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Omron 1S Series Startup Manual

Servo system with safety functionality
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Servo System 1S-series with safety functionality
Startup Guide
R88M-1AL[]/-1AM[] (AC Servomotors)
R88D-1SAN[]-ECT (AC Servo Drives)
I859-E1-01
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Summary of Contents for Omron 1S Series

  • Page 1 Servo System 1S-series with safety functionality Startup Guide R88M-1AL[]/-1AM[] (AC Servomotors) R88D-1SAN[]-ECT (AC Servo Drives) I859-E1-01...
  • Page 2 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.
  • Page 3 Introduction The AC Servo System 1S-Series with Built-in EtherCAT Communications and Safety Functionality Startup Guide (hereinafter, may be referred to as "this Guide") describes the procedures for installation and setup of a 1S-series Servo Drive with Built-in EtherCAT Communications and Safety Functionality (hereinafter referred to as “1S-series Servo Drive Advance Type”), where an NJ/NX-series CPU Unit is used in combination with1S-series AC Servomotors/Servo Drives Advance Type and NX-series Safety Control Unit, by using the Sysmac Studio.
  • Page 4 Special Information Special information in this Guide is classified as follows: Precautions for Correct Use Precautions on what to do and what not to do to ensure safe usage of the product. Additional Information Additional information to read as required. This information is provided to increase understanding or make operation easier.
  • Page 5 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;...
  • Page 6 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...
  • Page 7 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.
  • Page 8 Related Manuals The following manuals are related. Use these manuals for reference. Manual name Cat. No. Model Application Description 1S-Series AC I621 R88D-1SAN-ECT Learning detailed Describes how to install and wire the Servomotors/Servo Drives R88M-1A□ specifications of a 1S-series Servo Drive, set parameters needed to with Built-in EtherCAT Servo Drive Advance Type.
  • Page 9 Describes the motion control Motion Control Instructions NX102-□□□□ specifications of the motion instructions. Reference Manual NX1P2-□□□□ control instructions that are NJ501-□□□□ provided by OMRON. NJ301-□□□□ NJ101-□□□□ NJ/NX-series NX701-□□□□ Learning about the errors that Describes concepts on managing errors W503 Troubleshooting Manual NX102-□□□□...
  • Page 10 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. I859-E1-01 Cat. No. Revision code Revision code Date Revised content December 2020 Original production...
  • Page 11 CONTENTS Introduction ······························································································ 3 Intended Audience ....................3 Applicable Products ....................3 Special Information ....................4 Terms and Conditions Agreement ······························································· 5 Precautions ······························································································ 7 Trademarks ......................7 Software Licenses and Copyrights ................7 Related Manuals ······················································································· 8 Revision History ····················································································· 10 Servo System Configuration and Peripheral Products ···························...
  • Page 12 1. Servo System Configuration and Peripheral Products 1.1. Outline The 1S-series Servo Drives Advance Type support 100-Mbps EtherCAT. When you use the 1S-series Servo Drive Advance Type with a Machine Automation Controller NJ/NX-series CPU Unit or CJ1W-NC□8□ Position Control Unit with EtherCAT interface, you can construct a high-speed and sophisticated positioning control system.
  • Page 13 1.2. Servo System Constructed in This Guide This Guide contains instructions from assembling the hardware that makes up a servo system to constructing a system for safety functions and performing debugging on the system. The servo system is built through the following steps: ◼...
  • Page 14 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. NX-series NX1 CPU Unit Error clear button Safety Key Selector Switch Additional I/O Power Supply Unit Digital Input Unit Safety-door Switch NX-series Safety CPU Unit...
  • Page 15 ⚫ Automation Software Product Number of licenses Model Sysmac Studio Standard Edition None (DVD only) SYSMAC-SE200D Version 1.27 From 1 license to site license SYSMAC-SE[]...
  • Page 16 2. Before You Begin ◼ Unpacking Unpack the motor package. The package includes only one Servomotor and the instruction sheet. Cables are provided separately. Unpack the drive package. The Servo Drive comes with the following accessories. • INSTRUCTION MANUAL × 1 copy •...
  • Page 17 3. Performing Setup This section explains from assembling the hardware that makes up the servo system to adding the STO function via FSoE and creating a motor control program. The next section 4.Adding a Safety Function describes how to add safety functions other than the STO function. The operation of the servo system set up in this section is explained below.
  • Page 18 ◼ Operation of motion control and STO function When the Servo ON command is enabled, the Servo Drive turns ON the Servo. When the STO function is executed, the Servo Drive shifts to the STO state and turns OFF torque. When an operation command is enabled, the command velocity to the Servomotor is set to 600 r/min.
  • Page 19 3.1. Installation and Wiring ◼ Space Conditions around Servo Drives Install the Servo Drive according to the following instructions.  Install the Servo Drive on the vertical metal surface.  To provide electrical conduction, remove any paint from the surface on which you install the Servo Drives.
  • Page 20 ◼ Mounting the Servo Drive Put the Servo Drive in place and secure the top first and then the bottom. Temporarily tighten the screw to attach the lower part of the Servo Drive and slide the Servo Drive from top to bottom to put the U-groove of the Servo Drive on the screw. Tighten the screw at the upper part.
  • Page 21 Mount the shield clamp plate to the shield clamp bracket. ◼ Mounting the Servomotor (The order of step 2 and step 3 depends on your mechanical implementation.) Handle the Servomotor carefully and do not apply heavy impacts or loads during transport, installation, or removal of the Servomotor.
  • Page 22 Turn the knurling nut to clockwise direction until it stops. Additional Information For further details on how to mount the Servomotor, refer to the 1S-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications and Safety Functionality User’s Manual (Cat. No. I621). ◼...
  • Page 23 CNA for 200 V (up to 1 kW) CND for 200 V (1.5 - 3 kW) and 400 V (1 - 3 Wire the main circuit power supply. Check the connector corresponding to your Servo Drive and AC power supply. Single-phase 200 V (up to 1 kW) 200 V (1.5 kW)
  • Page 24 Screw the FG wire of the motor cable to the Servo Drive. Plug the encoder cable into the Servo Drive. (CN2) Additional Information For further details on wiring, refer to the 1S-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications and Safety Functionality User’s Manual (Cat. No. I621).
  • Page 25 ◼ Safety Wiring By default, hard-wired STO is disabled and bypassed with jumpers. When using hard-wired STO, make the wiring between the Safety CPU Unit and the Servo Drive as shown below.
  • Page 26 When using hard-wired STO for multiple Servo Drives, make the wiring between the Safety CPU Unit and the Servo Drives as shown below. Note: When using a G9SP-series Safety Controller, you can connect up to four 1S-series Servo Drives.
  • Page 27 ◼ I/O Wiring When using general-purpose I/O, make the wiring as shown below. Example of Latch Input 1: Servo Drive connector view: Additional Information For further details on wiring, refer to the 1S-series AC Servomotors/Servo Drives with Built-in EtherCAT Communications and Safety Functionality User’s Manual (Cat. No. I621).
  • Page 28 3.2. System Configuration with Standard and Safety Controllers ◼ EtherCAT Node Address Configuration Use the ID switches to set the EtherCAT node address of the Servo Drive to 1. Connect an EtherCAT communications cable to the device. ECAT IN CN10: EtherCAT cable from NX102 CPU Unit Additional Information For further details on the Safety Control Unit, refer to the NX-series Safety Control Unit User's Manual (Cat.
  • Page 29 3.3. Sysmac Studio Project Creation ◼ Creating a Network Configuration Select the NX102-9000 Controller from the list. Note: When using the motor sizing tool results file, refer to the Adding a Servo Drive and Axis from Motor Sizing Tool Results under Appendices. Double-click EtherCAT under Configurations and Setup in the Multiview Explorer.
  • Page 30 Change the device name of the Servo Drive to E_Axis0. Additional Information If the physical EtherCAT network configuration is already connected, you can automatically create the virtual network configuration on the Sysmac Studio from the physical network configuration. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the procedure. ◼...
  • Page 31 Right-click Axis0 (axis 0) in the Multiview Explorer and select Edit from the menu. The Axis Basic Settings view is displayed on the Axis Parameter Settings Tab Page in the Edit Pane. Select Servo axis for the Axis type setting. Select the Servo Drive to use for the Output device 1 setting.
  • Page 32 Set the parameters on the Axis Parameter Settings Tab Page. The following figure shows the axis parameters for the unit conversion settings. Unit of display: pulse Command pulse count per motor rotation: 1,048,576 pulse/rev Work travel distance per motor rotation: 1,048,576 pulse/rev Operation Settings Maximum velocity:...
  • Page 33 ◼ Setting the Network Configuration Double-click CPU Rack. Drag a system unit device to the location where you want to add it in the CPU and Expansion Racks Tab Page. In this example, drag the NX-PF0630 Additional I/O Power Supply Unit. Drag a safety CPU device to the location where you want to add it in the CPU and Expansion Racks Tab Page.
  • Page 34 Drag a safety digital input device to the location where you want to add it in the CPU and Expansion Racks Tab Page. In this example, drag the NX-SID800 Safety Input Unit. Drag a digital input device to the location where you want to add it in the CPU and Expansion Racks Tab Page.
  • Page 35 Add the ErrorClearFromNX BOOL variable to Input (Input to the Safety CPU Unit). Select new_Controller_0 from the list. Open the I/O Map and create device variables. Port Variable name ErrorClearFromNX ErrorClearToSafetyCPU Input Bit 00 ErrorClearSW Double-click Section0 to create a ladder program that transfers ErrorClearSW to the safety controller.
  • Page 36 ◼ Setting the Safety Controller This section describes how to set safety input devices. Select new_SafetyCPU0 from the list. Double-click Parameters. Drag a safety-door switch to the desired I/O terminal. Drag two safety key selector switches for single channel to the desired I/O terminals.
  • Page 37 Drag an emergency stop pushbutton switch to the desired I/O terminal. Drag a reset switch to the desired I/O terminal. Double-click I/O Map. Create device variables for the safety input devices. Port Variable name Si00 Logical Value SI_DoorSwitch Si02 Logical Value SI_KeySelectorSwitch1 Si03 Logical Value SI_KeySelectorSwitch2...
  • Page 38 Double-click SRA Parameters. Click the Common Settings Button and set the Motor Rotation Direction Field and the Safety Position/Velocity Validation Monitoring Function Field. Set Safety Motor Rotation Direction Selection (4F03.00hex) and Motor Rotation Direction Selection (3000.01hex) to the same value. Make sure that Safety Position/Velocity Validation Monitoring Function is set to Enabled.
  • Page 39 ◼ Creating a Safety Program Create a safety program by following the steps below: 1. Create device variables. 2. Create a safety program using the Automatic Programming function. 3. Modify the created safety program. 1. Create device variables. Select new_SafetyCPU0 from the list and double-click I/O Map. Create device variables.
  • Page 40 2. Create a safety program using the Automatic Programming function. Click Automatic Programming from the Insert Menu. Set the reset signal to SI_ResetSignal in the Basic Settings Field. Set SI_E-Stop and SI_DoorSwitch in the Input Settings Field. Set E_Axis0_STO in the Output Settings Field. Set the Use EDM Column to TRUE.
  • Page 41 3. Modify the created safety program. Double-click AutoProgram1. The program shown below appears.
  • Page 42 Add the code to assign ErrorClearFromNX to the ResetSignalFromNX local variable. Add the following code. This is used to enable the function block that uses safety functions of the Servo Drive. Set the input parameter to the Activate input variable to N3_Safety_Connection_Status in the SF_GuardMonitoring function block.
  • Page 43 Set the input parameter to the Activate input variable to E_Axis0_Status and the input parameter to the Reset input variable to SI_ResetSignal_Out in the SF_EDM function block When the FSoE communications are established between the safety controller and Servo Drive and there is no error of safety functions in the Servo Drive, this function block is enabled.
  • Page 44 Check that the created program is the same as shown below.
  • Page 45 Delete Program0. Connect to the standard controller. Change the connection method Test the connection. Confirm that Test OK is displayed and connect to the standard controller. Transfer to the standard controller. Click the Synchronization Button to synchronize with the standard controller. Transfer to the standard controller.
  • Page 46 Download the safety application. Select new_SafetyCPU0 from the list. Click the PROGRAM Mode Button to switch to PROGRAM mode. Click the DEBUG Mode Button to enter DEBUG mode. Click the Start Debugging Button to start DEBUG mode. Click the Safety Validation Button. The safety application is now ready to run.
  • Page 47 The FSoE communications are now established. The FS indicator is lit in green. ◼ Checking Operation of the STO Function ◼ Checking operation of the STO function using the Emergency Stop Pushbutton Switch Press the safety rest button. Press the Emergency Stop Pushbutton Switch. Check that the 7-segment LED display shows ‘st’.
  • Page 48 ◼ Checking operation of STO function using Safety-door Switch Press the safety rest button. Open the guard with the Safety-door Switch. Check that the 7-segment LED display shows ‘st’. Close the guard and press the safety reset switch. Check that STO is released and the 7-segment LED display shows ‘--’.
  • Page 49 Right-click the Servo Drive and select Setup and Tuning from the menu. Click the Quick Parameter Setup and I/O Monitor Button. Select whether or not an OMRON Controller is connected. When using I/O features of the Servo Drive in the motion control (MC) function module of the Sysmac Controller, select Use for the recommended settings.
  • Page 50 Set up the absolute encoder (if required). Use this function when clearing the multiple rotation data or when replacing a Servomotor in the actual machine. Resetting multiple rotation data Click the Clear system Button. The following message appears: Restart the drive to complete the operation. Click the Yes Button.
  • Page 51 Select the motor rotation direction and transfer the settings to the Servo Drive. Perform a test run to check the behavior of the Servomotor. Click the Apply Button in the Test Run tab page and then click the Servo ON Button to start the test run.
  • Page 52 Set input signals and transfer the settings to the Servo Drive. Perform a test run to confirm that the settings are correct. The Error Stop Input (ESTP) is ON by default. Turn it OFF as follows if necessary. When ESTP is ON, the Error No. 87.00 is displayed on the Servo Drive. Set output signals if necessary and transfer the settings to the Servo Drive.
  • Page 53 3.5. Easy Tuning for Gain Adjustment Easy Tuning Use the following procedure to perform adjustment. It is recommended to perform Easy Tuning first.
  • Page 54 Right-click the Servo Drive and select Setup and Tuning from the menu. Click the Easy Tuning Button. Select Simple for the tuning method and click the Next Button. Profile and Criteria Set the motion profile generator.
  • Page 55 Set the criteria for finishing auto tuning. Click the Next Button. When you select Manual for stabilization time, gain will be increased gradually until ⚫ the stabilization time reaches the specified time. Specify the following error for the position window to determine that the positioning is completed. If a vibration above the vibration detection level is detected during tuning, an adjustment failure will occur.
  • Page 56 Click the Start Trace Button. The Servomotor will run, and the traced data will be displayed in the graph area. Click the Next Button. Check the tuning results of the gain parameters. Click the Save to EEPROM Button to save the gain parameters. Click the Finish Button.
  • Page 57 3.6. Creating a Motor Control Program ◼ Creating a Standard Program Open the I/O Map and create a device variable. Port Variable name STO command active for E_Axis0_STO_command_active R88D-1SAN02H-ECT Create the following code: 1. The Servo is turned ON or OFF. 2.
  • Page 58 5. The errors of the standard controller are reset. 6. When the Servo Drive goes into the STO state, the Servo ON command and the motor start command are turned OFF. Transfer to the standard controller. Click the Transfer To Controller Button. Transfer to the standard controller.
  • Page 59 ◼ Checking Operation Press the safety rest button. Double-click Section0 to display the section. Right-click CmdSrvOn and select Set/Reset − Set. Check that the 7-segment LED display shows ‘oE.’. Right-click CmdVelStart and select Set/Reset − Set. Check that the Servomotor rotates at about 600 r/min.
  • Page 60 Press the Emergency Stop Pushbutton Switch. Check that the 7-segment LED display shows ‘st’. Release the Emergency Stop Pushbutton Switch and press the safety rest button. Check that STO is released and the 7-segment LED display shows ‘--’.
  • Page 61 4. Adding a Safety Function This section describes how to add a safety function to the servo system built in 3. Performing Setup. Refer to the section of the safety function to add. 4.1. Adding the Safe Stop 2 (SS2) Function This section describes how to add the SS2 function to the project created in 3.
  • Page 62 Input device State Operation 1. Error clear button Enable error reset command Disable error reset command 2. Safety Key Run Servomotor at normal velocity and deactivate SOS Normal Selector Switch function. operating mode Maintenance Make Servomotor decelerate to a stop and activate SOS mode function using SS2 function.
  • Page 63 ◼ Setting the Safety Controller Select new_SafetyCPU0 from the list. Double-click SRA Parameters and click the Safety Function Assignment Settings Button. Assign STO, SS2 instance1, and SOS instance1. Clear the selection of the Active Check Box. SS2 command1 Active cannot be selected for No.
  • Page 64 Set SS2 parameters. In this Guide, set as follows: Name Value Unit SS2 time to SOS 1 1000 SS2 time for velocity zero 1 Click the Button or the Button to display the SOS Detailed Settings view. Set SOS parameters. In this Guide, set as follows: Name Value...
  • Page 65 Open the I/O Map and create device variables. Port Variable name SOS command1 Active for E_Axis0_SOS_command1_Active R88D-1SAN02H-ECT SS2 command1 for R88D-1SAN02H-ECT E_Axis0_SS2_command1 SOS command1 for R88D-1SAN02H-ECT E_Axis0_SOS_command1...
  • Page 66 Create a safety program. Add the following code to AutoProgram1. When change of the operating mode of the Safety Key Selector Switch to maintenance mode is detected, the SS2 function is activated.
  • Page 67 Add the code to output that the SS2 function activated the SOS function. Add the code to deactivate the STO function activated by the Safety-door Switch when the SS2 function activated the SOS function.
  • Page 68 ◼ Setting the Standard Controller Select new_Controller_0 from the list. Double-click I/O Map. Create device variables. Port Variable name SS2 command 1 for R88D-1SAN02H-ECT E_Axis0_SS2_command_1 SOS command 1 active for E_Axis0_SOS_command_1_active R88D-1SAN02H-ECT...
  • Page 69 Create code for the standard program. Add the code to change the command velocity. • When the SS2 and SOS functions are active, reduce the command velocity to 0 r/min. • When the SS2 and SOS functions are inactive, increase the command velocity to 600 r/min.
  • Page 70 Transfer to the standard controller. Select new_Controller_0 from the list. Connect to the standard controller. Click the Synchronization Button to synchronize with the standard controller. Transfer to the standard controller. Download the safety application. Select new_SafetyCPU0 from the list. Click the PROGRAM Mode Button to switch to PROGRAM mode. Click the DEBUG Mode Button to enter DEBUG mode.
  • Page 71 Click the Safety Validation Button. Click the OK Button. Click the Run Button. The FSoE communications are now established. The FS indicator is lit in green. ◼ Checking Operation of the SS2 Function Check that the Safety Key Selector Switch is in normal operating mode. You cannot start in maintenance mode after turning ON the Servo Drive.
  • Page 72 Double-click Section0 to display the section. Right-click CmdSrvOn and select Set/Reset − Set. Check that the 7-segment LED display shows ‘oE.’. Right-click CmdVelStart and select Set/Reset − Set. Check that the Servomotor rotates at about 600 r/min. Operate the Safety key Selector Switch to switch to maintenance mode. Check that the Servomotor decelerates to a stop.
  • Page 73 Open the guard with the Safety-door Switch. Check that the 7-segment LED display still shows ‘SF’. Close the guard with the Safety-door Switch. Operate the Safety key Selector Switch to switch to normal operating mode. Check that the Servomotor rotates at about 600 r/min.
  • Page 74 4.2. Adding the Safely-limited Speed (SLS) Function This section describes how to add the SLS function to the project created in 3. Performing Setup. The operation of the servo system set up in this section is explained below. When the error clear button is pressed, the errors of the standard controller and Servo Drive are reset.
  • Page 75 Input device State Operation 1. Error clear button Enable error reset command Disable error reset command 2. Safety Key Run Servomotor at 600 [r/min] and deactivate SLS function. Normal Selector Switch operating mode Maintenance Run Servomotor at 60 [r/min] and activate SLS function. mode When velocity exceeds SLS velocity limit, Servo Drive goes into STO state and Excessive Limit Value Error occurs.
  • Page 76 ◼ Setting the Safety Controller Select new_SafetyCPU0 from the list. Double-click SRA Parameters and click the Safety Function Assignment Settings Button. Assign SLS instance1. Clear the selection of the Active Check Box. Select SLS instance1. Click the Button or the Button to display the SLS Detailed Settings view.
  • Page 77 Set SLS parameters. In this Guide, set as follows: Name Value Unit SLS time to velocity monitoring 1 1000 SLS velocity limit 1 r/min SLS time for velocity in limits 1 1000 Error Detection Activate In SLS Deactivate 1 Activate Open the I/O Map and create device variables.
  • Page 78 Create a safety program. Add the following code to AutoProgram1. When change of the operating mode of the Safety Key Selector Switch to maintenance mode is detected, the SLS function is activated.
  • Page 79 Add the code to deactivate the STO function activated by the Safety-door Switch when the SLS function is active.
  • Page 80 ◼ Setting the Standard Controller Select new_Controller_0 from the list Double-click I/O Map. Create device variables. Port Variable name SLS command 1 for R88D-1SAN02H-ECT E_Axis0_SLS_command_1 SLS command 1 active for E_Axis0_SLS_command_1_active R88D-1SAN02H-ECT...
  • Page 81 Create a standard program. Add the code to change the command velocity. • When the SLS function is active, reduce the command velocity to 60 r/min. • When the SLS function is inactive, increase the command velocity to 600 r/min. Add the code to change the command velocity here.
  • Page 82 Transfer to the standard controller. Select new_Controller_0 from the list. Connect to the standard controller. Click the Synchronization Button to synchronize with the standard controller. Transfer to the standard controller. Download the safety application. Select new_SafetyCPU0 from the list. Click the PROGRAM Mode Button to switch to PROGRAM mode. Click the DEBUG Mode Button to enter DEBUG mode.
  • Page 83 Click the Start Debugging Button to start DEBUG mode. Click the Safety Validation Button. The safety application is now ready to run. Click the Run Button. The FSoE communications are now established. The FS indicator is lit in green.
  • Page 84 ◼ Checking Operation of the SLS Function Check that the Safety Key Selector Switch is in normal operating mode. You cannot start in maintenance mode after turning ON the Servo Drive. Press the safety rest button. Double-click Section0 to display the section. Right-click CmdVelStart and select Set/Reset −...
  • Page 85 Open the guard with the Safety-door Switch. Check that the 7-segment LED display still shows ‘SF’. Close the guard with the Safety-door Switch. Operate the Safety key Selector Switch to switch to normal operating mode. Check that the Servomotor rotates at about 600 r/min.
  • Page 86 Appendices Adding a Servo Drive and Axis from Motor Sizing Tool Results Import the motor sizing tool results file. Note: Refer to the Motor Sizing Tool Startup Guide (Cat. No. I820) for learning how to create sizing results. Devices were imported successfully. Check that the EtherCAT configuration has been updated.
  • Page 87 Test Run and Data Trace Right-click the Servo Drive and select Test Run from the menu. Click the Step Tab. Adjust the motion profile. Click the Apply Button. Click the Servo ON Button to turn ON the Servo. Right-click Data Trace Settings and select Add - Data Trace from the menu to add a new data trace.
  • Page 88 Select Cyclic for the trace type. Specify the sampling interval. Specify the enable trigger condition. Click the Execute Button. Align the Test Run Window and the Data Trace Window horizontally by docking them. Click the Start Button in the Test Run Window to run the Servomotor. Traced data will appear cyclically.
  • Page 89 Manual Tuning ◼ How to Perform Manual Tuning This section describes how to change machine rigidity parameters for gain adjustment. Right-click the Servo Drive and select Setup and Tuning from the menu. Click the Manual Tuning Button. The Manual Tuning Window is displayed. It includes machine rigidity settings, gain parameters, and Servo Drive test run.
  • Page 90 In order to check the behavior of the Servomotor, right-click Data Trace Settings and select Add - Data Trace from the menu to add a new data trace. Select Cyclic for the trace type. Adjust the sampling interval. Adjust the enable trigger condition. Click the Transfer Parameters from Drive after Trace Button to disable uploading parameters.
  • Page 91 Configure the motion profile and click the Apply Button. Click the Servo ON Button to turn ON the Servo and then click the Start Button. Be careful because the Servomotor will move in forward and reverse directions. Data trace is now triggered, and trace results are displayed. Each time the Servomotor moves, traced data will appear cyclically.
  • Page 92 It is possible to change gain values at once by changing the machine rigidity settings. Click the Transfer to Drive Button to transfer the gain parameters to the Servo Drive. Repeat step 10, 11, and 12 until the desired performance is achieved. If vibrations occur, reduce the rigidity settings.
  • Page 93 Advanced Tuning ◼ How to Perform Advanced Tuning Overview The example below explains how to tune a 1S-series Servo Drive and Servomotor. Advanced tuning adjusts gains through simulation, dramatically reducing the number of test runs and adjustment time on your actual machine. Right-click the Servo Drive and select Setup and Tuning from the menu.
  • Page 94 Configuration (Wizard Step 1) Select the control mode. Click the Start Button to estimate load characteristics. (The motor will move.) When easy tuning has been performed already to determine load characteristics, select Use present setting for the load characteristic settings. Load characteristics have been updated.
  • Page 95 Gain Adjustment and Simulation Select the Maps Tab. Responsiveness may fluctuate when the combination of gains in the red area is set. Click the area in other colors than red where the combination of gains is as large as possible and then click the Refresh Calculations Button. FROM The pink waveform shows the frequency characteristic measured by FFT.
  • Page 96 Notch Filter Adjustment and Simulation The gain simulation shows a resonance peak near 0 dB after gain adjustment. In some cases, the notch filter can suppress this resonance peak, which allows you to set higher gains. Activate the cursor to measure the frequency with a resonance peak. Enable the 1st notch filter to remove the resonance peak at 2400 Hz.
  • Page 97 Gain Increase in Map and Simulation You can see that the blue area in the map is expanded after the notch filter is enabled. Click the area in other colors than red where the combination of gains is as large as possible and then click the Refresh Calculations Button.
  • Page 98 If your application requires a small following error, here is an example of position following gain adjustment. The following error has been reduced. When satisfied with the simulation result, transfer parameters to the Servo Drive. Click the Next Button. Check Behavior (Wizard Step 4) Click the Start Trace Button.
  • Page 99 Results (Wizard Step 5) Click the Save to EEPROM Button to save the results to the non-volatile memory. Click the Finish Button.
  • Page 100 Note: Do not use this document to operate the Unit. 2020 I859-E1-01 1220 (1220)

This manual is also suitable for:

R88m-1al seriesR88m-1am seriesR88d-1san-ect series