Omron R88M-1L Series User guide

Servo System 1S-series
Startup Guide
R88M-1L[]/-1M[] (AC Servomotors)
R88D-1SN[]-ECT (AC Servo Drives)
I823-E1-01

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NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, photocopying, recording, or
otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein.
Moreover, because OMRON is constantly striving to improve its high-quality products, the
information contained in this manual is subject to change without notice. Every precaution has
been taken in the preparation of this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting
from the use of the information contained in this publication.

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Introduction
The Servo System 1S-Series Startup Guide (hereinafter, may be referred to as "this Guide")
describes the procedures for installation and setup of a 1S Servo Drive, where an
NJ/NX-series CPU Unit is used in combination with1S-series AC Servomotors/Servo Drives and
NX-series Safety Unit, by using the Sysmac Studio.A simple installation model is used for the
discussion. You can perform the procedures that are presented in this Guide to quickly gain a
basic understanding of a 1S-seriesAC Servomotors/Servo Drives.
This Guide does not contain safety information and other details that are required for actual use.
Thoroughly read and understand the manuals for all of the devices that are used in this Guide to
ensure that the system is used safely. Review the entire contents of these materials, including
all safety precautions, precautions for safe use, and precautions for correct use.
Intended Audience
This Guide is intended for the following personnel.
•Personnel in charge of introducing FA systems
•Personnel in charge of designing FA systems
The personnel must also have the following knowledge.
•Knowledge of electrical systems (an electrical engineer or the equivalent)
•Knowledge of NJ/NX-series CPU Units
•Knowledge of NX-series Safety Units
•Knowledge of Servomotors/Drives
•Knowledge of operation procedure of Sysmac Studio
Applicable Products
This Guide covers the following products.
•CPU Units of NJ/NX-series Machine Automation Controllers
•Automation Software Sysmac Studio
•1S-series Servomotors/Servo Drives
•NX-series EtherCAT Coupler unit
•NX-series Safety controller
Special Information
The icons that are used in this Guide are described below.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and
performance.

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Terms and Conditions Agreement
Warranties
(a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from
defects in materials and workmanship for a period of twelve months from the date of sale by
Omron (or such other period expressed in writing by Omron). Omron disclaims all other
warranties, express or implied.
(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR
IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE
HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS
OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer
Remedy.
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form
originally shipped with Buyer responsible for labor charges for removal or replacement thereof)
the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer
an amount equal to the purchase price of the non-complying Product; provided that in no event
shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses
regarding the Products unless Omron’s analysis confirms that the Products were properly
handled, stored, installed and maintained and not subject to contamination, abuse, misuse or
inappropriate modification. Return of any Products by Buyer must be approved in writing by
Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability
or the results from the use of Products in combination with any electrical or electronic
components, circuits, system assemblies or any other materials or substances or environments.
Any advice, recommendations or information given orally or in writing, are not to be construed
as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published
information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL
LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS
BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the
Product on which liability is asserted.
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or
regulations which apply to the combination of the Product in the Buyer’s application or use of
the Product. At Buyer’s request, Omron will provide applicable third party certification

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documents identifying ratings and limitations of use which apply to the Product. This information
by itself is not sufficient for a complete determination of the suitability of the Product in
combination with the end product, machine, system, or other application or use. Buyer shall be
solely responsible for determining appropriateness of the particular Product with respect to
Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE
OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN
DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL
EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable
Product, or any consequence thereof.
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in determining suitability and does not constitute a warranty. It may represent
the result of Omron’s test conditions, and the user must correlate it to actual application
requirements. Actual performance is subject to the Omron’s Warranty and Limitations of
Liability
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change part numbers when published ratings or features
are changed, or when significant construction changes are made. However, some
specifications of the Product may be changed without any notice. When in doubt, special part
numbers may be assigned to fix or establish key specifications for your application. Please
consult with your Omron’s representative at any time to confirm actual specifications of
purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or
omissions.

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Precautions
•When building a system, check the specifications for all devices and equipment that will make
up the system and make sure that the OMRON products are used well within their rated
specifications and performances. Safety measures, such as safety circuits, must be
implemented in order to minimize the risks in the event of a malfunction.
•Thoroughly read and understand the manuals for all devices and equipment that will make up
the system to ensure that the system is used safely. Review the entire contents of these
manuals, including all safety precautions, precautions for safe use, and precautions for correct
use.
•Confirm all regulations, standards, and restrictions that the system must adhere to.
•Check the user program for proper execution before you use it for actual operation.
Trademarks
•Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in
Japan and other countries for OMRON factory automation products.
•Windows is either registered trademarks or trademarks of Microsoft Corporation in the USA
and other countries.
•EtherCAT®is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
•Microsoft product screen shot(s) reprinted with permission from Microsoft Corporation.
•Other company names and product names in this Guide are the trademarks or registered
trademarks of their respective companies.
Software Licenses and Copyrights
The NJ-series CPU Units and Sysmac Studio incorporate certain third party software. The
license and copyright information associated with this software is available at
http://www.fa.omron.co.jp/nj_info_e/.

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

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Manual name
Cat. No.
Model
Application
Description
NJ/NX-series Motion
Control Instructions
Reference Manual
W508 NJ501-□□□□
NJ301-□□□□ Learning about the specifications of the motion
control instructions that are
provided by OMRON.
Describes the motion control instructions.
When programming, use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No.
W500), NJ/NX-series CPU Unit Software
User's Manual (Cat. No. W501), and
NJ/NX-series CPU Unit Motion Control
User's Manual (Cat. No. W507).
NJ/NX-series
Troubleshooting Manual
W503 NJ501-□□□□
NJ301-□□□□ Learning about the errors that may be detected in an
NJ/NX-series Controller.
Describes concepts on managing errors
that may be detected in an NJ/NX-series
Controller and information on individual
errors.
Use this manual together with the
NJ-series CPU Unit Hardware User's
Manual (Cat. No. W500) and
NJ/NX-series CPU Unit Software User's
Manual (Cat. No. W501).
NX-series Safety Control
Units User’s Manual Z930 NX-SL□□□□ NX-SI□□□□
NX-SO□□□□
Learning how to use the
NX-series Safety Control
Units.
Describe the hardware, setup methods
and functions of the NX-series Safety
Control Units.
1S-series AC
Servomotors/Servo Drives
with Built-in EtherCAT
Communications User's
Manual
I586 R88D-1S□-ECT
R88M-1□
Learning detailed
specifications of a
1S-series Servo Drive.
Describes how to install and wire the
Servo Drive, set parameters needed to
operate the Servo Drive, and remedies to
be taken and inspection methods to be
used in case that problems occur.

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Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers
of the manual.
Revision code Date Revised content
01 July 2016 Original production
Cat. No.
I823-E1-01
Revision code

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CONTENTS
Introduction······························································································3
IntendedAudience.....................................................................................................3
Applicable Products...................................................................................................3
Special Information....................................................................................................3
Terms and Conditions Agreement·······························································4
Precautions······························································································6
Trademarks................................................................................................................6
Software Licenses and Copyrights............................................................................6
Related Manuals ·······················································································7
Revision History ·······················································································9
1. Servo system configuration and peripheral products···························· 11
1.1. Outline.............................................................................................................11
1.2. Servo System constructed in this guide..........................................................12
1.3. System configuration.......................................................................................13
2. Before You Begin·············································································· 15
3. Performing setup ·············································································· 16
3.1. Installation & Wiring ........................................................................................16
3.2. System configuration with NJ and NX safety controller..................................24
3.3 Sysmac Studio project creation......................................................................25
3.4 Motor, ABS Encoder and I/O Setup................................................................29
3.5. Easy tuning for gain adjustment......................................................................33
3.6. FSoE STO activation.......................................................................................37
ANNEX··································································································· 42
Add a drive and axis OFFLINE................................................................................42
Test run and data trace............................................................................................46
Manual tuning..........................................................................................................48
Advanced tuning......................................................................................................52

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1. Servo system configuration and peripheral
products
1.1. Outline
The 1S-series AC Servo Drives with Built-in EtherCAT communications support 100-Mbps EtherCAT.
When you use the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit or
CJ1W-NC□8□EtherCAT-compatible Position Control Unit, you can construct a high-speed and
sophisticated positioning control system.
Also, you need only one communications cable to connect the Servo Drive and the Controller. Therefore,
you can realize a position control system easily with reduced wiring effort.
With auto tuning, adaptive filter, notch filter, and damping control, you can set up a system that provides
stable operation by suppressing vibration in low-rigidity machines.
The FSoE protocol, the technology for a safe communication layer supported by the 1S-series Servo
Drives, allows you to build the safety system that uses the STO function from the safety controller on the
EtherCAT network.
Additional Information
For additional information about 1S servo drive, please refer to 1S-series AC Servomotors and Servo
Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

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1.2. Servo System constructed in this guide
This 1S-series Sysmac AC Servo Drives Startup Guide (hereafter referred to as “this Guide”) contains
instructions from assembling the hardware that makes up the Servo system to performing debugging on
the system. This Guide builds the Servo system in the following steps
1 Installation and wiring
▼
2 System Configuration with NJ and NX safety controller
▼
3 Sysmac Studio project creation and sizing file import
▼
4 Motor, ABS encoder, I/O Setup
▼
5 Easy tuning for gain adjustment
▼
6 FSoE STO Activation
Additional Information
For additional information on how to setup the motion, please refer to the start-up guide for motion
control (W514-E1-01).

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1.3. System configuration
The following figure shows the system configuration and devices that are used in this Guide.
The system configuration is shown in the following figure.
•Configuration devices
The models of the devices that are described in this Guide are given in the following table. When selecting
devices for an actual application, refer to the device manuals.
Device name Model Manual name
NJ-series CPU Unit NJ501-[] NJ-series CPU Unit Hardware
User’s Manual (Cat. No. W500)
NJ-series Power Supply NJ-P[]3001
NX-series EtherCAT Coupler NX-ECC[] NX-series EtherCAT Coupler Unit
User’s Manual (Cat. No. W519)
NX-series Safety control unit NX-SL3300 NX safety CPU unit Hardware
User’s Manual (Cat. No. Z930)
NX I/0 Series NX-SID[]
NX-SOD[]
Ethernet/EtherCAT
communications cables XS5W-T[] -
AC Servo Drives R88D-1SN[] 1S-series AC Servomotors and
Servo Drives User’s Manual (with
Built-
in EtherCAT
Communications) (Cat. No. I586)
AC Servo Motors R88M-1[]
Power cables R88A-CA[]
Encoder Cables R88A-CR[]

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•Automation software
Product Number of license Model
Sysmac Studio Standard
Edition Version 1.16 None (DVD only) SYSMAC-SE200D
From 1 license to site license SYSMAC-SE[]

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2. Before You Begin
■ Unpack Drive/Motor
1.
Unpack motor package. The package includes only motor and instruction sheet.
Cables are provided separately.
2.
Unpack drive package.
This product comes with the following accessories.
• INSTRUCTION MANUAL × 1 copy
• Warning label × 1 sheet
• General Compliance Information and instructions for EU × 1 copy
• Attached connectors
■ Install the Sysmac Studio Standard Edition
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to install.
Additional Information
For further details on how to handle drive and motor package, please refer to 1S-series AC
Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)

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3. Performing setup
3.1. Installation & Wiring
■ Drive installation
Install the Servo Drive according to the following.
When installing side-by-side, S2 can be reduced to 0mm under some conditions:
temperature inside cabinet should be lower than 45
℃
and install a fan for air circulation to
prevent uneven temperatures inside the cabinet/panel.
1. In case of using the shield clamp, please fixe it in advance with the existing screw

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2. Approach the drive from top to down.
3. Tight the upper part.
4. Tight the down part.

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■ Motor installation (step 2, 3 order depends on your mechanical implementation)
1. Please handle the motor carefully & do not apply heavy impacts or loads during
transport, installation, or removal of the motor.
2. Please fixe and connect the motor to the mechanical system
Note: At first, please check motor operation without any load.
3. Please attached the power and encoder cable
Here is an example with 200W motor
Please tight screws in several times in this order :1>4>3>2
Additional Information
For further details about coupling method, please refer to 1S-series AC Servomotors and Servo Drives
User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)
■ Wiring
1. Overview
For further details please refer to section 4-2 wiring of 1SAC servo drive user’s manual
(Cat. No. I586)

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2. Remove power connector(s) (CNA) or (CNA)/(CND) from the drive depending on
the model:
100V/200V (up to 1kW) 200V (1.5kW-3kW) 400V (0.6kW-3kW)
3. Please wire the 24V control power supply (stripped wires or ferrules can be used)
Connect wires with the spring opener
Please refer to the corresponding connector depending on your drive and power supply:
CNA for 100V/200V (up to 1kW) CND for 200V (1.5kW-3kW) 400V (0.6kW-3kW)
4. Please wire the AC power supply
Please refer to the corresponding connector depending on your drive and AC power
supply type
1-Phase
100V/200V (up to 1kW) 200V (1.5kW)
3-Phase
200V (up to 1kW) 200V (1.5kW-3kW) 400V (0.6kW-3kW)
Example:(CNA) for 100V/200V (up to 1kW)

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5. Please remove the motor connector (CNC) from the drive:
6. Please wire U, V, W of the motor (stripped wires)
7. Please screw the PE wire of the main power to the drive.
8. Please plug back above connectors to the drive. (Power and Motor)
9. Please fixe the FG wire from the motor cable to the drive
Or
In case of using the shield clamp, please attach the cable to the clamp in order to
connect the shielded section.
10. Please plug the encoder cable to the drive (CN2)
Additional Information
For further details about wiring method, please refer to 1S-series AC Servomotors and Servo Drives
User’s Manual (with Built-in EtherCAT Communications) (Cat. No. I586)