Omron OMNUC G5 Series User manual

Cat. No. I573-E1-01
USER’S MANUAL
OMNUC G5SERIES
R88M-K@
(AC Servomotors)
R88D-KN@-ECT-R
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN EtherCAT COMMUNICATIONS

Trademarks and Copyrights
•
OMRON, 2010
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 permis-
sion of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change
without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the informa-
tion contained in this publication.
EtherCAT is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT technology
is protected by patents.
Other system names and product names that appear in this manual are the trademarks or
registered trademarks of the relevant companies.
•

1
Introduction
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Introduction
Thank you for purchasing an OMNUC G5-series Servo Drive. This manual explains how to install
and wire the Servo Drive, set parameters needed to operate the Servo Drive, and remedies to be
taken and inspection methods to be used should problems occur.
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent
knowledge) and also being qualified for one of the following:
• Introducing FA equipment
• Designing FA systems
• Managing FA sites
Notice
This manual contains information you need to know to correctly use the Servo Drive and peripheral
equipment. Before using the Servo Drive, read this manual and gain a full understanding of the
information provided herein.
After you finished reading this manual, keep it in a convenient place so that it can be referenced at
any time.
Make sure this manual is delivered to the end user.

2
Read and Understand this Manual
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Read and Understand this Manual
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of
one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.
ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL
OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF
PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM
IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability
is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS 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 OR REPAIR.

3
Read and Understand this Manual
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination
of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and
limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of
the suitability of the products in combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to
be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable
for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses
not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry
or government regulations.
• Systems, machines, and equipment that could present a risk to life or property. Please know and observe all
prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS 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 PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN
THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

4
Read and Understand this Manual
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is
our practice to change model numbers when published ratings or features are changed, or when significant
construction changes are made. However, some specifications of the products may be changed without any notice.
When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on
your request. Please consult with your OMRON representative at any time to confirm actual specifications of
purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are
shown.
PERFORMANCE DATA
Performance data given in this manual 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 users must correlate it to actual
application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility
is assumed for clerical, typographical, or proofreading errors, or omissions.

5
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Safety Precautions
To ensure that the OMNUC G5-series Servomotor and 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
in order to learn items you should know regarding the equipment as well as required safety information and
precautions.
Make an arrangement so that this manual also gets to the end user of this product.
After reading this manual, keep it in a convenient place so that it can be referenced at any time.
Definition of Precautionary Information
The precautions explained in this section describe important information regarding safety and must be followed
without fail.
The display of precautions in this manual and their meanings are explained below.
Even those items denoted by the caution symbol may lead to a serious outcome depending on the
situation. Accordingly, be sure to observe all safety precautions.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure proper operation and
performance.
Reference
Indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
Example of symbols
This symbol indicates danger and caution.
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “beware of electric shock.”
This symbol indicates a prohibited item (an item you must not do).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “disassembly prohibited,”
This symbol indicates a compulsory item (an item that must be done).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “grounding required,”
DANGER
Caution
Indicates an imminently hazardous situation which,
if not avoided, will result in death or serious injury.
Additionally, there may be severe property damage.
Indicates a potentially hazardous situation which,
if not avoided, may result in minor or moderate
injury, or property damage.

6
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Precautions for Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the
purpose of showing the details. When using this product, be sure to install the covers and shields as specified
and use the product according to this manual.
If the product has been stored for an extended period of time, contact your OMRON sales representative.
Be sure to ground the frame ground terminals of the Servo Drive and Servomotor to 100 Ω
or less.
Electric shock may result.
Never touch the parts inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables, and
options.
Electric shock may result.
Installation, operation, and maintenance or inspection by unauthorized personnel is
prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15
minutes.
Electric shock may result.
Do not damage, pull, stress strongly, or pinch the cables or place heavy articles on them.
Electric shock, stopping of Servo Drive operation, or burn damage may result.
Never touch the rotating part of the Servomotor during operation.
Injury may result.
Never modify the Servo Drive.
Injury or equipment damage may result.
Install a stopping device on the machine to ensure safety.
* The holding brake is not a stopping device to ensure safety.
Injury may result.
Install an immediate stop device externally to the machine so that the operation can be
stopped and the power supply cut off immediately.
Injury may result.
When the power is restored after a momentary power interruption, the machine may restart
suddenly. Never come close to the machine when restoring power.
* Implement measures to ensure safety of people nearby even when the machine is
restarted.
Injury may result.
After an earthquake, be sure to conduct safety checks.
Electric shock, injury, or fire may result.
Never drive the Servomotor using an external drive source.
Fire may result.
DANGER

7
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Fire may result.
Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials
such as metals.
Fire may result.
When you perform a system configuration using the safety function, be sure to fully
understand the relevant safety standards and the information in the operation manual, and
apply them to the system design.
Injury or damage may result.
Do not use the cable when it is laying in oil or water.
Electric shock, injury, or fire may result.
Never connect a commercial power supply directly to the Servomotor.
Fire or failure may result.
Do not perform wiring or any operation with wet hands.
Electric shock, injury, or fire may result.
Do not touch the key grooves with bare hands if a Servomotor with shaft-end key grooves is
being used.
Injury may result.
Use the Servomotor and Servo Drive in a specified combination.
Fire or equipment damage may result.
Do not store or install the Servo Drive in the following locations:
• Location subject to direct sunlight
• Location where the ambient temperature exceeds the specified level
• Location where the relative humidity exceeds the specified level
• Location subject to condensation due to rapid temperature changes
• Location subject to corrosive or flammable gases
• Location subject to high levels of dust, salt content, or iron dust
• Location subject to splashes of water, oil, chemicals, etc.
• Location where the Servo Drive may receive vibration or impact directly
Installing or storing the Servo Drive in any of these locations may result in fire, electric shock,
or equipment damage.
The Servo Drive radiator, Regeneration Resistor, Servomotor, etc., may become hot while
the power is supplied or remain hot for a while even after the power supply is cut off. Never
touch these components.
A burn injury may result.
DANGER
Caution

8
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Storage and Transportation
When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft.
Injury or failure may result.
Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product
label.)
Injury or failure may result.
Use the Servomotor eye-bolts only when transporting the Servomotor.
Do not use them to transport the machine.
Injury or failure may result.
Caution

9
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Installation and Wiring
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo
Drive.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control
panel or other equipment.
Fire or failure may result.
Do not apply strong impact on the Servomotor shaft or Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway Servomotor, injury, or failure may result.
Securely tighten the mounting screws, terminal block screws, and cable screws.
Failure may result.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire may
result.
Only use the power supply voltage specified in this manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can
be supplied.
Equipment damage may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external
wiring.
Fire may result.
If the Servo Drive is used in the following locations, provide sufficient shielding measures.
• Location subject to noise e.g., due to static electricity
• Location subject to a strong electric or magnetic field
• Location where exposure to radioactivity may occur
• Location near power supply lines
Using the Servo Drive in any of these locations may result in equipment damage.
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the polarity is correct.
Battery damage or explosion may result.
Caution

10
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Operation and Adjustment
Maintenance and Inspection
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the Servo Drive in an actual environment, check if it operates correctly
based on the parameters you have set.
Equipment damage may result.
Never adjust or set parameters to extreme values, because it will make the operation
unstable.
Injury may result.
Separate the Servomotor from the mechanical system and check its operation before
installing the Servomotor to the machine.
Injury may result.
If an error occurs, remove the cause of the error and ensure safety, and then reset the alarm
and restart the operation.
Injury may result.
Do not use the built-in brake of the Servomotor for normal braking operation.
Failure may result.
Do not operate the Servomotor connected to an excessive load inertia.
Failure may result.
Install safety devices to prevent idling or locking of the electromagnetic brake or the gear
head, or leakage of grease from the gear head.
Injury, damage, or taint damage result.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume
operation, before restarting operation.
Equipment damage may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a
prolonged period of time.
Injury may result.
Caution
Caution

11
Safety Precautions
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Location of Warning Label
The Servo Drive bears a warning label at the following location to provide handling warnings.
When handling the Servo Drive, be sure to observe the instructions provided on this label.
Instructions on Warning Label
Disposal
• When disposing of the battery, insulate it using tape, and dispose of it by following the applicable
ordinances of your local government.
• Dispose of the Servo Drive as industrial waste.
Warning label display location
(R88D-KN02H-ECT-R)
VOLTAGE
100~120V
1Ø3Ø
0-120V
INPUT OUTPUT
PHASE
2.6A
50/60Hz
0~500.0Hz
1.7A
100W
A09080004
FREQ
POWER
OMRON CorporationMADE IN JAPAN
SERIAL No.
F L C

12
Items to Check after Unpacking
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Items to Check after Unpacking
After unpacking, check the following items.
• Is this the model you ordered?
• Was there any damage sustained during shipment?
Accessories
Safety Precautions document x 1 copy
• Connectors, mounting screws, and other accessories other than those in the table below are not
supplied. They must be prepared by the customer.
• If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON
dealer or sales office where you purchased your product.
Specifications
Connector for main circuit
power supply terminals and
control circuit power supply
terminals
Connector for External
Regeneration Resistor
connection terminals and
Motor connection terminals
Safety bypass
connector
Single-
phase 100
VAC
50 W
Included
100 W
200 W
400 W
Single-
phase/3-
phase 200
VAC
100 W
Included
200 W
400 W
750 W
1 kW
1.5 kW
3-phase
400 VAC
600 W
Included1 kW
1.5 kW

13
Revision History
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Revision History
The manual revision code is a number appended to the end of the catalog number found in the
bottom left-hand corner of the front or back cover.
Example
Revision
code Revision Date Revised content
01 March 2010 Original production
I573-E1-01
Revision code
Cat. No.

14
Structure of This Document
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring the following table.
Outline
Chapter 1 Features and
System
Configuration
This chapter explains the features of the Servo Drive, name of each
part, and applicable EC Directives and UL standards.
Chapter 2 Standard Models
and External
Dimensions
This chapter explains the models of Servo Drives, Servomotors, and
peripheral equipment, and provides the external dimensions and
mounting dimensions.
Chapter 3 Specifications This chapter 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.
Chapter 4 System Design This chapter explains the installation conditions for the Servo Drive,
Servomotor, and Decelerator, wiring methods including wiring
conforming to EMC Directives and regenerative energy calculation
methods as well as the performance of External Regeneration
Resistors.
Chapter 5 EtherCAT
Communications
This chapter describes EtherCAT communications under the
assumption that the Servo Drive is connected to a CJ1W-NC281/
NC481/NC881 Position Control Unit.
Chapter 6 CiA 402 Drive
Profile
This chapter describes the profile that is used to control the Servo
Drive.
Chapter 7 Applied
Functions
This chapter outlines the applied functions such as the electronic gear,
gain switching and soft start, and explains the settings.
Chapter 8 Safety Function
(Application
Pending)
This chapter gives an outline of application functions, such as
electronic gears, gain switching, and soft start, and explains the
settings.
Chapter 9 Details on Servo
Parameters and
Objects
This chapter explains the set values and contents of each object.
Chapter 10 Operation This chapter gives the operating procedures and explains how to
operate in each mode.
Chapter 11 Adjustment
Functions
This chapter explains the functions, setting methods, and items to note
regarding various gain adjustments.
Chapter 12 Troubleshooting
and Maintenance
This chapter explains the items to check when problems occur, error
diagnosis using the error display and measures, error diagnosis based
on the operating condition and measures, and periodic maintenance.
Appendix The appendix provides a list of objects and EtherCAT terminology.

16
Table Of Contents
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Introduction ............................................................................................1
Read and Understand this Manual ........................................................2
Safety Precautions.................................................................................5
Items to Check after Unpacking...........................................................12
Revision History...................................................................................13
Structure of This Document .................................................................14
Chapter 1 Features and System Configuration
1-1 Outline ................................................................................................... 1-1
Outline of the OMNUC G5 Series................................................................................ 1-1
Features of OMNUC G5-series Servo Drives.............................................................. 1-1
What Is EtherCAT?...................................................................................................... 1-2
Object Dictionary ......................................................................................................... 1-2
1-2 System Configuration ............................................................................ 1-3
1-3 Names and Functions............................................................................ 1-4
Servo Drive Part Names.............................................................................................. 1-4
Servo Drive Functions ................................................................................................. 1-5
1-4 System Block Diagram .......................................................................... 1-6
1-5 Applicable Standards............................................................................. 1-7
EC Directives ............................................................................................................... 1-7
UL and cUL Standards ................................................................................................ 1-7
Functional Safety ......................................................................................................... 1-7
Chapter 2 Models and External Dimensions
2-1 Servo System Configuration .................................................................. 2-1
2-2 How to Read Model Numbers................................................................ 2-3
Servo Drive .................................................................................................................. 2-3
Servomotors ................................................................................................................ 2-4
2-3 Model Tables ......................................................................................... 2-5
Servo Drive Model Table ............................................................................................. 2-5
Servomotor Model Tables ........................................................................................... 2-6
Servo Drive and Servomotor Combination Tables ...................................................... 2-8
Cable and Peripheral Device Model Tables .............................................................. 2-10
2-4 External and Mounting Dimensions ..................................................... 2-19
Servo Drive Dimensions ............................................................................................ 2-19
Servomotor Dimensions ............................................................................................ 2-25
External Regeneration Resistor Dimensions ............................................................. 2-36
2-5 EMC Filter Dimensions ........................................................................ 2-37
Chapter 3 Specifications
3-1 Servo Drive Specifications..................................................................... 3-1
General Specifications................................................................................................. 3-1
Characteristics ............................................................................................................. 3-2
EtherCAT Communications Specifications.................................................................. 3-5

17
Table Of Contents
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Main Circuit and Motor Connections ........................................................................... 3-6
EtherCAT Communications Connector Specifications (RJ45) .................................... 3-8
Control I/O Connector Specifications (CN1)................................................................ 3-9
Control Input Circuits ................................................................................................. 3-12
Control Input Details .................................................................................................. 3-13
Control Output Circuits .............................................................................................. 3-15
Control Output Details ............................................................................................... 3-16
Encoder Connector Specifications (CN2).................................................................. 3-19
External Encoder Connector Specifications (CN4).................................................... 3-19
Monitor Connector Specifications (CN5) ................................................................... 3-23
USB Connector Specifications (CN7)........................................................................ 3-24
Safety Connector Specifications (CN8) ..................................................................... 3-25
3-2 Overload Characteristics (Electronic Thermal Function) ......................3-27
Overload Characteristics Graphs .............................................................................. 3-27
3-3 Servomotor Specifications....................................................................3-28
General Specifications............................................................................................... 3-28
Characteristics........................................................................................................... 3-29
Encoder Specifications .............................................................................................. 3-41
3-4 Cable and Connector Specifications ....................................................3-42
Encoder Cable Specifications.................................................................................... 3-42
Motor Power Cable Specifications............................................................................. 3-44
Connector Specifications........................................................................................... 3-49
EtherCAT Communications Cable Specifications ..................................................... 3-52
Analog Monitor Cable Specifications......................................................................... 3-55
Control Cable Specifications ..................................................................................... 3-57
3-5 External Regeneration Resistor Specifications ....................................3-62
External Regeneration Resistor Specifications ......................................................... 3-62
3-6 EMC Filter Specifications .....................................................................3-64
Chapter 4 System Design
4-1 Installation Conditions ............................................................................4-1
Servo Drive Installation Conditions.............................................................................. 4-1
Servomotor Installation Conditions.............................................................................. 4-2
Decelerator Installation Conditions.............................................................................. 4-5
4-2 Wiring .....................................................................................................4-6
Peripheral Equipment Connection Examples.............................................................. 4-6
Main Circuit and Motor Connections ........................................................................... 4-9
4-3 Wiring Conforming to EMC Directives ..................................................4-14
Wiring Method ........................................................................................................... 4-14
Selecting Connection Component ............................................................................. 4-18
4-4 Regenerative Energy Absorption..........................................................4-32
Calculating the Regenerative Energy ........................................................................ 4-32
Servo Drive Regeneration Absorption Capacity ........................................................ 4-34
Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-35
Connecting an External Regeneration Resistor ........................................................ 4-36
Chapter 5 EtherCAT Communications
5-1 Display Area and Settings ......................................................................5-1
Node Address Setting.................................................................................................. 5-1
Status Indicators.......................................................................................................... 5-2

18
Table Of Contents
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
5-2 Structure of the CAN Application Protocol over EtherCAT .................... 5-3
5-3 EtherCAT State Machine ....................................................................... 5-4
5-4 Process Data Objects (PDOs) ............................................................... 5-5
PDO Mapping Settings ................................................................................................ 5-5
Sync Manager PDO Assignment Settings ................................................................... 5-6
Fixed PDO Mapping .................................................................................................... 5-6
5-5 Service Data Objects (SDOs) ................................................................ 5-7
Abort Codes................................................................................................................. 5-7
5-6 Synchronization with Distributed Clocks................................................ 5-8
Communications Cycle (DC Cycle) ............................................................................. 5-8
Response Time ........................................................................................................... 5-8
5-7 Emergency Messages ........................................................................... 5-9
Chapter 6 Drive Profile
6-1 Controlling the State Machine of the Servo Drive.................................. 6-1
State Machine.............................................................................................................. 6-1
6-2 Modes of Operation ............................................................................... 6-4
6-3 Cyclic Synchronous Position Mode ....................................................... 6-5
Related Objects ........................................................................................................... 6-6
Block Diagram for Position Control Mode.................................................................... 6-7
6-4 Torque Limit........................................................................................... 6-8
Related Objects ........................................................................................................... 6-8
6-5 Touch Probe Function (Latch Function) ................................................ 6-9
Related Objects ........................................................................................................... 6-9
Trigger Signal Settings ................................................................................................ 6-9
Operation Sequences................................................................................................ 6-10
6-6 Fully-closed Control ............................................................................. 6-12
Outline of Operation .................................................................................................. 6-12
Objects Requiring Settings ........................................................................................ 6-13
Parameter Block Diagram for Fully-closed Control Mode ......................................... 6-18
6-7 Object Dictionary ................................................................................. 6-19
Object Dictionary Area............................................................................................... 6-19
Data Types ................................................................................................................ 6-19
Object Description Format ......................................................................................... 6-20
Communication Objects ............................................................................................ 6-21
PDO Mapping Objects ............................................................................................... 6-27
Sync Manager Communication Objects .................................................................... 6-29
Manufacturer Specific Objects................................................................................... 6-33
Servo Drive Profile Object ......................................................................................... 6-36
Reserved Objects ...................................................................................................... 6-52
6-8 Connecting with OMRON Controllers .................................................. 6-53
Related Objects ......................................................................................................... 6-53
Chapter 7 Applied Functions
7-1 Sequence I/O Signals ............................................................................ 7-1
Input Signals ................................................................................................................ 7-1