Omron R88D-1SN02L-ECT Manuals

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Omron R88D-1SN02L-ECT User Manual

Omron R88D-1SN02L-ECT User Manual (974 pages)

AC Servomotors/Servo Drives

Brand: Omron | Category: Controller | Size: 46.81 MB

Table of Contents

Introduction
3
Manual Structure
4
Manual Configuration
6
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
18
Safety Precautions
20
Items to Check after Unpacking
31
Related Manuals
42
Terminology
45
Revision History
47
Features and System Configuration
49
Outline
50
Features of 1S-Series Servo Drives
50
Ethercat
51
Object Dictionary
52
System Configuration
53
Names and Functions
54
Servo Drive Part Names
54
Servo Drive Functions
62
Servomotor Part Names
65
Servomotor Functions
67
Shield Clamp Part Names
68
System Block Diagram
69
Applicable Standards
77
EU Directives
77
UL and Cul Standards
78
Korean Radio Regulations (KC)
79
Semi F47
79
Australian EMC Labeling Requirements (RCM)
80
EAC Requirements
80
Unit Versions
81
Confirmation Method
81
Unit Versions and Sysmac Studio Versions
81
Procedures to Start Operation
82
Overall Procedure
82
Procedure Details
84
Models and External Dimensions
89
Servo System Configuration
90
How to Read Model Numbers
92
Servo Drive
92
Servomotor
93
Encoder Cable
94
Motor Power Cable Without Brake Wire
95
Motor Power Cable with Brake Wire
96
Decelerator
97
Model Tables
99
Servo Drive Model Table
99
Servomotor Model Tables
100
Servo Drive and Servomotor Combination Tables
105
Decelerator Model Tables
107
Servomotor and Decelerator Combination Tables
111
Cable and Connector Model Tables
113
External Regeneration Resistor and External Regeneration Resistance Unit Model Tables
121
External Dynamic Brake Resistor Model Table
122
Reactor Model Table
122
Noise Filter Model Table
123
External and Mounting Dimensions
124
Servo Drive Dimensions
124
Servomotor Dimensions
131
Cable Outlet Direction
187
Cable Wiring Dimension for a Case of Motor Installing
188
Decelerator Dimensions
190
Dimensions of External Regeneration Resistors and External Regeneration Resistance Units
207
Dimensions of External Dynamic Brake Resistors
208
Reactor Dimensions
209
Noise Filter Dimensions
218
Specifications
221
Servo Drive Specifications
223
General Specifications
223
Characteristics
225
Ethercat Communications Specifications
233
Main Circuit and Motor Connections
234
Control I/O Connector (CN1) Specifications
247
Control Input Circuits
250
Control Input Details
250
Control Output Circuits
251
Control Output Details
252
Encoder Pulse Output Specifications
252
Safety I/O Specifications
253
Brake Interlock Connector (CN12) Specifications
255
Encoder Connector (CN2) Specifications
255
Ethercat Communications Connector (RJ45) Specifications
256
USB Connector (CN7) Specifications
256
Power on Sequence
257
Overload Characteristics (Electronic Thermal Function)
258
Servomotor Specifications
263
General Specifications
263
Encoder Specifications
264
Characteristics
265
Decelerator Specifications
290
Cable and Connector Specifications
297
Encoder Cable Specifications
297
Motor Power Cable Specifications
304
Combination of Power Cable and Extension Cable
337
Resistance to Bending of Flexible Cable
338
Connector Specifications
340
Ethercat Communications Cable Specifications
344
Specifications of External Regeneration Resistors and External Regeneration Resistance Units
347
General Specifications
347
Regeneration Resistance Units
347
Characteristics
348
External Regeneration Resistance Unit Specifications
350
External Dynamic Brake Resistor
352
General Specifications
352
Characteristics
352
Reactor Specifications
353
General Specifications
353
Characteristics
353
Terminal Block Specifications
354
Noise Filter Specifications
355
General Specifications
355
Characteristics
356
Terminal Block Specifications
357
Configuration and Wiring
359
Installation Conditions
360
Servo Drive Installation Conditions
360
Servomotor Installation Conditions
365
Decelerator Installation Conditions
369
External Regeneration Resistor and External Regeneration Resistance Unit Installation Conditions
372
Footprint-Type Noise Filter Installation Conditions
373
External Dynamic Brake Resistor Installation Condition
374
Wiring
375
Peripheral Equipment Connection Examples
376
Procedure for Wiring Terminal Block and Procedure for Mounting Shield Clamp to Servo Drive
392
Connector Attachment Procedure
398
Procedure for Change of Cable Outlet Direction for Connector Type M23 or M40
402
Terminal Block Wiring Procedure for Footprint-Type Noise Filter
404
Wiring Conforming to EMC Directives
405
Peripheral Equipment Connection Examples
406
Selecting Connection Component
420
Regenerative Energy Absorption
430
Calculating the Regenerative Energy
430
Servo Drive Regeneration Absorption Capacity
433
Regenerative Energy Absorption by an External Regeneration Resistance Device
434
Connecting an External Regeneration Resistor
435
Adjustment for Large Load Inertia
436
Machine Accuracy for Servomotor
437
Ethercat Communications
439
Display Area and Settings
440
Node Address Setting
440
Status Indicators
441
Structure of the CAN Application Protocol over Ethercat
443
Ethercat State Machine
444
Process Data Objects (Pdos)
445
PDO Mapping Settings
445
Sync Manager PDO Assignment Settings
446
Fixed PDO Mapping
446
Variable PDO Mapping
449
Sync Manager PDO Mapping Assignment Settings
450
Service Data Objects (Sdos)
451
Synchronization Mode and Communications Cycle
452
Distributed Clock (DC) Mode
452
Free-Run Mode
452
Emergency Messages
453
Sysmac Device Features
454
Cable Redundancy Function
458
Objects Requiring Settings
458
Description of Operation
458
Procedure of Checking Operation
459
Slave Communications Statuses When Cable Redundancy Function Is Used
461
Relation between the Network Configuration Information and the Actual Configuration
462
Basic Control Functions
465
Outline of Control Functions
466
Basic Control and Control Methods
466
Control Method
467
Control Blocks
469
Block Diagram for Position Control
469
Block Diagram for Velocity Control
471
Block Diagram for Torque Control
473
Cyclic Synchronous Position Mode
474
Cyclic Synchronous Velocity Mode
476
Cyclic Synchronous Torque Mode
478
Profile Position Mode
480
Profile Velocity Mode
485
Homing Mode
488
Connecting with OMRON Controllers
489
Applied Functions
493
General-Purpose Input Signals
495
Objects Requiring Settings
496
Default Setting
498
Function Input Details
499
General-Purpose Output Signals
500
Objects Requiring Settings
500
Default Setting
502
Function Output Details
503
Drive Prohibition Functions
507
Objects Requiring Settings
507
Description of Operation
508
Software Position Limit Functions
509
Operating Conditions
509
Objects Requiring Settings
509
Description of Operation
510
Backlash Compensation
512
Operating Conditions
512
Objects Requiring Settings
512
Description of Operation
513
Brake Interlock
514
Objects Requiring Settings
514
Description of Operation
516
Operation Timing
517
Electronic Gear Function
521
Objects Requiring Settings
521
Operation Example
522
Torque Limit Switching
523
Operating Conditions
523
Objects Requiring Settings
523
Torque Limit Switching Method
524
Soft Start
525
Objects Requiring Settings
525
Soft Start Acceleration/Deceleration Time
525
Velocity Command First-Order Lag Filter
526
Gain Switching Function
527
Objects Requiring Settings
527
Mode Selection
529
Gain Switching in Position Control
530
Touch Probe Function (Latch Function)
531
Related Objects
531
Trigger Signal Settings
533
Operation Sequence
534
Encoder Dividing Pulse Output Function
535
Objects Requiring Settings
536
Dividing Ratio
536
Output Reverse Selection
537
Z-Phase Output
537
Dynamic Brake
538
Operating Conditions
538
Objects Requiring Settings
538
Description of Operation
539
Communications Error Period Command Correction Function
542
Operating Conditions
542
Operation Example
542
Safety Function
545
Safe Torque off Function
546
STO Function Via Safety Input Signals
548
I/O Signal Specifications
548
Operation Example
550
Connection Example
551
STO Function Via Ethercat Communications
554
Connection and Setting
554
Operation Example
556
Connection Example
558
Details on Servo Parameters
561
Object Description Format
564
3001 Hex: Machine
572
3002 Hex: Optimized Parameters
573
3011 Hex: Position Command Filter
577
3012 Hex: Damping Control
578
3020 Hex: Velocity Command
582
3021 Hex: Velocity Command Filter
583
3030 Hex: Torque Command
584
3031 Hex: Velocity Limit in Torque Control
584
3040 Hex: Profile Command
585
Control Method Objects
588
3112 Hex: ODF Velocity Feed-Forward
588
3113 Hex: ODF Torque Feed-Forward
589
3120 Hex: TDF Position Control
590
3121 Hex: TDF Velocity Control
591
Control Loop Objects
593
3210 Hex: Internal Position Command
593
3213 Hex: 1St Position Control Gain
595
3214 Hex: 2Nd Position Control Gain
596
3220 Hex: Internal Velocity Command
596
3221 Hex: Velocity Detection
597
3222 Hex: Gain Switching in Velocity Control
598
3223 Hex: 1St Velocity Control Gain
598
3224 Hex: 2Nd Velocity Control Gain
599
3230 Hex: Internal Torque Command
600
3231 Hex: Torque Detection
600
3232 Hex: Filter Switching in Torque Control
600
3233 Hex: 1St Torque Command Filter
601
3234 Hex: 2Nd Torque Command Filter
602
Torque Output Setting Objects
603
3310 Hex: Torque Compensation
603
3320 Hex: Adaptive Notch Filter
605
3330 Hex: Torque Limit
614
Homing Objects
616
Applied Function Objects
620
3B10 Hex: Drive Prohibition
620
3B11 Hex: Software Position Limit
621
3B50 Hex: Position Detection Function
633
3B51 Hex: Positioning Completion Notification
633
3B52 Hex: Positioning Completion Notification 2
634
3B60 Hex: Speed Detection Function
635
3B70 Hex: Vibration Detection
636
3B71 Hex: Runaway Detection
637
3B80 Hex: Load Characteristic Estimation
638
Error- and Warning-Related Objects
641
4000 Hex: Error Full Code
641
4021 Hex: Warning Output 1 Setting
645
4022 Hex: Warning Output 2 Setting
646
4030 Hex: Information Customization
647
Monitoring-Related Objects
648
4110 Hex: Monitor Data Via PDO
648
4120 Hex: Ethercat Communications Error Count
649
4130 Hex: Safety Status Monitor
649
4150 Hex: Overload
655
Display-Related Objects
657
Power Device-Related Objects
658
4320 Hex: Main Circuit Power Supply
659
External Device-Related Objects
661
4412 Hex: Motor Advanced Setting
662
Encoder-Related Objects
664
4601 Hex: Function Input
668
4602 Hex: Function Output
670
4604 Hex: Control Input Change Count
671
4610 Hex: Brake Interlock Output
673
4620 Hex: Encoder Dividing Pulse Output
674
General-Purpose Input Setting Objects
676
Setting
676
4630 Hex: Positive Drive Prohibition Input
677
4631 Hex: Negative Drive Prohibition Input
677
4633 Hex: External Latch Input 2
678
4634 Hex: Home Proximity Input
678
4635 Hex: Positive Torque Limit Input
678
4636 Hex: Negative Torque Limit Input
679
4637 Hex: Error Stop Input
679
4638 Hex: Monitor Input 1
679
4639 Hex: Monitor Input 2
680
Hex: Monitor Input 3
680
Hex: Monitor Input 4
680
Hex: Monitor Input 5
681
Hex: Monitor Input 6
681
Hex: Monitor Input 7
681
Hex: Monitor Input 8
682
General-Purpose Output Setting Objects
683
Setting
683
4650 Hex: Error Output
684
4651 Hex: Servo Ready Output
684
4652 Hex: Positioning Completion Output 1
684
4653 Hex: Positioning Completion Output 2
685
4654 Hex: Velocity Attainment Detection Output
685
4655 Hex: Torque Limit Output
685
4656 Hex: Zero Speed Detection Output
686
4657 Hex: Velocity Conformity Output
686
4658 Hex: Warning Output 1
686
4659 Hex: Warning Output 2
687
Hex: Velocity Limiting Output
687
Hex: Error Clear Attribute Output
687
Hex: Remote Output 3
688
Hex: Zone Notification Output 1
689
4660 Hex: Zone Notification Output 2
689
4661 Hex: Position Command Status Output
689
4662 Hex: Distribution Completed Output
690
4663 Hex: External Brake Interlock Output
690
Operational Procedure
692
Preparing for Operation
693
Items to Check before Turning on the Power Supply
693
Turning on the Power Supply
694
Checking the Displays
695
Absolute Encoder Setup
697
Setting up an Absolute Encoder from the Sysmac Studio
697
Test Run
698
Preparations for Test Run
698
Test Run Via USB Communications from the Sysmac Studio
699
Adjustment Functions
701
Outline of Adjustment Functions
703
Adjustment Methods
703
Adjustment Procedure
704
Easy Tuning
706
Objects that Are Set
706
Executing Easy Tuning
708
Advanced Tuning
709
Objects that Are Set
709
Executing Advanced Tuning
710
Manual Tuning
711
Objects that Are Set
711
Executing Manual Tuning
711
Data Trace
712
Fft
713
Damping Control
714
Objects Requiring Settings
714
Operating Procedure
716
Setting Frequency with Sysmac Studio
717
Load Characteristic Estimation
718
Objects Requiring Settings
719
Setting Load Characteristic Estimation Function
720
Adaptive Notch Filter
721
Objects Requiring Settings
721
Operating Procedure
722
Notch Filters
723
Objects Requiring Settings
724
Notch Filter Width and Depth
725
Friction Torque Compensation Function
726
Operating Conditions
726
Objects Requiring Settings
726
Operation Example
727
Feed-Forward Function
729
Feed-Forward Control in TDF Control
729
Feed-Forward Control in ODF Control
731
Troubleshooting
733
Actions for Problems
734
Preliminary Checks When a Problem Occurs
734
Precautions When a Problem Occurs
735
Replacing the Servomotor or Servo Drive
736
Warnings
738
Related Objects
738
Warning List
740
Errors
742
Error List
742
Deceleration Stop Operation at Errors
745
Information
746
Related Objects
746
Information List
746
Troubleshooting
747
Troubleshooting Using Error Displays
748
Troubleshooting Using al Status Codes
770
Troubleshooting Using the Operation State
774
Maintenance and Inspection
781
Periodic Maintenance
782
Servo Drive Lifetime
783
Servomotor Lifetime
784
Method for Broken Ring Maintenance and Inspection
785
Appendices
787
Cia 402 Drive Profile
788
A-1-1 Controlling the State Machine of the Servo Drive
788
A-1-2 Modes of Operation
790
A-1-3 Modes of Operation and Applied/Adjustment Functions
791
A-1-4 Changing the Mode of Operation
791
A-1-5 Homing Mode Specifications
793
Coe Objects
798
A-2-1 Object Dictionary Area
798
A-2-2 Data Type
798
Object Description Format
799
A-2-4 Communication Objects
800
A-2-5 PDO Mapping Objects
806
A-2-6 Sync Manager Communication Objects
821
A-2-7 Manufacturer Specific Objects
824
Servo Drive Profile Object
827
A-2-9 Safety Function Objects
850
Object List
854
Sysmac Error Status Codes
886
A-4-1 Error List
886
A-4-2 Error Descriptions
899
Response Time in Ethercat Process Data Communications
964
A-5-1 Input Response Time
964
A-5-2 Output Response Time
964
Version Information
965
A-6-1 Relationship between Unit Versions and Sysmac Studio Versions
965
A-6-2 Functions that Were Added or Changed for each Unit Version
967

Omron R88D-1SN02L-ECT User Manual

Omron R88D-1SN02L-ECT User Manual (828 pages)

AC Servomotors/Servo Drives

Brand: Omron | Category: Controller | Size: 34.05 MB

Table of Contents

Introduction

3
Manual Structure

4
- Level
  5
Manual Configuration

6
Sections in this Manual

7
- Table of Contents
  8
Terms and Conditions Agreement

18
Safety Precautions

20
Items to Check after Unpacking

31
Related Manuals

40
Terminology

42
- Level
  42
Revision History

44
- Features and System Configuration
  45
- Outline
  
  46
  - Features of 1S-Series Servo Drives
    46
  - Ethercat
    47
  - Object Dictionary
    48
- System Configuration
  
  49
- Names and Functions
  
  50
  - Servo Drive Part Names
    50
  - Servo Drive Functions
    54
  - Servomotor Part Names
    56
  - Servomotor Functions
    57
- System Block Diagram
  
  58
- Applicable Standards
  
  62
  - EU Directives
    62
  - UL and Cul Standards
    63
  - Korean Radio Regulations (KC)
    64
  - Semi F47
    64
  - Australian EMC Labeling Requirements (RCM)
    64
- Unit Versions
  
  65
  - Confirmation Method
    65
  - Unit Versions and Sysmac Studio Versions
    65
- Procedures to Start Operation
  
  66
  - Overall Procedure
    66
  - Procedure Details
    68
Servo System Configuration

74
How to Read Model Numbers

76
Model Tables

80
External and Mounting Dimensions

97
- Servo Drive Dimensions
  97
- Servomotor Dimensions
  101
- Decelerator Dimensions
  137
- Dimensions of External Regeneration Resistors and External Regeneration Resistance Units
  151
- Reactor Dimensions
  152
- Noise Filter Dimensions
  161
  - Specifications
    165
Servo Drive Specifications

167
- General Specifications
  167
- Characteristics
  168
- Ethercat Communications Specifications
  172
- Main Circuit and Motor Connections
  173
- Control I/O Connector (CN1) Specifications
  178
- Control Input Circuits
  181
- Control Input Details
  182
- Control Output Circuits
  182
- Control Output Details
  182
- Encoder Pulse Output Specifications
  183
- Safety I/O Specifications
  184
- Brake Interlock Connector (CN12) Specifications
  185
- Encoder Connector (CN2) Specifications
  186
- Ethercat Communications Connector (RJ45) Specifications
  186
- USB Connector (CN7) Specifications
  187
- Power on Sequence
  187
- Overload Characteristics (Electronic Thermal Function)
  188
Servomotor Specifications

192
- General Specifications
  192
- Encoder Specifications
  193
- Characteristics
  194
Decelerator Specifications

212
Cable and Connector Specifications

217
- Encoder Cable Specifications
  217
- Motor Power Cable Specifications
  222
- Resistance to Bending of Flexible Cable
  248
- Connector Specifications
  250
- Ethercat Communications Cable Specifications
  254
- Specifications of External Regeneration Resistors and External Regeneration Resistance Units
  
  257
  - General Specifications
    257
  - Regeneration Resistance Units
    257
  - Characteristics
    258
  - External Regeneration Resistance Unit Specifications
    260
- Reactor Specifications
  
  261
  - General Specifications
    261
  - Characteristics
    261
  - Terminal Block Specifications
    262
- Noise Filter Specifications
  
  263
  - General Specifications
    263
  - Characteristics
    264
  - Terminal Block Specifications
    265
Section 4 Configuration and Wiring

268
Section 5 Ethercat Communications

320
- Display Area and Settings
  
  320
  - Node Address Setting
    320
  - Status Indicators
    321
- Structure of the CAN Application Protocol over Ethercat
  
  323
- Ethercat State Machine
  
  324
- Process Data Objects (Pdos)
  
  325
  - PDO Mapping Settings
    325
  - Sync Manager PDO Assignment Settings
    326
  - Fixed PDO Mapping
    326
  - Variable PDO Mapping
    329
  - Sync Manager PDO Mapping Assignment Settings
    330
- Service Data Objects (Sdos)
  
  331
- Synchronization Mode and Communications Cycle
  
  332
  - Distributed Clock (DC) Mode
    332
  - Free-Run Mode
    332
Emergency Messages

333
Sysmac Device Features

334
- Basic Control Functions
  339
Outline of Control Functions

340
- Basic Control and Control Methods
  340
- Control Method
  341
Control Blocks

343
Cyclic Synchronous Position Mode

348
Cyclic Synchronous Velocity Mode

350
Cyclic Synchronous Torque Mode

352
Profile Position Mode

354
Profile Velocity Mode

359
Homing Mode

362
Connecting with OMRON Controllers

363
- Applied Functions
  367
General-Purpose Input Signals

369
- Objects Requiring Settings
  370
- Default Setting
  372
- Function Input Details
  373
General-Purpose Output Signals

374
- Default Setting
  376
- Function Output Details
  377
Drive Prohibition Functions

381
- Objects Requiring Settings
  381
- Description of Operation
  382
Software Position Limit Functions

383
- Operating Conditions
  383
- Objects Requiring Settings
  383
- Description of Operation
  384
Backlash Compensation

386
- Operating Conditions
  386
- Objects Requiring Settings
  386
- Description of Operation
  387
Brake Interlock

388
- Objects Requiring Settings
  388
- Operation Timing
  390
Electronic Gear Function

394
- Objects Requiring Settings
  394
- Operation Example
  395
Torque Limit Switching

396
- Operating Conditions
  396
- Objects Requiring Settings
  396
- Torque Limit Switching Method
  397
- Soft Start
  
  398
- Gain Switching Function
  
  400
  - Objects Requiring Settings
    400
  - Mode Selection
    402
  - Gain Switching in Position Control
    403
- Touch Probe Function (Latch Function)
  
  404
  - Related Objects
    404
  - Trigger Signal Settings
    406
  - Operation Sequence
    407
- Encoder Dividing Pulse Output Function
  
  408
  - Objects Requiring Settings
    409
  - Dividing Ratio
    409
  - Output Reverse Selection
    410
  - Z-Phase Output
    410
- Dynamic Brake
  
  411
  - Operating Conditions
    411
  - Objects Requiring Settings
    411
  - Description of Operation
    412
    
    Safety Function
    415
Section 8 Safety Function

416
- Safe Torque off Function
  
  416
- STO Function Via Safety Input Signals
  
  418
  - I/O Signal Specifications
    418
  - Operation Example
    420
  - Connection Example
    421
- STO Function Via Ethercat Communications
  
  424
  - Connection and Setting
    424
  - Operation Example
    426
  - Connection Example
    428
    
    Details on Servo Parameters
    431
Section 9 Details on Servo Parameters

434
- Object Description Format
  
  434
- Common Control Objects
  
  436
  - 3001 Hex: Machine
    442
  - 3002 Hex: Optimized Parameters
    443
  - Hex: Position Command
    445
  - 3011 Hex: Position Command Filter
    447
  - 3012 Hex: Damping Control
    448
  - Hex: Damping Filter 1
    449
  - Hex: Damping Filter 2
    450
  - 3020 Hex: Velocity Command
    452
  - 3021 Hex: Velocity Command Filter
    453
  - 3030 Hex: Torque Command
    454
  - 3031 Hex: Velocity Limit in Torque Control
    454
  - 3040 Hex: Profile Command
    455
  - 3041 Hex: Command Dividing Function
    456
- Control Method Objects
  
  457
Control Loop Objects

462
Torque Output Setting Objects

472
- 3320 Hex: Adaptive Notch Filter
  474
- Hex: 1St Notch Filter
  475
- Hex: 2Nd Notch Filter
  477
- Hex: 3Rd Notch Filter
  479
- Hex: 4Th Notch Filter
  481
- 3330 Hex: Torque Limit
  483
Homing Objects

485
Applied Function Objects

489
- 3B10 Hex: Drive Prohibition
  489
- 3B11 Hex: Software Position Limit
  490
- B20 Hex: Stop Selection
  492
- B21 Hex: Deceleration Stop
  496
- 3B31 Hex: Touch Probe 2
  499
- B40 Hex: Zone Notification 1
  500
- 3B41 Hex: Zone Notification 2
  501
- 3B50 Hex: Position Detection Function
  502
- 3B51 Hex: Positioning Completion Notification
  502
- 3B52 Hex: Positioning Completion Notification 2
  503
- 3B60 Hex: Speed Detection Function
  504
- 3B70 Hex: Vibration Detection
  505
- 3B71 Hex: Runaway Detection
  506
- 3B80 Hex: Load Characteristic Estimation
  507
Error- and Warning-Related Objects

510
- 4000 Hex: Error Full Code
  510
- Hex: Warning Customization
  511
- 4021 Hex: Warning Output 1 Setting
  514
- 4022 Hex: Warning Output 2 Setting
  515
- 4030 Hex: Information Customization
  516
Monitoring-Related Objects

517
- 4110 Hex: Monitor Data Via PDO
  517
- 4120 Hex: Ethercat Communications Error Count
  518
- 4130 Hex: Safety Status Monitor
  518
- Hex: Safety Command Monitor 1
  520
- 4132 Hex: Safety Command Monitor 2
  521
- Hex: Lifetime Information
  522
- 4150 Hex: Overload
  524
Display-Related Objects

526
Power Device-Related Objects

527
- 4310 Hex: Regeneration
  527
- 4320 Hex: Main Circuit Power Supply
  528
External Device-Related Objects

530
- Encoder-Related Objects
  
  532
- I/O-Related Objects
  
  535
  - 4601 Hex: Function Input
    536
  - 4602 Hex: Function Output
    538
  - Hex: Control Input Change Count
    539
  - Hex: Control Output Change Count
    540
  - Hex: Brake Interlock Output
    541
  - Hex: Encoder Dividing Pulse Output
    542
- General-Purpose Input Setting Objects
  
  544
  - Setting
    544
  - 4630 Hex: Positive Drive Prohibition Input
    545
  - 4631 Hex: Negative Drive Prohibition Input
    545
  - 4632 Hex: External Latch Input 1
    545
  - 4633 Hex: External Latch Input 2
    546
  - 4634 Hex: Home Proximity Input
    546
  - 4635 Hex: Positive Torque Limit Input
    546
  - 4636 Hex: Negative Torque Limit Input
    547
  - 4637 Hex: Error Stop Input
    547
  - 4638 Hex: Monitor Input 1
    547
  - 4639 Hex: Monitor Input 2
    548
  - Hex: Monitor Input 4
    548
  - Hex: Monitor Input 5
    548
  - Hex: Monitor Input 6
    549
  - Hex: Monitor Input 7
    549
  - F Hex: Monitor Input 8
    550
- General-Purpose Output Setting Objects
  
  551
  - Setting
    551
  - 4650 Hex: Error Output
    552
  - 4651 Hex: Servo Ready Output
    552
  - 4652 Hex: Positioning Completion Output 1
    552
  - 4653 Hex: Positioning Completion Output 2
    553
  - 4654 Hex: Velocity Attainment Detection Output
    553
  - 4655 Hex: Torque Limit Output
    553
  - 4656 Hex: Zero Speed Detection Output
    554
  - 4657 Hex: Velocity Conformity Output
    554
  - 4659 Hex: Warning Output 2
    555
  - Hex: Velocity Limiting Output
    555
  - Hex: Error Clear Attribute Output
    555
  - Hex: Remote Output 1
    556
  - Hex: Remote Output 2
    556
  - Hex: Remote Output 3
    556
  - Hex: Zone Notification Output 1
    557
  - 4660 Hex: Zone Notification Output 2
    557
  - 4661 Hex: Position Command Status Output
    557
  - 4662 Hex: Distribution Completed Output
    558
    
    Operation
    559
Section 10 Operation

560
- Operational Procedure
  
  560
- Preparing for Operation
  
  561
Test Run

566
Outline of Adjustment Functions

571
- Adjustment Methods
  571
- Adjustment Procedure
  572
Easy Tuning

574
- Objects that Are Set
  574
- Executing Easy Tuning
  576
Advanced Tuning

577
- Objects that Are Set
  577
- Executing Advanced Tuning
  578
Manual Tuning

579
- Objects that Are Set
  579
- Executing Manual Tuning
  579
Data Trace

580
Fft

581
Damping Control

582
- Objects Requiring Settings
  582
- Operating Procedure
  584
- Setting Frequency with Sysmac Studio
  585
Load Characteristic Estimation

586
- Objects Requiring Settings
  587
- Setting Load Characteristic Estimation Function
  588
Adaptive Notch Filter

589
- Objects Requiring Settings
  589
- Operating Procedure
  590
Notch Filters

591
- Objects Requiring Settings
  592
- Notch Filter Width and Depth
  593
Friction Torque Compensation Function

594
- Operating Conditions
  594
- Objects Requiring Settings
  594
- Operation Example
  595
Feed-Forward Function

597
- Feed-Forward Control in TDF Control
  597
- Feed-Forward Control in ODF Control
  599
- Troubleshooting
  
  601
Actions for Problems

602
Warnings

606
- Related Objects
  606
- Warning List
  608
Errors

610
- Error List
  610
- Deceleration Stop Operation at Errors
  612
- Information
  
  613
  - Related Objects
    613
  - Information List
    613
- Troubleshooting
  
  614
Section 13 Maintenance and Inspection

646
- Periodic Maintenance
  
  646
- Servo Drive Lifetime
  
  647
- Servomotor Lifetime
  
  648
Appendices

649
- Cia 402 Drive Profile
  
  650
- Coe Objects
  
  660
  - A-2-1 Object Dictionary Area
    660
  - A-2-2 Data Type
    660
  - Object Description Format
    661
  - A-2-4 Communication Objects
    662
  - A-2-5 PDO Mapping Objects
    668
  - A-2-6 Sync Manager Communication Objects
    683
  - A-2-7 Manufacturer Specific Objects
    686
  - Servo Drive Profile Object
    689
  - A-2-9 Safety Function Objects
    711
- Object List
  
  715
- Sysmac Error Status Codes
  
  746
  - A-4-1 Error List
    746
  - A-4-2 Error Descriptions
    757
- Response Time in Ethercat Process Data Communications
  
  819
  - A-5-1 Input Response Time
    819
  - A-5-2 Output Response Time
    819
- Version Information
  
  820
  - A-6-1 Relationship between Unit Versions and Sysmac Studio Versions
    820
  - A-6-2 Functions that Were Added or Changed for each Unit Version
    821

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