Omron OMNUC W Series User manual

Cat. No. I538-E3-1
DeviceNet Option Unit
OMNUC W Series
Model R88A-NCW152-DRT

1
Notice:
OMRON products are manufactured for use according to proper procedures by a qualified operator and
only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual. Always heed the
information provided with them. Failure to heed precautions can result in injury to people or damage to
property.
Indicates an imminently hazardous situation which, if not avoided, will result in death or seri-
ous injury.
Indicates a potentially hazardous situation which, if not avoided, could result in death or seri-
ous injury.
Indicates a potentially hazardous situation which, if not avoided, may result in minor or mod-
erate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything
else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of infor-
mation.
Note Indicates information of particular interest for efficient and convenient operation of the product.
OMRON, 2001
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or trans-
mitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, with-
out the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, be-
cause OMRON is constantly striving to improve its high–quality products, the information contained in this
manual is subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, OMRON assumes no responsibility for deviations or omissions. Neither is any lia-
bility assumed for damages resulting from the use of the information contained in this publication.
!
DANGER
!WARNING
!Caution

2
General Warnings
Observe the following warnings when using the DeviceNet Unit and all peripheral devices.
This manual may include illustrations of the product with protective covers removed in order to describe
the components of the product in detail. Make sure that these protective covers are on the product before
use.
Consult your OMRON representative when using the product after a long period of storage.
Always connect the frame ground terminals of the Servo Driver and the Servomotor to a
class–3 ground (to 100 Ωor less). Not connecting to a class-3 ground may result in electric
shock.
Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
Do not remove the front cover, terminal covers, cables, Parameter Units, or optional items
while the power is being supplied. Doing so may result in electric shock.
Installation, operation, maintenance, or inspection must be performed by authorized person-
nel. Not doing so may result in electric shock or injury.
Wiring or inspection must not be performed for at least five minutes after turning OFF the
power supply. Doing so may result in electric shock.
Do not damage, press, or put excessive stress or heavy objects on the cables. Doing so may
result in electric shock, stopping operation of the product, or burning.
Do not touch the rotating parts of the Servomotor in operation. Doing so may result in injury.
Do not modify the product. Doing so may result in injury or damage to the product.
Use the Servomotors and Servo Drivers in a specified combination. Using them incorrectly
may result in fire or damage to the product.
Do not store or install the product in the following places. Doing so may result in fire, electric
shock, or damage to the product.
• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Vendors Association,
Inc.).
• Locations subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified in the specifica-
tions.
• Locations subject to condensation as the result of severe changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to shock or vibration.
• Locations subject to exposure to water, oil, or chemicals.
Do not touch the Servo Driver radiator, Regeneration Resistor, or Servomotor while the
power is being supplied or soon after the power is turned OFF. Doing so may result in a skin
burn due to the hot surface.
!WARNING
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!Caution
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3
Storage and Transportation Precautions
Do not hold the product by the cables or motor shaft while transporting it. Doing so may
result in injury or malfunction.
Do not place any load exceeding the figure indicated on the product. Doing so may result in
injury or malfunction.
Use the motor eye–bolts only for transporting the Motor. Using them for transporting the
machinery may result in injury or malfunction.
Installation and Wiring Precautions
Do not step on or place a heavy object on the product. Doing so may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the prod-
uct. Doing so may result in fire.
Be sure to install the product in the correct direction. Not doing so may result in malfunction.
Provide the specified clearances between the Servo Driver and the control panel or with
other devices. Not doing so may result in fire or malfunction.
Do not apply any strong impact. Doing so may result in malfunction.
Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or
malfunction.
Be sure to install the Unit correctly and securely. Not doing so may result in motor runaway,
injury, or malfunction.
Be sure that all the mounting screws, terminal screws, and cable connector screws are tight-
ened to the torque specified in the relevant manuals. Incorrect tightening torque may result
in malfunction.
Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals.
Connection of bare stranded wires may result in fire.
Always use the power supply voltage specified in the User’s Manual. An incorrect voltage
may result in burning.
Take appropriate measures to ensure that the specified power with the rated voltage and fre-
quency is supplied. Be particularly careful in places where the power supply is unstable. An
incorrect power supply may result in damage to the product.
Install external breakers and take other safety measures against short–circuiting in external
wiring. Insufficient safety measures against short–circuiting may result in fire.
Provide an appropriate stopping device on the machine side to secure safety. (A holding
brake is not a stopping device for securing safety.) Not doing so may result in injury.
Provide an external emergency stopping device that allows an instantaneous stop of opera-
tion and power interruption. Not doing so may result in injury.
!Caution
!Caution
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4
Take appropriate and sufficient countermeasures when installing systems in the following
locations. Not doing so may result in damage to the product.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
Do not reverse the polarity of the battery when connecting it. Reversing the polarity may
damage the battery or cause it to explode.
Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge
any static build–up. Not doing so may result in malfunction or damage.
Operation and Adjustment Precautions
Confirm that no adverse effects will occur in the system before performing the test operation.
Not doing so may result in damage to the product.
Check the newly set parameters and switches for proper execution before actually running
them. Not doing so may result in damage to the product.
Do not make any extreme adjustments or setting changes. Doing so may result in unstable
operation and injury.
Separate the Servomotor from the machine, check for proper operation, and then connect to
the machine. Not doing so may cause injury.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then
resume operation. Not doing so may result in injury.
Do not come close to the machine immediately after resetting momentary power interruption
to avoid an unexpected restart. (Take appropriate measures to secure safety against an
unexpected restart.) Doing so may result in injury.
Do not use the built–in brake of the Servomotor for ordinary braking. Doing so may result in
malfunction.
When using the DeviceNet Unit in a Programmable Controller system, execute online edit
only after confirming that no adverse effects will be caused by extending the cycle time. Oth-
erwise, the input signals may not be readable.
When using the DeviceNet Unit in a Programmable Controller system, confirm safety at the
destination node before transferring parameters or other data to another node or changing
output signals. Doing either of these without confirming safety may result in injury.
Confirm that no adverse effect will occur in the system before attempting any of the follow-
ing. Not doing so may result in an unexpected operation or damage to the product.
• Changing the present values or set values.
• Changing the parameters.
Do not turn OFF the power supply to the Unit while data is being transferred. Doing so may
result in malfunction or damage to the product.
!Caution
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5
Maintenance and Inspection Precautions
Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result
in malfunction, fire, electric shock, or injury.
Resume operation only after transferring to the new Unit the contents of the data required for
operation. Not doing so may result in an unexpected operation or damage to the product.
!WARNING
!Caution

6
Overview
About this Manual
This manual provides the following information for the OMNUC W-series R88M-W, R88D-WTAC Ser-
vomotors/Servo Drivers with an R88A-NCW152-DRT DeviceNet Option Unit (hereinafter called the De-
viceNet Unit) mounted.
• Procedures for installing and wiring the DeviceNet Unit
• Specifications and methods for DeviceNet communications
• Procedures for setting user parameters
• Information on the Setup Tool
• Troubleshooting procedures
Related Manuals
Refer to the following manuals as required.
Read this manual carefully to ensure the proper use of W-series Servo Driver. Also, keep this manual in a safe
place so that it can be referred to whenever necessary.
Registered Trademark
DeviceNet is a registered trademark of the ODVA (Open DeviceNet Vendor Association, Inc.).
Manual Name Manual No. Contents
OMNUC W-series
AC Servomotors/Servo Drivers
User’s Manual
I531-E1-Provides the detailed information on models
and functions of OMNUC W-Series Servo
Drivers.
DeviceNet
User’s Manual
W267-E1-Provides the overview of DeviceNet and
installation.

7
Contents
1 Features and System Configuration
1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 Basic Functions and Function Outlines- - - - - - - - - - - - - - - - 1-5
1.4 Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6
1.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-7
1.4.3 I/O Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-7
1.4.4 DeviceNet Communications Specifications - - - - - - - - - - - - - - - - - - - -1-8
2 Outline Drawings and Nomenclature
2.1 Outline Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 Checking Products on Delivery - - - - - - - - - - - - - - - - - - - - - 2-4
2.3 Product Nomenclature - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4 Mounting the DeviceNet Unit - - - - - - - - - - - - - - - - - - - - - - - 2-6
3 Installation
3.1 Storage Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Installation Site- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.3 Orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.4 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
4 Connectors
4.1 Connecting to Peripheral Devices - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications - - - - - - - - -4-3
4.1.2 Three-phase, 200-V Main Circuit Specifications- - - - - - - - - - - - - - - - -4-4
4.2 Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3 Servo Driver I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.3.1 Connection Example of I/O Signal Connector (CN1) - - - - - - - - - - - - -4-6
4.3.2 I/O Signals Connector (CN1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.3 I/O Signal Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8
4.3.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
4.4 I/O Signal Connections for DeviceNet Units (CN4)- - - - - - - 4-11
4.4.1 CN4 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.2 Connection Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.3 I/O Signal Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.4.4 Fully-closed Encoder Connection Example - - - - - - - - - - - - - - - - - - -4-13

8
4.5 Connection and Wiring of
the DeviceNet Communications Connector - - - - - - - - - - - 4-14
4.5.1 Connector Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.5.2 DeviceNet Communications Connection Example- - - - - - - - - - - - - - 4-16
4.5.3 DeviceNet Network Configuration Restrictions - - - - - - - - - - - - - - - - 4-18
5 Parameter Settings
5.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Outline of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Parameter Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.3 Editing Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.4 Effective Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2 Parameter Tables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.1 Unit Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.2 Origin Search Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.3 Machine System and Peripheral Device Parameters - - - - - - - - - - - - - 5-5
5.2.4 Speed, Acceleration, and Deceleration Parameters- - - - - - - - - - - - - - 5-6
5.2.5 Positioning Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.6 Multi-speed Positioning Parameters- - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.7 Notch Output Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
5.2.8 Point Table Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
5.3 Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.3.1 Unit Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.3.2 Origin Search Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.3.3 Machine System and Peripheral Devices - - - - - - - - - - - - - - - - - - - - 5-22
5.3.4 Speed, Acceleration, and Deceleration - - - - - - - - - - - - - - - - - - - - - 5-26
5.3.5 Positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.3.6 Point Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.3.7 Multi-speed Positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.3.8 Notch Signal Output Positioning - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
6 DeviceNet Communications
6.1 Control Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2 DeviceNet Switch Settings and Display - - - - - - - - - - - - - - - 6-4
6.2.1 Rotary Switch Settings for Setting Node Address - - - - - - - - - - - - - - - 6-4
6.2.2 Rotary Switch Settings for Setting Baud Rate - - - - - - - - - - - - - - - - - - 6-5
6.2.3 LED Indicators- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.3 Precautions for Communications Line Design - - - - - - - - - - - 6-6
6.3.1 Providing the Communications Power Supply- - - - - - - - - - - - - - - - - - 6-6
6.3.2 Communications Line Noise Precautions - - - - - - - - - - - - - - - - - - - - 6-16
6.4 Overview of Remote I/O and
Explicit Message Communications - - - - - - - - - - - - - - - - - 6-20
6.4.1 Remote I/O Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.4.2 Explicit Message Communications - - - - - - - - - - - - - - - - - - - - - - - - 6-20
6.5 Remote I/O Communications- - - - - - - - - - - - - - - - - - - - - - 6-21
6.5.1 Basic Block - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
6.5.2 General Command Bits and Status - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.5.3 Move Commands for Remote I/O Communications - - - - - - - - - - - - - 6-26
6.5.4 Set/Read Commands for Remote I/O Communications - - - - - - - - - - 6-34

9
6.6 Details on Move Commands
for Remote I/O Communications - - - - - - - - - - - - - - - - - - - 6-42
6.6.1 No-operation (Command Code: 0000, 0 Hex)- - - - - - - - - - - - - - - - - 6-42
6.6.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-52
6.7 Command Method Using the Remote I/O
Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-60
6.7.1 Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-60
6.7.2 Command Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-60
6.8 Communications Using Explicit Messages - - - - - - - - - - - - 6-65
6.8.1 Explicit Messages Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65
6.8.2 Command/Response Blocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-66
6.8.3 Sending Explicit Messages Using the CMND Instruction - - - - - - - - - 6-68
6.9 Tracing Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-71
6.9.1 Trace Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-71
6.9.2 Reading Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-74
6.9.3 Tracing Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-77
6.10 Changing Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - 6-78
6.10.1 Managing DeviceNet Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-78
6.10.2 Changing Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-79
7 Ladder Programming Examples
7.1 Programming Conditions- - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Remote I/O Programming - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.1 Servo ON Command- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.2.2 Origin Search Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.2.3 Direct Operation Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-5
7.2.4 Parameter Read Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-7
7.3 Programming Explicit Messages - - - - - - - - - - - - - - - - - - - - 7-8
8 Servo Driver Settings
8.1 Setting Up the Servo Driver When the DeviceNet Unit
is Mounted - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2
8.1.2 Automatically Set Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-3
8.1.3 Standard Settings for I/O Signals- - - - - - - - - - - - - - - - - - - - - - - - - - -8-4
8.1.4 Analog Monitors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-7
8.2 Settings According to Equipment Characteristics- - - - - - - - - 8-8
8.2.1 Switching Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - -8-8
8.2.2 Stop Mode Selection at Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - -8-9
8.2.3 Fully-closed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
8.3 Settings According to Host Controller - - - - - - - - - - - - - - - - 8-13
8.3.1 Sequence I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-13
8.4 Setting Stop Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
8.4.1 Using the Dynamic Brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
8.4.2 Using the Holding Brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16

10
8.5 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.5.1 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.5.2 Absolute Encoder Setup (Initialization)- - - - - - - - - - - - - - - - - - - - - - 8-21
8.5.3 Absolute Encoder Multi-turn Limit Setting - - - - - - - - - - - - - - - - - - - - 8-21
8.6 Parameter Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23
9 Troubleshooting
9.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.2 Warning Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.3 Troubleshooting with Alarm Displays - - - - - - - - - - - - - - - - - 9-6
9.4 Error Diagnosis Due To Operating Status - - - - - - - - - - - - - 9-44
10 Appendix
10.1 DeviceNet Object Model - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.2 DeviceNet Attributes - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.1 Identity Object (0x01) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Message Router Object (0x02) - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.3 DeviceNet Object (0x03)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5
10.2.4 Assembly Object (0x04) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-6
10.2.5 Connection Object (0x05) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-7
10.2.6 DeviceNet Unit Parameter Object (0x64) - - - - - - - - - - - - - - - - - - - 10-9
10.2.7 Point Table Object (0x65) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15
10.2.8 Servo Driver Parameter Object (0x66) - - - - - - - - - - - - - - - - - - - - 10-20
10.2.9 Trace Setting Object (0x67)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-25
10.2.10 Trace Data Object (0x68) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-27
10.3 Alarm/Warning Codes and Error Codes for
Message Communications - - - - - - - - - - - - - - - - - - - - - - 10-28
10.3.1 Alarm Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-28
10.3.2 Warning Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-31
10.3.3 Error Codes for Message Communications- - - - - - - - - - - - - - - - - 10-32
INDEX

1-1
1
1
Features and System Configuration
This chapter describes the basic functions and performance of the DeviceNet
Unit.
1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 Basic Functions and Function Outlines - - - - - - - - - - - - - - - - 1-5
1.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.4.2 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.3 I/O Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.4 DeviceNet Communications Specifications - - - - - - - - - - - - - - - - - - - - 1-8

1 Features and System Configuration
1-2
1
1.1 Features
The R88A-NCW152-DRT DeviceNet Unit can be mounted to an OMNUC W-series Servo
Driver to treat the Servo Driver as a slave in a DeviceNet network, enabling application of the
W-series Servo Drivers as network drivers. Commands received via DeviceNet communications
are output to the Servo Driver. Position commands can be output via a connector to the Servo
Driver to enable positioning without using a positioner.
DeviceNet Compatibility
The DeviceNet is an open field network. Mounting a DeviceNet Unit to a W-series Servo
Driver (software version 14 or later) enables constructing a network that includes many dif-
ferent types of slave.
The DeviceNet supports two kinds of communications: Remote I/O communications and
Explicit Message communications. An OMRON DeviceNet Configurator (version 2.2 or
later) can be used to easily set or change parameters via the DeviceNet.
The use of EDS files on the DeviceNet network enables application of slaves from different
vendors without restrictions in a multivendor network. The EDS files contain device ID
information, device parameters, operating information, and other information required to
define the devices.
Tracing
Tracing allows the access of collected operating data and I/O information via the DeviceNet
at a specified sampling cycle. Tracing is implemented from a PLC or personal computer
using Explicit Messages to start tracing or read trace data. Tracing thus enables confirming
specified Servo Driver operating status to predict failures in the servo system or troubleshoot
failures that have occurred.
Setting Linear and Rotary Axes
The DeviceNet Unit can be set for application as a linear axis or as a rotary axis.
Reading Monitor Status
Remote I/O communications can be used to read the signal I/O status or internal information
displayed by the Servo Driver in Monitor Mode to a PLC. This information provides infor-
mation on the operating status of the Servo Driver.
Absolute Encoders
OMRON motors with absolute encoders are also supported. Once the origin has been set
after startup, no further origin search operations are required.

1.1 Features
1-3
1
Setup Tool
A personal computer-based Setup Tool for the DeviceNet Unit enables setting, changing,
and monitoring Servo Driver and DeviceNet Unit parameters. A special cable (R88A-
CCW002P4) to connect to the personal computer is connected to the CN11 connector on the
front of the DeviceNet Unit.
The Setup Tool is provided on the Setup Tool Software (NCW152 Setup Tool).

1 Features and System Configuration
1-4
1
1.2 System Configuration
The DeviceNet Unit provides the following system configuration.
W-series Servomotor/Servo Driver
(Driver software version 14 or later)
DeviceNet Master Unit for CS/CJ made by OMRON
OMRON slaves or others
DeviceNet
RS-232C, etc.
DeviceNet Configurator
(parameter settings, etc.)
DeviceNet Unit
R88A-NCW152-DRT
Inverter
DeviceNet

1.3 Basic Functions and Function Outlines
1-5
1
1.3 Basic Functions and Function Outlines
The DeviceNet Unit provides the following functions.
Function Outline
Move
commands
No-opera-
tion
JOG Command Moves the axis in the specified direction at the specified speed.
Step Command Moves the axis the specified amount in the specified direction.
Station
Command
This command can be used when the DeviceNet Unit is being used as a
rotary axis. One rotation of the motor is divided into the specified num-
ber of stations and the axis is positioned at the specified station.
Point Table
Command
Moves the axis to a target position specified in the point table at the tar-
get speed.
Origin Search
Command
Determines the origin using the specified origin search mode.
Operation Direct Operation
Command
Moves the axis to the specified target position.
Interrupt Feeding
Command
Move the axis the specified amount when a change occurs in the exter-
nal signal status during axis movement.
Notch Output
Positioning
Command
Outputs a notch signal when the specified position is passed during axis
movement.
Multi-speed Posi-
tioning Command
Changes the speed in stages and moves the axis to the specified posi-
tion.
Setting/reading
commands
Parameter Read Command Reads user parameters from the Servo Driver and DeviceNet Unit.
Parameter Write Command Writes user parameters to the Servo Driver and DeviceNet Unit.
Present Position Setting
Command
Resets the present position of the motor to a specified position.
Origin Setting Command When using an absolute encoder, sets the present position of the motor
as the origin.
Alarm Read Command Reads up to the most recent three alarms that have occurred in the Servo
Driver or DeviceNet Unit.
Monitor Mode Read Command Reads the monitor mode (Unxxx) displayed on the Servo Driver.
Unit Reset Command Saves the user parameters in the DeviceNet Unit to flash ROM and then
restarts the Servo Driver and DeviceNet Unit software.
Other functions Tracing Reads accumulated trace data using Explicit Messages from a PC or
personal computer.
Backlash compensation Compensates for play in the mechanical system.
Deceleration stop Decelerates the axis to a stop using a Cancel or Hold Command during
axis movement.
Absolute encoder support An OMNUC W-series Servomotor with an absolute encoder can be
used. Using an absolute encoder eliminates the need for origin searches,
reducing system startup time.
Software limits Positioning positions can be monitored in the software separately from
limit input signals to prevent or reduce damage to external devices
resulting from unexpected positioning operations caused by operating
errors.
Linear axis/rotary axis setting The DeviceNet Unit can be set for application as a linear axis or as a
rotary axis.

1 Features and System Configuration
1.4.1 General Specifications
1-6
1
1.4 Specifications
This section shows the ratings and specifications of DeviceNet Unit.
1.4.1 General Specifications
The DeviceNet Unit provides the following general specifications.
* A DeviceNet Unit cannnot be used with software version 8.
Item Details
Applicable Servo Driver R88D-WT(software version 14 or later)*
Installation Method Mounted on the CN10 connector on the Servo Driver side
Basic Specifica-
tions
Power Supply Method Supplied from the control power supply of the Servo Driver.
Power Consumption 1.3 W
External Dimensions [mm] 20 ×142 ×128 (W ×H ×D)
Approx. Mass [kg] (lb) 0.2 (0.441)
Current Consumption 250 mA
Environment Ambient Operating Temperature 0 to 55 °C
Ambient Operating Humidity 90 % RH or less (non-condensing)
Ambient Atmosphere Free from corrosive gasses
Ambient Storage Temperature -20 to 85 °C
Ambient Storage Humidity 90 %RH or less (non-condensing)
Vibration Resistance 4.9 m/s2
Impact Resistance Acceleration 19.6 m/s2or less (when the impact is applied
three times in each X, Y, and Z direction)

1.4 Specifications
1-7
1
1.4.2 Performance Specifications
The DeviceNet Unit provides the following performance specifications.
* 1. A fully-closed encoder is required on the load to perform fully-closed control.
* 2. Input signals for the Servo Driver to which the DeviceNet Unit is mounted.
1.4.3 I/O Specifications
The DeviceNet Unit provides the following I/O specifications.
Item Specifications
Model Number R88A-NCW152-DRT
Number of Controlled Axes 1 axis/Unit
Control Method Fully-closed/semi-closed control
DeviceNet
Communications
Communications
Method
Conform to DeviceNet: Remote I/O and Explicit Messages
Command
System
Operation Specifications Positioning via DeviceNet communications
Command Input DeviceNet communications
Commands: move commands (positions and speeds)
Reading and writing user parameters
Position control
functions
Acceleration/Decelera-
tion Method
One-step linear, two-step linear, asymmetric, exponential, or S-curve
Acceleration/Decelera-
tion Times
1 to 10,000 ms (time to maximum speed)
Fully-closed Control *1 Supported
Software Limits Supported
Origin Searches Search direction designation
Applicable sensor designation
Limit input reversal designation
Backlash Compensation 0 to 32,767 steps
I/O Signals CN1 Forward/reverse rotation drive prohibit, origin input signal*2
CN4 Phase-A, phase-B, and phase-Z inputs; emergency stop input, notch output
Built-in
Functions
Latch Function for
Position Data
The following can be latched: Position data for phase Z, origin input signal, and
interrupt input signal.
Protective Functions Protection is provided for the following: User parameter corruption, user parameter
setting errors, communications errors, etc.
LED Indicators MS: Module status
NS: Network status
Positioning Unit Steps
Speed Unit ×1,000 steps/min
Item Inputs Outputs
Rated I/O Voltage 24 V DC ±1 V 30 V DC max.
Rated I/O Current 5 mA or more 50 mA max.
ON Response Time 2 ms or more −
ON Voltage Min.: +24 VIN-11 −
OFF Voltage Max.: +24 VIN-1 −

1 Features and System Configuration
1.4.4 DeviceNet Communications Specifications
1-8
1
1.4.4 DeviceNet Communications Specifications
The DeviceNet Unit provides the following DeviceNet communications specifications.
* Values in parentheses are for thin cable.
Item Specifications
Communications Protocol Conforms to DeviceNet
Supported Connections
(Communications)
Master-slave connections: Remote I/O and Explicit Messagee communications
Connection Methods Combination of multi-drop and T-branch connections (for trunk or drop lines)
Baud Rate Set on rotary switch (DR) to 125, 250, or 500 kbit/s.
Node Address Settings Set on rotary switches (×1 and ×10) to an address between 0 and 63.
Communications Media Special 5-wire cable (2 signal wires, 2 power supply wires, and 1 shield wire)
Communications Distance
Baud Rate
(kbit/s)
Max. net-
work length
(m)
Max. drop
line length
(m)
Max. total
drop line
length (m)
500 100 (100)∗6 39
250 250 (100)∗6 78
125 500 (100)∗6 156
Communications Power
Supply
11 to 25 V DC
Communications
Power Supply
Current Consumption
20 mA max.
Maximum Number of Nodes 64 (DeviceNet Configurator is counted as 1 node when connected.)
Maximum Number of
Slaves
63
Communications Cycle
Time
DeviceNet processing time 1 ms or less to 4 ms
From DeviceNet Unit start command until
command to Servo Driver
Min.: 8 ms
Max.: 16 ms
Explicit Message response time Normal attributes: 1 ms or less to 4 ms
Reading/writing servo parameter: 28 ms max.
Error Control CRC errors

2-1
2
2
Outline Drawings and Nomenclature
This chapter describes the outline drawings of the DeviceNet Unit, cable, and
connector and the procedure for checking the DeviceNet Unit upon delivery. It
also describes the names of product parts and how to mount the DeviceNet
Unit on the W-series Servo Driver.
2.1 Outline Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 Checking Products on Delivery - - - - - - - - - - - - - - - - - - - - - - 2-4
2.3 Product Nomenclature - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4 Mounting the DeviceNet Unit - - - - - - - - - - - - - - - - - - - - - - - 2-6