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