Omron R88D-1SN10F-ECT User manual

AC Servomotors/Servo Drives
1S-series with Built-in
EtherCAT®Communications
User’s Manual
I586-E1-04
R88M-1L/-1M(AC Servomotors)
R88D-1SN-ECT (AC Servo Drives)

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. 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

1
Introduction
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Introduction
Thank you for purchasing a 1S-series Servo Drive. 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
2AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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

3
Manual Structure
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
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
Target velocity
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
4AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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 or Position Control 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 function stops the motor based on a signal from a safety controller.
This section provides the outline of the function 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.

5
Sections in this Manual
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
1 10
2 11
3
4
13
5
6
7
8
9
1 10
2 11
12
3
4
13
5A
6 I
7
8
9
A
I
Features and System
Configuration
Models and External
Dimensions
Operation
Specifications
Adjustment Functions
12
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
6AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
CONTENTS
Introduction ..............................................................................................................1
Manual Structure ......................................................................................................2
Manual Configuration ..............................................................................................4
Sections in this Manual ...........................................................................................5
Terms and Conditions Agreement ........................................................................16
Safety Precautions .................................................................................................18
Items to Check After Unpacking ...........................................................................29
Related Manuals .....................................................................................................38
Terminology ............................................................................................................40
Revision History .....................................................................................................42
Section 1 Features and System Configuration
1-1 Outline .................................................................................................................................. 1-2
1-1-1 Features of 1S-series Servo Drives.......................................................................................... 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 ......................................................................................................... 1-12
1-3-4 Servomotor Functions............................................................................................................. 1-13
1-4 System Block Diagram...................................................................................................... 1-14
1-5 Applicable Standards ........................................................................................................ 1-18
1-5-1 EU Directives ..........................................................................................................................1-18
1-5-2 UL and cUL Standards............................................................................................................ 1-19
1-5-3 Korean Radio Regulations (KC) .............................................................................................1-20
1-5-4 SEMI F47................................................................................................................................ 1-20
1-5-5 Australian EMC Labeling Requirements (RCM) ..................................................................... 1-20
1-6 Unit Versions...................................................................................................................... 1-21
1-6-1 Confirmation Method ..............................................................................................................1-21
1-6-2 Unit Versions and Sysmac Studio Versions ............................................................................ 1-21
1-7 Procedures to Start Operation ......................................................................................... 1-22
1-7-1 Overall Procedure................................................................................................................... 1-22
1-7-2 Procedure Details ...................................................................................................................1-24

7
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Section 2 Models and External Dimensions
2-1 Servo System Configuration .............................................................................................. 2-2
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 Decelerator (Backlash: 3 Arcminutes Max.) ............................................................................. 2-6
2-2-4 Decelerator (Backlash: 15 Arcminutes Max.) ........................................................................... 2-7
2-3 Model Tables ........................................................................................................................ 2-8
2-3-1 Servo Drive Model Table .......................................................................................................... 2-8
2-3-2 Servomotor Model Tables......................................................................................................... 2-9
2-3-3 Servo Drive and Servomotor Combination Tables ................................................................. 2-13
2-3-4 Decelerator Model Tables....................................................................................................... 2-14
2-3-5 Servomotor and Decelerator Combination Tables.................................................................. 2-17
2-3-6 Cable and Connector Model Tables ....................................................................................... 2-18
2-3-7 External Regeneration Resistor and External Regeneration
Resistance Unit Model Tables ................................................................................................ 2-23
2-3-8 Reactor Model Table .............................................................................................................. 2-24
2-3-9 Noise Filter Model Table......................................................................................................... 2-24
2-4 External and Mounting Dimensions ................................................................................ 2-25
2-4-1 Servo Drive Dimensions......................................................................................................... 2-25
2-4-2 Servomotor Dimensions ......................................................................................................... 2-29
2-4-3 Decelerator Dimensions ......................................................................................................... 2-65
2-4-4 Dimensions of External Regeneration Resistors and External Regeneration
Resistance Units..................................................................................................................... 2-79
2-4-5 Reactor Dimensions ............................................................................................................... 2-80
2-4-6 Noise Filter Dimensions ......................................................................................................... 2-89
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.............................................................................................................. 3-17
3-1-7 Control Input Details............................................................................................................... 3-18
3-1-8 Control Output Circuits ........................................................................................................... 3-18
3-1-9 Control Output Details ............................................................................................................ 3-18
3-1-10 Encoder Pulse Output Specifications ..................................................................................... 3-19
3-1-11 Safety I/O Specifications ........................................................................................................ 3-20
3-1-12 Brake Interlock Connector (CN12) Specifications .................................................................. 3-21
3-1-13 Encoder Connector (CN2) Specifications............................................................................... 3-22
3-1-14 EtherCAT Communications Connector (RJ45) Specifications................................................ 3-22
3-1-15 USB Connector (CN7) Specifications..................................................................................... 3-23
3-1-16 Power ON Sequence.............................................................................................................. 3-23
3-1-17 Overload Characteristics (Electronic Thermal Function) ........................................................ 3-24
3-2 Servomotor Specifications ............................................................................................... 3-28
3-2-1 General Specifications............................................................................................................ 3-28
3-2-2 Encoder Specifications ........................................................................................................... 3-29
3-2-3 Characteristics........................................................................................................................ 3-30
3-3 Decelerator Specifications ............................................................................................... 3-48
3-4 Cable and Connector Specifications ............................................................................... 3-53
3-4-1 Encoder Cable Specifications................................................................................................. 3-53
3-4-2 Motor Power Cable Specifications.......................................................................................... 3-58
3-4-3 Resistance to Bending of Flexible Cable................................................................................ 3-84
3-4-4 Connector Specifications........................................................................................................ 3-86
3-4-5 EtherCAT Communications Cable Specifications................................................................... 3-90

CONTENTS
8AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
3-5 Specifications of External Regeneration Resistors and External Regeneration
Resistance Units................................................................................................................3-93
3-5-1 General Specifications ............................................................................................................3-93
3-5-2 Characteristics ........................................................................................................................3-94
3-5-3 External Regeneration Resistance Unit Specifications...........................................................3-96
3-6 Reactor Specifications...................................................................................................... 3-97
3-6-1 General Specifications ............................................................................................................3-97
3-6-2 Characteristics ........................................................................................................................3-97
3-6-3 Terminal Block Specifications .................................................................................................3-98
3-7 Noise Filter Specifications................................................................................................ 3-99
3-7-1 General Specifications ............................................................................................................3-99
3-7-2 Characteristics ...................................................................................................................... 3-100
3-7-3 Terminal Block Specifications ............................................................................................... 3-101
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.............................................. 4-11
4-1-5 Footprint-type Noise Filter Installation Conditions .................................................................. 4-12
4-2 Wiring ................................................................................................................................. 4-13
4-2-1 Peripheral Equipment Connection Examples .........................................................................4-14
4-2-2 Terminal Block Wiring Procedure............................................................................................4-24
4-2-3 Connector Attachment Procedure........................................................................................... 4-26
4-2-4 Power/Brake Connector Attachment Procedure.....................................................................4-27
4-2-5 Terminal Block Wiring Procedure for Footprint-type Noise Filter ............................................ 4-28
4-3 Wiring Conforming to EMC Directives ............................................................................ 4-29
4-3-1 Peripheral Equipment Connection Examples .........................................................................4-30
4-3-2 Selecting Connection Component ..........................................................................................4-39
4-4 Regenerative Energy Absorption..................................................................................... 4-45
4-4-1 Calculating the Regenerative Energy .....................................................................................4-45
4-4-2 Servo Drive Regeneration Absorption Capacity ..................................................................... 4-48
4-4-3 Regenerative Energy Absorption by an External Regeneration Resistance Device............... 4-49
4-4-4 Connecting an External Regeneration Resistor...................................................................... 4-50
4-5 Adjustment for Large Load Inertia ................................................................................... 4-51
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 Sync Manager PDO Mapping Assignment Settings ...............................................................5-12
5-5 Service Data Objects (SDOs)............................................................................................ 5-13
5-6 Synchronization Mode and Communications Cycle ...................................................... 5-14
5-6-1 Distributed Clock (DC) Mode ..................................................................................................5-14
5-6-2 Free-Run Mode.......................................................................................................................5-14

9
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-7 Emergency Messages ....................................................................................................... 5-15
5-8 Sysmac Device Features .................................................................................................. 5-16
Section 6 Basic Control Functions
6-1 Outline of Control Functions.............................................................................................. 6-2
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 Operation Timing.................................................................................................................... 7-24
7-7 Electronic Gear Function.................................................................................................. 7-28
7-7-1 Objects Requiring Settings..................................................................................................... 7-28
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

CONTENTS
10 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
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 Safe Torque OFF Function.................................................................................................. 8-2
8-2 STO Function via Safety Input Signals.............................................................................. 8-4
8-2-1 I/O Signal Specifications........................................................................................................... 8-4
8-2-2 Operation Example ................................................................................................................... 8-6
8-2-3 Connection Example................................................................................................................. 8-7
8-3 STO Function via EtherCAT Communications................................................................ 8-10
8-3-1 Connection and Setting .......................................................................................................... 8-10
8-3-2 Operation Example ................................................................................................................. 8-12
8-3-3 Connection Example...............................................................................................................8-14
Section 9 Details on Servo Parameters
9-1 Object Description Format ................................................................................................. 9-4
9-2 Common Control Objects ................................................................................................... 9-6
9-2-1 3000 hex: Basic Functions........................................................................................................ 9-6
9-2-2 3001 hex: Machine ................................................................................................................. 9-12
9-2-3 3002 hex: Optimized Parameters ...........................................................................................9-13
9-2-4 3010 hex: Position Command.................................................................................................9-15
9-2-5 3011 hex: Position Command Filter ........................................................................................9-17
9-2-6 3012 hex: Damping Control .................................................................................................... 9-18
9-2-7 3013 hex: Damping Filter 1.....................................................................................................9-19
9-2-8 3014 hex: Damping Filter 2.....................................................................................................9-20
9-2-9 3020 hex: Velocity Command .................................................................................................9-22
9-2-10 3021 hex: Velocity Command Filter ........................................................................................9-23
9-2-11 3030 hex: Torque Command ..................................................................................................9-24
9-2-12 3031 hex: Velocity Limit in Torque Control.............................................................................. 9-24
9-2-13 3040 hex: Profile Command ...................................................................................................9-25
9-2-14 3041 hex: Command Dividing Function..................................................................................9-26
9-3 Control Method Objects .................................................................................................... 9-27
9-3-1 3112 hex: ODF Velocity Feed-forward....................................................................................9-27
9-3-2 3113 hex: ODF Torque Feed-forward .....................................................................................9-28
9-3-3 3120 hex: TDF Position Control..............................................................................................9-29
9-3-4 3121 hex: TDF Velocity Control ..............................................................................................9-30

11
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-4 Control Loop Objects........................................................................................................ 9-32
9-4-1 3210 hex: Internal Position Command ................................................................................... 9-32
9-4-2 3211 hex: Position Detection .................................................................................................. 9-33
9-4-3 3212 hex: Gain Switching in Position Control ........................................................................ 9-33
9-4-4 3213 hex: 1st Position Control Gain....................................................................................... 9-34
9-4-5 3214 hex: 2nd Position Control Gain...................................................................................... 9-35
9-4-6 3220 hex: Internal Velocity Command.................................................................................... 9-35
9-4-7 3221 hex: Velocity Detection .................................................................................................. 9-36
9-4-8 3222 hex: Gain Switching in Velocity Control......................................................................... 9-37
9-4-9 3223 hex: 1st Velocity Control Gain ....................................................................................... 9-37
9-4-10 3224 hex: 2nd Velocity Control Gain ...................................................................................... 9-38
9-4-11 3230 hex: Internal Torque Command ..................................................................................... 9-39
9-4-12 3231 hex: Torque Detection ................................................................................................... 9-39
9-4-13 3232 hex: Filter Switching in Torque Control.......................................................................... 9-39
9-4-14 3233 hex: 1st Torque Command Filter ................................................................................... 9-40
9-4-15 3234 hex: 2nd Torque Command Filter .................................................................................. 9-41
9-5 Torque Output Setting Objects......................................................................................... 9-42
9-5-1 3310 hex: Torque Compensation ........................................................................................... 9-42
9-5-2 3320 hex: Adaptive Notch Filter ............................................................................................. 9-44
9-5-3 3321 hex: 1st Notch Filter ...................................................................................................... 9-45
9-5-4 3322 hex: 2nd Notch Filter ..................................................................................................... 9-47
9-5-5 3323 hex: 3rd Notch Filter ...................................................................................................... 9-49
9-5-6 3324 hex: 4th Notch Filter ...................................................................................................... 9-51
9-5-7 3330 hex: Torque Limit ........................................................................................................... 9-53
9-6 Homing Objects ................................................................................................................. 9-55
9-7 Applied Function Objects ................................................................................................. 9-59
9-7-1 3B10 hex: Drive Prohibition.................................................................................................... 9-59
9-7-2 3B11 hex: Software Position Limit..........................................................................................9-60
9-7-3 3B20 hex: Stop Selection ....................................................................................................... 9-62
9-7-4 3B21 hex: Deceleration Stop.................................................................................................. 9-66
9-7-5 3B30 hex: Touch Probe 1 ....................................................................................................... 9-66
9-7-6 3B31 hex: Touch Probe 2 ....................................................................................................... 9-69
9-7-7 3B40 hex: Zone Notification 1 ................................................................................................ 9-70
9-7-8 3B41 hex: Zone Notification 2 ................................................................................................ 9-71
9-7-9 3B50 hex: Position Detection Function .................................................................................. 9-72
9-7-10 3B51 hex: Positioning Completion Notification....................................................................... 9-72
9-7-11 3B52 hex: Positioning Completion Notification 2.................................................................... 9-73
9-7-12 3B60 hex: Speed Detection Function..................................................................................... 9-74
9-7-13 3B70 hex: Vibration Detection................................................................................................ 9-75
9-7-14 3B71 hex: Runaway Detection ...............................................................................................9-76
9-7-15 3B80 hex: Load Characteristic Estimation ............................................................................. 9-77
9-8 Error- and Warning-related Objects................................................................................. 9-80
9-8-1 4000 hex: Error Full Code ...................................................................................................... 9-80
9-8-2 4020 hex: Warning Customization.......................................................................................... 9-81
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................................................................................... 9-90
9-9-5 4132 hex: Safety Command Monitor 2................................................................................... 9-91
9-9-6 4140 hex: Lifetime Information ............................................................................................... 9-92
9-9-7 4150 hex: Overload ................................................................................................................ 9-94
9-10 Display-related Objects.....................................................................................................9-96
9-11 Power Device-related Objects .......................................................................................... 9-97
9-11-1 4310 hex: Regeneration ......................................................................................................... 9-97
9-11-2 4320 hex: Main Circuit Power Supply .................................................................................... 9-98
9-12 External Device-related Objects..................................................................................... 9-100

CONTENTS
12 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-13 Encoder-related Objects ................................................................................................. 9-102
9-14 I/O-related Objects........................................................................................................... 9-105
9-14-1 4600 hex: I/O Monitor ........................................................................................................... 9-105
9-14-2 4601 hex: Function Input ......................................................................................................9-106
9-14-3 4602 hex: Function Output ...................................................................................................9-108
9-14-4 4604 hex: Control Input Change Count ................................................................................9-109
9-14-5 4605 hex: Control Output Change Count ............................................................................. 9-110
9-14-6 4610 hex: Brake Interlock Output ..........................................................................................9-111
9-14-7 4620 hex: Encoder Dividing Pulse Output ............................................................................ 9-112
9-15 General-purpose Input Setting Objects......................................................................... 9-114
9-15-1 Setting................................................................................................................................... 9-114
9-15-2 4630 hex: Positive Drive Prohibition Input ............................................................................ 9-115
9-15-3 4631 hex: Negative Drive Prohibition Input .......................................................................... 9-115
9-15-4 4632 hex: External Latch Input 1 ..........................................................................................9-115
9-15-5 4633 hex: External Latch Input 2 ..........................................................................................9-116
9-15-6 4634 hex: Home Proximity Input........................................................................................... 9-116
9-15-7 4635 hex: Positive Torque Limit Input................................................................................... 9-116
9-15-8 4636 hex: Negative Torque Limit Input ................................................................................. 9-117
9-15-9 4637 hex: Error Stop Input.................................................................................................... 9-117
9-15-10 4638 hex: Monitor Input 1 ..................................................................................................... 9-117
9-15-11 4639 hex: Monitor Input 2 ..................................................................................................... 9-118
9-15-12 463A hex: Monitor Input 3..................................................................................................... 9-118
9-15-13 463B hex: Monitor Input 4..................................................................................................... 9-118
9-15-14 463C hex: Monitor Input 5 .................................................................................................... 9-119
9-15-15 463D hex: Monitor Input 6 .................................................................................................... 9-119
9-15-16 463E hex: Monitor Input 7..................................................................................................... 9-119
9-15-17 463F hex: Monitor Input 8..................................................................................................... 9-120
9-16 General-purpose Output Setting Objects...................................................................... 9-121
9-16-1 Setting................................................................................................................................... 9-121
9-16-2 4650 hex: Error Output ......................................................................................................... 9-122
9-16-3 4651 hex: Servo Ready Output ............................................................................................ 9-122
9-16-4 4652 hex: Positioning Completion Output 1 ......................................................................... 9-122
9-16-5 4653 hex: Positioning Completion Output 2 ......................................................................... 9-123
9-16-6 4654 hex: Velocity Attainment Detection Output................................................................... 9-123
9-16-7 4655 hex: Torque Limit Output.............................................................................................. 9-123
9-16-8 4656 hex: Zero Speed Detection Output ..............................................................................9-124
9-16-9 4657 hex: Velocity Conformity Output ..................................................................................9-124
9-16-10 4658 hex: Warning Output 1 ................................................................................................. 9-124
9-16-11 4659 hex: Warning Output 2 ................................................................................................. 9-125
9-16-12 465A hex: Velocity Limiting Output ....................................................................................... 9-125
9-16-13 465B hex: Error Clear Attribute Output.................................................................................9-125
9-16-14 465C hex: Remote Output 1 ................................................................................................. 9-126
9-16-15 465D hex: Remote Output 2 ................................................................................................. 9-126
9-16-16 465E hex: Remote Output 3 ................................................................................................. 9-126
9-16-17 465F hex: Zone Notification Output 1................................................................................... 9-127
9-16-18 4660 hex: Zone Notification Output 2 ................................................................................... 9-127
9-16-19 4661 hex: Position Command Status Output........................................................................ 9-127
9-16-20 4662 hex: Distribution Completed Output............................................................................. 9-128
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

13
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
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 ................................................................................. 12-12

CONTENTS
14 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
12-4 Information....................................................................................................................... 12-13
12-4-1 Related Objects .................................................................................................................... 12-13
12-4-2 Information List ..................................................................................................................... 12-13
12-5 Troubleshooting .............................................................................................................. 12-14
12-5-1 Troubleshooting Using Error Displays .................................................................................. 12-14
12-5-2 Troubleshooting Using AL Status Codes .............................................................................. 12-34
12-5-3 Troubleshooting Using the Operation State ..........................................................................12-38
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-20
A-2-6 Sync Manager Communication Objects..................................................................................A-35
A-2-7 Manufacturer Specific Objects ................................................................................................A-38
A-2-8 Servo Drive Profile Object ......................................................................................................A-41
A-2-9 Safety Function Objects..........................................................................................................A-63
A-3 Object List ..........................................................................................................................A-67
A-4 Sysmac Error Status Codes .............................................................................................A-98
A-4-1 Error List .................................................................................................................................A-98
A-4-2 Error Descriptions .................................................................................................................A-109
A-5 Response Time in EtherCAT Process Data Communications.....................................A-171
A-5-1 Input Response Time............................................................................................................A-171
A-5-2 Output Response Time.........................................................................................................A-171
A-6 Version Information.........................................................................................................A-172
A-6-1 Relationship between Unit Versions and Sysmac Studio Versions.......................................A-172
A-6-2 Functions That Were Added or Changed for Each Unit Version...........................................A-173
Index

15
CONTENTS
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)

Terms and Conditions Agreement
16 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Terms and Conditions Agreement
zExclusive 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.
zLimitations
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.
zBuyer 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

17
Terms and Conditions Agreement
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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
18 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Safety Precautions
• To ensure that the 1S-series Servomotor/Servo Drive as well as peripheral equipment are used
safely and correctly, be sure to read this Safety Precautions section and the main text before using
the product. 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