicates an imminently hazardous situation which, if

not avoided, is likely to result in serious injury or may

result in death. Additionally there may be severe

property damage.

Indicates a potentially hazardous situation which, if not

avoided, will result in minor or moderate injury, or may

result in serious injury or death. Additionally there may

be significant property damage.

DANGER

WARNING

Indicates a potentially hazardous situation which,

if not avoided, may result in minor or moderate

injury or in property damage.

Caution

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