Omron R88D-1SN ECT Series User guide

AC Servo System 1S-series
Startup Guide
for Multi-axis Setup and Tuning
R88M-1L[]/-1M[] (AC Servomotors)
R88D-1SN[]-ECT (AC Servo Drives)
SYSMAC-SE20[][] (Automation Software)
I827-E1-01

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NOTE
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.

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Introduction
The Servo System 1S-Series Startup Guide for Multi-axis Setup and Tuning (hereinafter, may
be referred to as "this Guide") describes the procedures for installation and setup of 1S Servo
Drives, where an NJ/NX-series CPU Unit is used in combination with1S-series AC
Servomotors/Servo Drives and NX-series Safety 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.
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 FAsystems
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 Servomotors/Drives
•Knowledge of operation procedure of Sysmac Studio
Applicable Products
This Guide covers the following products.
•CPU Units of NJ/NX-series Machine Automation Controllers
•Automation Software Sysmac Studio
•1S-series Servomotors/Servo Drives
Special Information
The icons that are used in this Guide are described below.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
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.

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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

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documents identifying ratings and limitations of use which apply to the Product. This information
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
Sysmac Studio Version 1
Operation Manual
W504 SYSMAC-SE2□□□ Learning about the operating
procedures and functions of
the Sysmac Studio.
Describes the operating procedures of
the Sysmac Studio.
Sysmac Studio Drive
Functions Operation
Manual
I589-E1 SYSMAC-SE2□□□ Learning about the operating
procedures and functions of
the Sysmac Studio for Drives
Describes the operating procedures of
the Sysmac Studio to setup Drives
NJ-series CPU Unit
Hardware User´s Manual
W500 NJ501-□□□□
NJ301-□□□□ Learning the basic specifications of the
NJ-series CPU Units,
including introductory
information, designing,
installation, and
maintenance.
Mainly hardware information
is provided.
Provides an introduction to the entire
NJ-series system along with the
following information on the CPU Unit.
•Features and system configuration
•Overview
•Part names and functions
•General specifications
•Installation and wiring
•Maintenance and inspection
Use this manual together with the
NJ/NX-series CPU Unit Software
User's Manual (Cat. No. W501).
NJ/NX-series CPU Unit
Software User’s Manual
W501 NJ501-□□□□
NJ301-□□□□ Learning how to program and set up an NJ/NX-series CPU
Unit.
Mainly software information is
provided.
Provides the following information on a
Controller built with an NJ/NX-series
CPU Unit.
•CPU Unit operation
•CPU Unit features
•Initial settings
•Language specifications and
programming based on IEC 61131-3
Use this manual together with the
NJ-series CPU Unit Hardware User's
Manual (Cat. No. W500).
NJ/NX-series CPU Unit
Motion Control User's
Manual
W507 NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Learning about motion
control settings and
programming concepts.
Describes the settings and operation of
the CPU Unit and programming
concepts for motion control.
When programming, use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No.
W500) and NJ/NX-series CPU Unit
Software User's Manual (Cat. No.
W501).
NJ/NX-series Instructions
Reference Manual
W502 NJ501-□□□□
NJ301-□□□□ Learning detailed specifications on the basic
instructions of an
NJ/NX-series CPU Unit.
Describes the instructions in the
instruction set (IEC 61131-3
specifications).
When programming, use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No.
W500) and NJ/NX-series CPU Unit
Software User's Manual (Cat. No.
W501).

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Manual name
Cat. No.
Model
Application
Description
NJ/NX-series Motion
Control Instructions
Reference Manual
W508 NJ501-□□□□
NJ301-□□□□ Learning about the specifications of the motion
control instructions that are
provided by OMRON.
Describes the motion control instructions.
When programming, use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No.
W500), NJ/NX-series CPU Unit Software
User's Manual (Cat. No. W501), and
NJ/NX-series CPU Unit Motion Control
User's Manual (Cat. No. W507).
NJ/NX-series
Troubleshooting Manual
W503 NJ501-□□□□
NJ301-□□□□ Learning about the errors that may be detected in an
NJ/NX-series Controller.
Describes concepts on managing errors
that may be detected in an NJ/NX-series
Controller and information on individual
errors.
Use this manual together with the
NJ-series CPU Unit Hardware User's
Manual (Cat. No. W500) and
NJ/NX-series CPU Unit Software User's
Manual (Cat. No. W501).
1S-series AC
Servomotors/Servo Drives
with Built-in EtherCAT
Communications User's
Manual
I586 R88D-1S□-ECT
R88M-1□
Learning detailed
specifications of a
1S-series Servo Drive.
Describes how to install and wire the
Servo Drive, set parameters needed to
operate the Servo Drive, and remedies to
be taken and inspection methods to be
used in case that problems occur.

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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 April 2017 Original production
Cat. No.
I827-E1-01
Revision code

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CONTENTS
Introduction······························································································3
IntendedAudience.....................................................................................................3
Applicable Products...................................................................................................3
Special Information....................................................................................................3
Terms and Conditions Agreement·······························································4
Precautions······························································································6
Trademarks................................................................................................................6
Software Licenses and Copyrights............................................................................6
Related Manuals ·······················································································7
Revision History ·······················································································9
1. Servo system configuration and peripheral products···························· 11
1.1. Outline.............................................................................................................11
1.2. Servo System constructed in this guide..........................................................12
2. Before You Begin·············································································· 14
2.1. Installing the Sysmac Studio...........................................................................14
2.2. Assembling the Hardware...............................................................................15
2.3. Wiring the Devices..........................................................................................16
3. Performing setup ·············································································· 20
3.1. Two axis servo system operation....................................................................20
3.2. System setup procedures...............................................................................22
3.3. Creating project with Auto connection ............................................................22
3.4 Creating the EtherCAT Network Configuration...............................................24
3.5 Creating motion axes......................................................................................26
3.6 Program making and transfer to the CPU Unit...............................................32
3.7 Drives and motors parameters setup..............................................................34
3.8 Easy Tuning (Multiple Drives).........................................................................38
ANNEX··································································································· 44
A-1 Settings when control input signals are not wired............................................44
A-2 Program making with structured text................................................................51

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1. Servo system configuration and peripheral
products
1.1. Outline
The 1S-series AC Servo Drives with Built-in EtherCAT communications support 100-Mbps EtherCAT.
When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit,
you can construct a high-speed and sophisticated positioning control system.
Also, you need only one communications cable to connect the Servo Drive and the Controller. Therefore,
you can realize a position control system easily with reduced wiring effort.
With auto tuning, adaptive filter, notch filter, and damping control, you can set up a system that provides
stable operation by suppressing vibration in low-rigidity machines.
For machine composed with multiple 1S-series AC Servo Drives, Sysmac Studio provides a set of
functions to set-up and tune parameters with less effort.
Additional Information
For additional information about 1S servo drive, please refer to 1S-series AC Servomotors and Servo
Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

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1.2. Servo System constructed in this guide
This 1S-series Startup Guide for multi-axis setup and tuning (hereafter referred to as “this Guide”) contains
instructions to set-up and tune an X-Y stage system composed of two 1S-series AC Servo Drives.
The following figure shows the system configuration and devices that are used in this Guide.
The system configuration is shown in the following figure.

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•Configuration devices
The models of the devices that are described in this Guide are given in the following table. When selecting
devices for an actual application, refer to the device manuals.
Device name Model Manual name
NJ-series CPU Unit NJ501-1500 NJ-series CPU Unit Hardware
User’s Manual (Cat. No. W500)
NJ-series Power Supply Unit NJ-PA3001
EtherCAT communications cables XS5W-T421-CMD-K
AC Servo Drives R88D-1SN01L-ECT 1S-series AC Servomotors and
Servo Drives User’s Manual (with
Built-
in EtherCAT
Communications) (Cat. No. I586)
AC Servo Motors R88M-1M10030S
Power cables R88A-CA1A003S
Encoder Cables R88A-CR1A003C
•Automation software
Product Number of license Model
Sysmac Studio Standard Edition
Version 1.18 or higher None (DVD only) SYSMAC-SE200D
1 license SYSMAC-SE201L

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

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2.2. Assembling the Hardware
This section describes how to assemble the hardware used in the system.
This section gives an overview of the assembly procedures. Refer to the manuals for the devices that are
used in the system for detailed assembly procedures and safety precautions.
Mounting the Units
Connect the Power Supply Unit, CPU Unit, and End Cover.
After joining the connectors between the Units, use the sliders at the top and bottom of each Unit to lock
the Units together. Lock the sliders firmly into place.
Precautions for Safe Use
Always turn OFF the power supply to the Controller and to the Servo Drives before you
attempt any of the following.
•Mounting or removing the CPU Unit and Other Units
•Assembling Racks
•Setting DIP switches or rotary switches.
•Connecting cables or wiring the system
•Connecting or disconnecting the connectors
The Power Supply Unit continues to supply power to the Controller for up to several
seconds after the power supply is turned OFF. The PWR indicator remains lit as long as
power is supplied. Make sure that the PWR indicator is not lit before you perform any of
the above operations.

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2.3. Wiring the Devices
This section describes how to wire the hardware devices.
This section gives an overview of the wiring procedures. Refer to the manuals for the devices that are
used in the system for detailed wiring procedures and safety precautions.
Wiring the Rack Power Supply Unit
Wire the Power Supply Unit to the power supply.
*The RUN output is ON when the CPU Unit is in RUN mode. It is OFF when the CPU
Unit is in PROGRAM mode or when a major fault level Controller error occurs.
Additional Information
This Guide uses an NJ-PA3001 AC Power Supply Unit. An NJ-PD3001 DC Power Supply Unit can also
be used.
Wiring the Servo Drive Power Supply
Wire the Servo Drives to the power supply as shown in the following figure.
Additional Information
For further details about wiring method, please refer to 1S-series AC Servomotors and Servo Drives
User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

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Laying EtherCAT Communications Cables
Connect the EtherCAT slave communications cables between the built-in EtherCAT port on the CPU Unit
and the EtherCAT slaves as shown in the following figure.
Connect the communications cable from the built-in EtherCAT port to the input port on the first slave, and
then connect the communications cable to the next slave to the output port on the first slave.
Do not connect anything to the output port of the slave at the end of the network.
Setting the Node Addresses of the Servo Drives
Set the node addresses of the Servo Drives as shown below.

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Wiring the Servo Drives and the Servomotors
Wire the Servo Drives and the Servomotors as shown in the following figure.

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Wiring the Control Input Signals for the Servo Drives
Wire the control input signals for the Servo Drive using the R88A-CN101C Control I/O connector
(CN1).
For details on wiring, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT
Communications User's Manual (Cat. No. I586).
*Control I/O Connector (CN1):
Used for command input signals, I/O signals, and as the safety device connector. The short-circuit wire is installed on
the safety signals before shipment.
Additional Information
•If you use the default Servo parameters, you must wire the immediate stop input, negative drive
prohibit input, and the positive drive prohibit input.
If these inputs are not wired, the CPU Unit will remain in the drive prohibit signal and emergency stop
signal detected state, and a minor fault level Controller error will occur. The minor fault level Controller
errors that will occur are an Immediate Stop Input Error and a Drive Prohibition Input Error. (The event
codes are 68220000 and 64E30000.)
•If the above signals are temporarily not wired while commissioning the system, you can temporarily
change the Servo parameters to prevent these errors from occurring in the CPU Unit.
Refer to A-1 Settings When Control Input Signals Are Not Wired for details on the settings that you
must change in this case.
When using the default Servo parameters, please wire the
immediate stop input (ESTOP), negative drive prohibit input
(NOT), and the positive drive prohibit input (POT).

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3. Performing setup
3.1. Two axis servo system operation
This section describes the operation of two-axis Servo system that is set up in this Guide.
In this system, axis 0 and axis 1 are set up for an XY stage.
The mechanical configuration of axis 0 and axis 1 are as shown in the following table.
Item Axis 0 / Axis 1 mechanical configuration
Motor rated speed 3000 r/min
Ball screw pitch 10 mm
Encoder resolution 23 bits/rotation (8,338,608)