AC Servomotors/Servo Drives

1S-series with Built-in

EtherCAT® Communications

Incremental Encoder Type

User’s Manual
R88M-1L/-1M (AC Servomotors)
R88D-1SN-ECT (AC Servo Drives)

I619-E1-01
 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, electronic, 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. Neverthe-
less, 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.

Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
 Introduction

Introduction
Thank you for purchasing a 1S-series Servo Drive. This User’s Manual describes the installation and
wiring methods of the 1S-series Incremental Encoder Type Servomotors and parameter setting method
which is required for the operation, as well as troubleshooting and inspection methods. For the contents
that are not described in this manual, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications User’s Manual (I586).

Intended Audience
This User’s Manual is intended for the following personnel, who must also have electrical knowledge
(certified electricians or individuals who have equivalent knowledge).
• Personnel in charge of introducing the FA equipment
• Personnel in charge of designing the FA systems
• Personnel in charge of installing and connecting the FA equipment
• Personnel in charge of managing the FA systems and facilities

Notice
This User’s Manual contains information you need to know to correctly use the 1S-series Servo Drives
and peripheral equipment.
Before using the Servo Drive, read this User’s Manual and gain a full understanding of the information
provided herein.
After you finished reading this User’s Manual, keep it in a convenient place so that it can be referenced
at any time.
Make sure this User’s Manual is delivered to the end user.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1

 Manual Structure

Manual Structure
This section explains the page structure and symbol icons.

Page Structure
The following page structure is used in this manual.

Level 1 7 Applied Functions

heading
Level 2 7-9 Soft Start Function
heading
This function sets the acceleration and deceleration against the velocity command input inside the
Servo Drive and uses these values for speed control.
With this function, soft starts are possible when the step rotation velocity commands are input. To
reduce any impacts made by acceleration changes, you can also use the velocity command filter
(first-order lag).

Level 3 7-9-1 Objects Requiring Settings

heading Index Subindex

Name Description
Refer-
(hex) (hex) ence
3021 – Velocity Command Filter – P. 9-19
01 Acceleration Time Sets the acceleration time during accelera- P. 9-19
tion.
02 Deceleration Time Sets the deceleration time during decelera- P. 9-19
tion.
03 IIR Filter Enable Selects whether to enable or disable the P. 9-20
IIR filter in the velocity command filter.
0: Disabled
1: Enabled
04 Filter Cutoff Frequency Sets the cutoff frequency for the IIR filter. P. 9-20

7-9-2 Soft Start Acceleration/Deceleration Time

For a step velocity command input, set the time until the velocity command reaches 1,000 r/min in
Acceleration Time.
Similarly, set the time until the velocity command slows from 1,000 r/min down to 0 r/min in Decelera-
tion Time.

Acceleration Time (ms) = Vc/1,000 r/min × Acceleration Time × 0.1 ms

Deceleration Time (ms) = Vc/1,000 r/min × Deceleration Time × 0.1 ms

Velocity command [r/min] Velocity command before

acceleration control
(step type command)
1,000 [r/min]

Velocity command after

acceleration control
(trapezoidal type command)

Time
Acceleration Time × 0.1 ms Deceleration Time × 0.1 ms

7 - 30 1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Manual name

Note The above page is only a sample for illustrative purposes. It is not the actual content of this User’s Manual.

2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Manual Structure

7 Applied Functions

Precautions for Correct Use Special information

Do not set the Acceleration Time and the Deceleration Time when the position loop structure
with a host controller is used. Icons indicate precautions,
additional information, or
7-9-3 Velocity Command Filter (First-order Lag) reference information.
The velocity command filter (first-order lag) is an IIR filter used for speed commands.

Velocity command Velocity command

Velocity command [r/min] before filter process after filter process

Target velocity

Target velocity Vc × 0.632

Target velocity Vc × 0.368

Level 2 heading

7-9 Soft Start Function

Time Gives the current heading.
1/(2π × Filter Cutoff Frequency) (s)

7 Page tab
Gives the number of

7-9-3 Velocity Command Filter (First-order Lag)

the main section.

Level 3 heading
Gives the current heading.

1S-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 7 - 31

Note This illustration is provided only as a sample. It may not literally appear in this manual.

Special Information
Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Version Information
Information on differences in specifications and functionality for Servo Drives with different unit
versions and for different versions of the Sysmac Studio is given.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3

 Manual Configuration

Manual Configuration
This User’s Manual consists of the following sections.
Read the necessary section or sections by reference to the following table.

Section Outline
Features and Sys- This section explains the features of the Servo Drive and name of each part.
Section 1
tem Configuration
Models and Exter- This section explains the models of Servomotors and peripheral devices,
Section 2
nal Dimensions and provides the external dimensions and mounting dimensions.
This section provides the general specifications, characteristics, encoder
Section 3 Specifications
specifications of the Servomotors and other peripheral devices.
Configuration and This section explains the conditions for installing Servomotors, the wiring
Section 4
Wiring methods including wiring conforming to EMC Directives.
Details on Servo This section explains the details related to the Servomotors, including the set
Section 5
Parameters values, settings, and the display.
This section provides the operational procedure and explains how to operate
Section 6 Operation
in each mode.
This section explains the items to check when problems occur, and trouble-
Section 7 Troubleshooting
shooting by the use of error displays or operation state.
Maintenance and This section explains maintenance and inspection of the Servomotors and
Section 8
Inspection Servo Drives.
The appendices provide explanation for the profile that is used to control the
Appendices
Servo Drive, lists of objects, and Sysmac error status codes.

4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Sections in this Manual

Sections in this Manual

1 I

2
Features and System
1 Configuration I Index

2 Models and External Dimensions

4

3 Specifications
5

4 Configuration and Wiring 6

7
5 Details on Servo Parameters

8
6 Operation

A
7 Troubleshooting

8 Maintenance and Inspection

A Appendices

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 5

CONTENTS

CONTENTS
Introduction .............................................................................................................. 1

Manual Structure ...................................................................................................... 2

Manual Configuration .............................................................................................. 4

Sections in this Manual ........................................................................................... 5

Terms and Conditions Agreement ........................................................................ 10

Safety Precautions ................................................................................................. 12

Items to Check After Unpacking ........................................................................... 23

Related Manuals ..................................................................................................... 26

Terminology ............................................................................................................ 28

Revision History ..................................................................................................... 30

Section 1 Features and System Configuration

1-1 Outline .................................................................................................................................. 1-2
1-1-1 Features of 1S-series Servo Drives.......................................................................................... 1-2
1-1-2 EtherCAT .................................................................................................................................. 1-3
1-1-3 Object Dictionary ...................................................................................................................... 1-4
1-2 System Configuration ......................................................................................................... 1-5
1-3 Names and Functions ......................................................................................................... 1-6
1-3-1 Servomotor Part Names ........................................................................................................... 1-6
1-3-2 Servomotor Functions............................................................................................................... 1-7
1-4 Applicable Standards .......................................................................................................... 1-8
1-4-1 EU Directives ............................................................................................................................ 1-8
1-4-2 UL and CSA Standards............................................................................................................. 1-9
1-4-3 Korean Radio Regulations (KC) ............................................................................................... 1-9
1-4-4 SEMI F47................................................................................................................................ 1-10
1-4-5 Australian EMC Labeling Requirements (RCM) ..................................................................... 1-10
1-5 Unit Versions...................................................................................................................... 1-11
1-5-1 Confirmation Method .............................................................................................................. 1-11
1-5-2 Unit Versions and Sysmac Studio Versions ............................................................................ 1-11

Section 2 Models and External Dimensions

2-1 Servo System Configuration .............................................................................................. 2-2
2-2 How to Read Model Numbers............................................................................................. 2-4
2-2-1 Servomotor ............................................................................................................................... 2-4
2-3 Model Tables ........................................................................................................................ 2-5
2-3-1 Servomotor Model Tables ......................................................................................................... 2-5
2-3-2 Servo Drive and Servomotor Combination Tables .................................................................... 2-6
2-3-3 Servomotor and Decelerator Combination Tables .................................................................... 2-7
2-3-4 Cable and Connector Model Tables.......................................................................................... 2-7
2-4 External and Mounting Dimensions ................................................................................ 2-12

6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 CONTENTS

2-4-1 Servomotor Dimensions ......................................................................................................... 2-12

Section 3 Specifications
3-1 Servo Drive Specifications ................................................................................................. 3-2
3-1-1 Characteristics.......................................................................................................................... 3-2
3-1-2 Main Circuit and Motor Connections ........................................................................................ 3-4
3-1-3 Encoder Connector (CN2) Specifications................................................................................. 3-8
3-1-4 Overload Characteristics (Electronic Thermal Function) .......................................................... 3-8
3-2 Servomotor Specifications ............................................................................................... 3-10
3-2-1 General Specifications............................................................................................................ 3-10
3-2-2 Encoder Specifications ............................................................................................................3-11
3-2-3 Characteristics........................................................................................................................ 3-12
3-3 Cable and Connector Specifications ............................................................................... 3-17
3-3-1 Encoder Cable Specifications................................................................................................. 3-17
3-3-2 Motor Power Cable Specifications.......................................................................................... 3-22
3-3-3 Resistance to Bending of Flexible Cable................................................................................ 3-34
3-3-4 Connector Specifications........................................................................................................ 3-36

Section 4 Configuration and Wiring

4-1 Installation Conditions ........................................................................................................ 4-2
4-1-1 Servomotor Installation Conditions........................................................................................... 4-2
4-2 Wiring ................................................................................................................................... 4-5
4-2-1 Connector Attachment Procedure ............................................................................................ 4-5
4-2-2 Power/Brake Connector Attachment Procedure....................................................................... 4-7
4-3 Wiring Conforming to EMC Directives .............................................................................. 4-8
4-3-1 Peripheral Equipment Connection Examples ........................................................................... 4-9
4-3-2 Selecting Connection Component.......................................................................................... 4-18

Section 5 Details on Servo Parameters

5-1 Object Description Format ................................................................................................. 5-2
5-2 External Device-related Objects......................................................................................... 5-4
5-3 Encoder-related Objects ..................................................................................................... 5-6

Section 6 Operation
6-1 Operational Procedure........................................................................................................ 6-2
6-2 Preparing for Operation ...................................................................................................... 6-3
6-2-1 Items to Check Before Turning ON the Power Supply ............................................................. 6-3
6-2-2 Turning ON the Power Supply.................................................................................................. 6-4
6-2-3 Checking the Displays .............................................................................................................. 6-5
6-3 Test Run ............................................................................................................................... 6-7
6-3-1 Preparations for Test Run......................................................................................................... 6-7
6-3-2 Test Run via USB Communications from the Sysmac Studio .................................................. 6-8

Section 7 Troubleshooting
7-1 Actions for Problems .......................................................................................................... 7-2
7-1-1 Preliminary Checks When a Problem Occurs .......................................................................... 7-2
7-1-2 Precautions When a Problem Occurs ...................................................................................... 7-3

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7

CONTENTS

7-1-3 Replacing the Servomotor or Servo Drive ................................................................................ 7-4

7-2 Warnings .............................................................................................................................. 7-6
7-2-1 Related Objects ........................................................................................................................ 7-6
7-2-2 Warning List .............................................................................................................................. 7-8
7-3 Errors.................................................................................................................................. 7-10
7-3-1 Error List ................................................................................................................................. 7-10
7-3-2 Deceleration Stop Operation at Errors.................................................................................... 7-12
7-4 Information......................................................................................................................... 7-13
7-4-1 Related Objects ...................................................................................................................... 7-13
7-4-2 Information List ....................................................................................................................... 7-13
7-5 Troubleshooting ................................................................................................................ 7-14
7-5-1 Troubleshooting Using Error Displays .................................................................................... 7-14
7-5-2 Troubleshooting Using AL Status Codes ................................................................................ 7-35
7-5-3 Troubleshooting Using the Operation State ............................................................................ 7-39

Section 8 Maintenance and Inspection

8-1 Periodic Maintenance.......................................................................................................... 8-2
8-2 Servo Drive Lifetime............................................................................................................ 8-3
8-3 Servomotor Lifetime............................................................................................................ 8-4

Appendices
A-1 Sysmac Error Status Codes ...............................................................................................A-2
A-1-1 Error List ...................................................................................................................................A-2
A-1-2 Error Descriptions ...................................................................................................................A-14

Index

8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 CONTENTS

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 9

 Terms and Conditions Agreement

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties
 Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship 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.

 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.

 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-com-
plying 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 combi-
nation with any electrical or electronic components, circuits, system assemblies or any other materi-
als 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 CON-
SEQUENTIAL 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.

10 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Terms and Conditions Agreement

Application Considerations

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 documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine, sys-
tem, 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 applica-
tion 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.

Disclaimers

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 perfor-
mance 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; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 11

 Safety Precautions

Safety Precautions
• To ensure that the 1S-series Servomotor/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. Learn all items you should know before use, regarding the equipment as well as the
required safety information and precautions.
• Make an arrangement so that this User’s Manual also gets to the end user of this product.
• After reading this User’s Manual, keep it in a convenient place so that it can be referenced at any
time.

Explanation of Displays
• The precautions indicated here provide important information for safety. Be sure to heed the informa-
tion provided with the precautions.
• The following signal words are used to indicate and classify precautions in this User’s Manual.

Indicates an imminently hazardous situation which, if

not avoided, is likely to result in serious injury or may
DANGER result in death. Additionally there may be severe
property damage.

Indicates a potentially hazardous situation which, if not

avoided, will result in minor or moderate injury, or may
WARNING result in serious injury or death. Additionally there may
be significant property damage.

Indicates a potentially hazardous situation which,

Caution if not avoided, may result in minor or moderate
injury or in property damage.

Even those items denoted by the caution symbol may lead to a serious outcome depending on the situ-
ation. Accordingly, be sure to observe all safety precautions.

Explanation of Symbols
This User’s Manual uses the following symbols.

The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates prohibiting disassembly.

The triangle symbol indicates precautions and warnings.

The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
The triangle symbol indicates precautions and warnings.
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example indicates a requirement for the ground.

12 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Safety Precautions

Precautionary Information
• Illustrations contained in this manual sometimes depict conditions without covers and safety shields
for the purpose of showing the details. When you use 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 represen-
tative.

Handling of Safety Products

If the functions of safety products cannot attain their full potential, it will result in minor or moderate
injury, or may result in serious injury or death. When building the system, observe the following warn-
ings and optimize safety product selection for your equipment and devices to ensure the integrity of the
safety-related components.

WARNING
 Setting Up a Risk Assessment System
The process of selecting these products should include the development and execution of a risk
assessment system early in the design development stage to help identify potential dangers in your
equipment and optimize safety product selection.
The following is an example of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction

 Protective Measure
When developing a safety system for the equipment and devices that use safety products, make
every effort to understand and conform to the entire series of international and industry standards
available, such as the examples given below.
The following are examples of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements
• ISO13849-1, -2 Safety-related Parts of Control Systems
• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection
• IEC/TS 62046 Application of Protective Equipment to Detect the Presence of Persons

 Role of Safety Products

Safety products incorporate standardized safety functions and mechanisms, but the benefits of
these functions and mechanisms are designed to attain their full potential only within properly
designed safety-related systems. Make sure you fully understand all functions and mechanisms,
and use that understanding to develop systems that will ensure optimal usage.
The following are examples of related international standards.
• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection
• ISO13857 Safety Distances to Prevent Hazard Zones being Reached by Upper and Lower Limbs

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 13

 Safety Precautions

 Installing Safety Products

Qualified engineers must develop your safety-related system and install safety products in devices
and equipment. Prior to machine commissioning, verify through testing that the safety products work
as expected.
The following are examples of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements
• ISO13849-1, -2 Safety-related Parts of Control Systems
• ISO14119 Interlocking Devices Associated with Guards - Principles for Design and Selection

 Observing Laws and Regulations

Safety products must conform to pertinent laws, regulations, and standards. Make sure that they are
installed and used in accordance with the laws, regulations, and standards of the country where the
devices and equipment incorporating these products are distributed.

 Observing Usage Precautions

Carefully read the specifications and precautions as well as all items in the Instruction Manual for
your safety product to learn appropriate usage procedures. Any deviation from instructions will lead
to unexpected device or equipment failure not anticipated by the safety-related system.

 Transferring Devices and Equipment

When you transfer devices and equipment, be sure to retain one copy of the Instruction Manual for
safety devices and the User’s Manual, and supply another copy with the device or equipment so the
person receiving it will have no problems with operation and maintenance.
The following are examples of related international standards.
• ISO12100 General Principles for Design - Risk Assessment and Risk Reduction
• IEC60204-1 Electrical Equipment of Machines - Part 1: General Requirements
• ISO13849-1, -2 Safety-related Parts of Control Systems
• IEC62061 Functional Safety of Safety-related Electrical, Electronic and Programmable Electronic
Control Systems
• IEC61508 Functional Safety of Electrical/Electronic/Programmable Electronic Safety-related Sys-
tems

Transporting and Unpacking

WARNING
Do not damage, pull, or put excessive stress or heavy objects on the cables.
Doing so may cause electric shock, malfunction, or burning.

14 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Safety Precautions

Installation, Wiring and Maintenance

WARNING
Install the Servo Drive, Servomotor, and peripheral equipment before wiring.
Not doing so may cause electric shock.

Be sure to ground the 100-VAC or 200-VAC input model Servo Drive and Servomotor to
100 Ω or less, and the 400-VAC input model to 10 Ω or less.
Not doing so may cause electric shock.
Do not remove the front cover, terminal covers, cables, or peripheral equipment while the
power is supplied.
Doing so may cause electric shock.
Before carrying out wiring or inspection, turn OFF the main circuit power and wait for at
least the following specific time.
Not doing so may cause electric shock or burning.
10 minutes: R88D-1SN06F-ECT, R88D-1SN10F-ECT, R88D-1SN15F-ECT,
R88D-1SN20F-ECT, R88D-1SN30F-ECT
15 minutes: R88D-1SN01L-ECT, R88D-1SN02L-ECT, R88D-1SN01H-ECT,
R88D-1SN02H-ECT, R88D-1SN04H-ECT
20 minutes: R88D-1SN04L-ECT, R88D-1SN08H-ECT, R88D-1SN10H-ECT,
R88D-1SN15H-ECT, R88D-1SN20H-ECT, R88D-1SN30H-ECT
Do not damage, pull, or put excessive stress or heavy objects on the cables.
Doing so may cause electric shock, malfunction, or burning.

Use appropriate tools to wire terminals and connectors. Check that there is no short-circuit
before use.
Not doing so may cause electric shock.

Connect the frame ground wire in the motor cable securely to the or FG of the Servo
Drive.
Not doing so may cause electric shock.

Operation Check

WARNING
Use the Servomotor and Servo Drive in a specified combination.
Not doing so may cause fire or equipment damage.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 15

 Safety Precautions

Usage

WARNING
Do not enter the operating area during operation.
Doing so may cause injury.

Do not touch the Servo Drive radiator, Regeneration Resistor, or Servomotor while the
power is supplied or for a while after the power is turned OFF because they get hot.
Doing so may cause fire or a burn injury.
Take appropriate measures to ensure that the specified power with the rated voltage is sup-
plied. Be particularly careful in locations where the power supply is unstable.
Not doing so may cause failure.
When the power is restored after a momentary power interruption, the machine may restart
suddenly. Do not come close to the machine when restoring power.
Implement measures to ensure safety of people nearby even when the machine is
restarted.
Doing so may cause injury.
Use appropriate tools to wire terminals and connectors. Check that there is no short-circuit
before use.
Not doing so may cause electric shock.
Be sure to observe the radiator plate installation conditions that are specified in the manual.
Not doing so may cause the Servo Drive or Servomotor to burn.

If the load that exceeds the allowable range is installed, it may cause the dynamic brake to
be damaged. Be sure to use the appropriate load. For the selection of the appropriate load,
refer to AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Commu-
nications User’s Manual (I586).
Not doing so may cause the Servo Drive to be damaged.
The dynamic brake is intended for the stop at the time of an error and therefore it has a
short-time rating.
If the dynamic brake is activated, provide an interval of 3 minutes or more before the next
activation to prevent a circuit failure and burning of the Dynamic Brake Resistor.

16 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Safety Precautions

Transporting and Unpacking

Caution
When transporting the Servo Drive, do not hold it by the cables or motor shaft.
Injury or failure may result.

Do not step on the Servo Drive or place heavy articles on it.

Injury may result.

Do not overload the product. (Follow the instructions on the product label.)
Injury or failure may result.

Be sure to observe the specified amount when piling up products.

Injury or failure may result.
The allowable number of piled-up products Servo Drive, Servomotor, Reactor:
Follow the instructions on the individual package.
External Regeneration Resistor: 12
External Regeneration Resistance Unit: 4
Noise Filter: 15

Wiring

Caution
Be careful about sharp parts such as the corner of the equipment when handling the Servo
Drive and Servomotor.
Injury may result.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 17

 Safety Precautions

Precautions for Safe Use

General Precaution
• Do not store or install the Servo Drive in the following locations. Doing so may result in electric shock,
fire, equipment damage, or malfunction.
Locations subject to direct sunlight
Locations subject to temperatures outside the range specified in the specifications
Locations subject to humidity outside the range specified in the specifications
Locations subject to condensation as the result of severe changes in temperature
Locations subject to corrosive or flammable gases
Locations subject to dust (especially iron dust) or salts
Locations subject to exposure to water, oil, or chemicals
Locations subject to shock or vibration
• Medical electronics such as cardiac pacemakers may malfunction or injury may result.
• Provide safety measures, such as a fuse, to protect against short circuiting of external wiring and fail-
ure of the Servo Drive. Fire may result.
• If an error occurs, remove the cause of the error and ensure safety, and then perform the error reset
and restart the operation. Injury, equipment damage, or burning may result.

Wiring
• Use a robot cable for the wiring to separately install the Servo Drive and Servomotor to moving and
fixed parts of the equipment. Equipment damage may result.
• Connect the Servo Drive to the Servomotor without a contactor, etc. Malfunction or equipment dam-
age may result.

Precautions for Correct Use

General Precaution
• Take appropriate and sufficient countermeasures to provide shielding when installing systems in the
following locations. Not doing so may result in failure.
Locations subject to static electricity or other forms of noise
Locations subject to strong electromagnetic fields
Locations subject to possible exposure to radioactivity
Locations close to power lines
• When lifting a 20-kg or more Servo Drive during moving or installation, always have two people lift
the product by grasping a metal part other than the shaft.
Do not grasp a plastic part. Injury or failure may result.
Relevant model: R88M-1M2K010T0-B, R88M-1M3K010T-, R88M-1M2K010C-B,and
R88M-1M3K010C-

Transporting and Unpacking

• Check that the eye bolts are not loose after replacing them.
If they are loose, the screws can come off and the Servomotor may fall during the transportation by
the use of eye bolts.
Do not put the human body under the Servomotor during the transportation.

18 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Safety Precautions

Installation
• 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.
• Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as
metals. Fire may result.
• Do not apply strong impact on the motor shaft or Servo Drive. Failure may result.
• Do not touch the key grooves with bare hands if the Servomotor with shaft-end key grooves is used.
Injury may result.
• Use non-magnetic mounting screws. Note also that the depth of any mounted screw does not reach
the effective thread length. Equipment damage may result.
• Be sure to observe the allowable axial load for the Servomotor. Equipment damage may result.
• Install equipment to prevent crash and reduce shock.
Do not run the Servomotor outside the operable range by the use of the drive prohibition function
such as overtravel.
Crash against the stroke edge may occur depending on stopping distance and equipment damage
may result.
• Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive.
Fire may result.
• Use the attached exclusive screws when you mount the Servo Drive to the Footprint-type Noise Fil-
ter. Electric shock or failure may result.

Wiring
• Wire the cables correctly and securely. Runaway motor, injury, or failure may result.
• Tighten the mounting screws, terminal block screws, and cable screws for the Servo Drive, Servomo-
tor, and peripheral equipment to the specified torque. Failure may result.
• Use crimp terminals to wire screw type terminal blocks. Do not connect bare stranded wires directly
to terminals blocks. Fire may result.
• Always use the power supply voltage specified in this document. Burning may result.
• Do not apply a commercial power supply directly to the Servomotor. Fire or failure may result.
• When constructing a system that includes safety functions, be sure you understand the relevant
safety standards and all related information in user documentation, and design the system to comply
with the standards. Injury or equipment damage may result.
• Disconnect all connections to the Servo Drive and Servomotor before attempting a megger test (insu-
lation resistance measurement) on the Servo Drive or Servomotor. Not doing so may result in Servo
Drive or Servomotor failure. Do not perform a dielectric strength test on the Servo Drive or Servomo-
tor. Doing so may result in damage of the internal elements.
• Keep conductive or flammable foreign objects such as screws, metal pieces, and oil out of the Servo
Drive and connectors. Pay particular attention to the connector on the top part of Servo Drive. Fire or
electric shock may result.
• Carefully perform the wiring and assembling. Injury may result.
• Wear the protective equipment when installing or removing the main circuit connector, main circuit
connector A, main circuit connector B, control power supply connector, or motor connector. Do not
apply a force after the protrusion of the connector opener reaches the bottom dead center. (As a
guide, do not apply a force of 100 N or more.)
• Design the configuration to cut off the main circuit power supply when the ERR signal (normally close
contact) of the control output function is output (open).
• Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive.
Fire may result.
• Do not apply excessive force to wire terminals and connectors. Injury or failure may result.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 19

 Safety Precautions

• Be sure to install surge suppressors when you connect a load with an induction coil such as a relay to
the control output terminal.
Malfunction or equipment damage may result.

Adjustment
• Install an immediate stop device externally to the machine so that the operation can be stopped and
the power supply is cut off immediately. Injury may result.
• Do not adjust or set parameters to extreme values, because it will make the operation unstable. Injury
may result.
• Ensure that the Servomotor has a sufficient rigidity. Equipment damage or malfunction may result.
• If a problem occurs in serial communications or the computer during a test operation, you have no
means to stop the Servomotor.
Connect an externally installed emergency stop switch, etc. to the Error Stop Input of the general-pur-
pose input so that the Servomotor can be stopped without fail.
• When using the Servomotor with key, run the Servomotor in a state in which the key cannot jump out
of the shaft.
Not doing so may result in hurting people around the equipment due to the jumping key.

Operation Check
• Before operating the Servo Drive in an actual environment, check if it operates correctly based on the
newly set parameters. Equipment damage may result.
• Do not adjust or set parameters to extreme values, because it will make the operation unstable. Injury
may result.
• Do not drive the Servomotor by the use of an external drive source. Fire may result.
• Check the newly set parameters for proper execution before actually using them.

Usage
• Tighten the mounting screws, terminal block screws, and cable screws for the Servo Drive, Servomo-
tor, and peripheral equipment to the specified torque. Failure 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 is cut off immediately. Injury may result.
• Conduct a test operation after confirming that the equipment is not affected. Equipment damage may
result.
• Do not use the built-in brake of the Servomotor for normal braking operation. Failure may result.
• After an earthquake, be sure to conduct safety checks. Electric shock, injury, or fire may result.
• Do not place flammable materials near the Servomotor, Servo Drive, or peripheral equipment. Fire
may result.
• Connect an emergency stop (immediate stop) relay in series with the brake interlock output. Injury or
failure may result.
• Do not use the cable when it is laying in oil or water. Electric shock, injury, or fire 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.
• Be sure to turn OFF the power supply when not using the Servo Drive for a prolonged period of time.
Not doing so may result in injury or malfunction.

20 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Safety Precautions

• When constructing a system that includes safety functions, be sure you understand the relevant
safety standards and all related information in user documentation, and design the system to comply
with the standards. Injury or equipment damage may result.
• If the Servomotor is not controlled, it may not be possible to maintain the stop. To ensure safety,
install a stop device. Equipment damage or injury may result.
• Periodically run the Servomotor approximately one rotation when the oscillation operation continues
at a small angle of 45° or smaller. Servomotor failure may result.
• Immediately stop the operation and cut off the power supply when unusual smell, noise, smoking,
abnormal heat generation, or vibration occurs. Not doing so may result in Servo Drive or Servomotor
damage or burning.
• Use an appropriate External Regeneration Resistor. Install an external protective device such as
temperature sensor to ensure safety when using the External Regeneration Resistor.

Maintenance
• After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation,
before restarting operation. Equipment damage may result.
• Do not repair the Servo Drive by disassembling it. Electric shock or injury may result.

Location of Warning Display

The Servo Drive bears a warning label at the following location to provide handling warnings.
When you handle the Servo Drive, be sure to observe the instructions provided on this label.

Ether CAT

PWR
ERR

ECAT
L/A L/A
OUT
RUN ERR IN
FS

Location of warning

Instructions on Warning Display

Note The above is an example of warning display.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 21

 Safety Precautions

Disposal
Dispose of the Servo Drive as industrial waste.

22 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Items to Check After Unpacking

Items to Check After Unpacking

After you unpack the product, check the following items.
• Is this the model you ordered?
• Was there any damage sustained during shipment?

Servo Drive

Nameplate of Servo Drive

The model, rating and lot number of the 1S-series Servo Drive are given on the product nameplate.

Nameplate display location

R88D Ether
CAT
-1SN

L/A L/A
RUN ERRIN
OUT
FS

Name plate example: 100 VAC 100 W Servo Drive

Servo Drive model

Servo Drive rating

Lot number and serial number*1

*1. The notifications and their meanings are explained below.

Notation: Lot No. DDMYY xxxx
DDMYY: Lot number, : For use by OMRON, xxxx: Serial number
“M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)

Accessories of Servo Drive

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 (Depends on the model. Refer to the following table.)

When UL/CSA certification is required, attach the warning label to a place around the Servo Drive.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 23

 Items to Check After Unpacking

Connectors, mounting screws, mounting brackets, 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.

Main circuit connector

Control I/O connector Brake interlock connector and main circuit
Specifications
(CN1) (CN12) connector A
(CNA)
100 W
Single- 200 W
phase/3-ph Included*2 *4
400 W
ase 200
VAC 750 W Included*1 Included
1.5 kW Included*3 *4
3-phase 1 kW
200 VAC Included*2 *4
*1. Four short-circuit wires are connected to the connector.
*2. The connector with 11 terminals is included. Two short-circuit wires are connected.
*3. The connector with 6 terminals is included. One short-circuit wire is connected.
*4. One opener is included.

Main circuit connector B Motor connector Control power supply

Specifications
(CNB) (CNC) connector (CND)
100 W
Single- 200 W
phase/3-ph --- Included*2 ---
400 W
ase 200
VAC 750 W
1.5 kW Included*1 Included*3 Included*4
3-phase 1 kW
200 VAC --- Included*2 ---

*1. One short-circuit wire is connected to the connector.

*2. The connector with 3 terminals is included.
*3. The connector with 4 terminals is included.
*4. One opener is included.

24 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Items to Check After Unpacking

Servomotor
The model, rating and serial number of the 1S-series Servomotor are given on the product nameplate.
Motor model
From the left,
R88M-1M1K520H-BS2 Number of phases (Example: 3)
Rated voltage
(Example: 200 VAC)
AC200V 8.6A 1.5kW
Rated current
From the left, 2000 167Hz 10.5kg (Example: 8.6 A)
Rated rotation speed Rated output
(Example: 2,000 r/min) (Example: 1.5 kW)
Rated frequency (Example: 167 Hz)
10150700003
Motor weight (Example: 10.5 kg)*1
From the left,
Serial number
Insulation class (Example: F)
Totally enclosed protection
*1. The weight is not given for the Servomotor with a flange size of type motor (Example: TE)
80 x 80 or less. Operating ambient
temperature (Example: 40°C)
Protective structure
(Example: IP67)

Nameplate display location

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 25

 Related Manuals

Related Manuals
The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

AC Servomo- I586 R88M-1L/-1M Learning the functionality An outline to the entire
tors/Servo Drives R88D-1SN-ECT and performance of 1S-series system is provided
1S-series with 1S-series Servo Drives. along with the following infor-
Built-in Ether- Mainly information below mation on the Servomotors
CAT® Communi- is provided. (with absolute encoder spec-
cations User’s ifications)/Servo Drives.
• EtherCAT Communi-
Manual • Features and system con-
cations
figuration
• Basic Control Func-
tions • Outline
• Applied Functions • Names and functions
• Safety Function • General specifications
• Adjustment Functions • Installation and wiring
• Maintenance and inspec-
tions
NX-series CPU W535 NX701- Learning the basic speci- An introduction to the entire
Unit Hardware fications of the NX-series NX-series system is pro-
User’s Manual CPU Units, including vided along with the follow-
introductory information, ing information on the CPU
designing, installation, Unit.
and maintenance. • Features and system con-
Mainly hardware infor- figuration
mation is provided. • Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspec-
tion
Use this manual together
with the NJ-series CPU Unit
Software User’s Manual
(Cat. No. W501).
NJ-series CPU W500 NJ501- Learning the basic speci- An introduction to the entire
Unit Hardware NJ301- fications of the NJ-series NJ-series system is provided
User’s Manual CPU Units, including along with the following infor-
NJ101-
introductory information, mation on the CPU Unit.
designing, installation, • Features and system con-
and maintenance. figuration
Mainly hardware infor- • Introduction
mation is provided. • Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspec-
tion
Use this manual together
with the NJ-series CPU Unit
Software User’s Manual
(Cat. No. W501).

26 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ/NX-series CPU W501 NX701- Learning how to program The following information is
Unit Software NX1P2- and set up an provided on a Controller built
User’s Manual NJ/NX-series CPU Unit. with an NJ/NX-series CPU
NJ501-
Mainly software informa- Unit.
NJ301- tion is provided. • CPU Unit operation
NJ101-
• CPU Unit features
• Initial settings
• Programming based on
IEC 61131-3 language
specifications
Use this manual together
with the NX-series CPU Unit
Hardware User's Manual
(Cat. No. W535) or NJ-series
CPU Unit Hardware User's
Manual (Cat. No. W500).
NJ/NX-series CPU W507 NX701- Learning about motion The settings and operation of
Unit Motion Con- NX1P2- control settings and pro- the CPU Unit and program-
trol User’s Manual gramming concepts. ming concepts for motion
NJ501-
control are described.
NJ301-
When programming, use this
NJ101- manual together with the
NX-series CPU Unit Hard-
ware User's Manual (Cat.
No. W535) or NJ-series CPU
Unit Hardware User's Man-
ual (Cat. No. W500) and with
the NJ/NX-series CPU Unit
Software User's Manual
(Cat. No. W501).
NX-series Safety Z930 NX-SL Learning how to use the Describes the hardware,
Control Units NX-SI NX-series Safety Con- setup methods and functions
User's Manual trol Units. of the NX-series Safety Con-
NX-SO
trol Units.
Sysmac Studio W504 SYSMAC-SE2 Learning about the oper- Describes the operating pro-
Version 1 Opera-  ating procedures and cedures of the Sysmac Stu-
tion Manual functions of the Sysmac dio.
Studio.
Sysmac Studio I589 SYSMAC-SE2 Learning how to set up Describes the operating pro-
Drive Functions  and adjust the Servo cedures of the Sysmac Stu-
Operation Manual Drives. dio.
SYSMAC W487 CJ1W-NC281 Learning about the NC Describes the setup meth-
CJ-series Position CJ1W-NC481 Units (CJ1W-NC281/ ods and operating proce-
Control Unit Oper- 481/ 881/ F81/ 482/ 882/ dures of the NC Units.
CJ1W-NC881
ation Manual F82).
CJ1W-NCF81
CJ1W-NC482
CJ1W-NC882
CJ1W-NCF82
G9SP-series Z922 G9SP-N10S Learning how to use the Describes the hardware,
Safety Controller G9SP-N10D G9SP-series safety Con- setup methods and functions
Operation Manual trollers. of the G9SP-series safety
G9SP-N20S
Controllers.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 27

 Terminology

Terminology

Abbrevi-
Term Description
ation
CAN application protocol over EtherCAT CoE A CAN application protocol service implemented on
EtherCAT.
CAN in Automation CiA CiA is the international users’ and manufacturers’
group that develops and supports higher-layer proto-
cols.
Device Profile --- Collection of device dependent information and func-
tionality providing consistency between similar
devices of the same device type.
Distributed Clocks DC Method to synchronize slaves and maintain a global
time base.
EtherCAT Slave Controller ESC A controller for EtherCAT slave communication.
EtherCAT Slave Information ESI An XML file that contains setting information for an
EtherCAT slave.
EtherCAT State Machine ESM An EtherCAT communication state machine.
EtherCAT Technology Group ETG The ETG is a global organization in which OEM, End
Users and Technology Providers join forces to sup-
port and promote the further technology develop-
ment.
Fieldbus Memory Management Unit FMMU Single element of the fieldbus memory management
unit: one correspondence between a coherent logi-
cal address space and a coherent physical memory
location.
Index --- Address of an object within an application process.
Object --- Abstract representation of a particular component
within a device, which consists of data, parameters,
and methods.
Object Dictionary OD Data structure addressed by Index and Subindex
that contains description of data type objects, com-
munication objects and application objects.
Physical Device Internal Interface PDI A series of elements to access data link services
from the application layer.
Power Drive System PDS A power drive system consisting of a Servo Drive, an
inverter, and other components.
Process Data --- Collection of application objects designated to be
transferred cyclically or acyclically for the purpose of
measurement and control.
Process Data Object PDO Structure described by mapping parameters that
contain one or several process data entities.
Receive PDO RxPDO A process data object received by an EtherCAT
slave.
safe state --- The status of a device or piece of equipment when
the risk of danger to humans has been reduced to an
acceptable level.
safety control --- A type of control that uses devices, functions, and
data that are designed with special safety measures.
Safety over EtherCAT FSoE A system to communicate for the functional safety
over EtherCAT.
safety process data communications --- A type of I/O data communications that is used for
safety control purposes.

28 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Terminology

Abbrevi-
Term Description
ation
safety reaction time --- The time required for the system to enter a safe state
in a worst-case scenario after the occurrence of a
safety-related input (press of an emergency stop
pushbutton switch, interruption of a light curtain,
opening of a safety door, etc.) or device failure.
The reaction time of the system includes the reaction
times of sensors and actuators, just like the reaction
time for a Controller or network.
Service Data Object SDO CoE asynchronous mailbox communications where
all objects in the object dictionary can be read and
written.
Slave Information Interface SII Slave information stored in the nonvolatile memory
of each slave.
standard control --- A type of control that use devices, functions, and
data that are designed for general control purposes.
This term is used to differentiate from a safety con-
trol.
Subindex --- Sub-address of an object within the object dictionary.
Sync Manager SM Collection of control elements to coordinate access
to concurrently used objects.
Transmit PDO TxPDO A process data object sent from an EtherCAT slave.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 29

 Revision History

Revision History
The manual revision code is a number appended to the end of the catalog number found in the front
and back cover.
Example

Cat. No. I619-E1-01

Revision code
Revision
Date Revised content
code
01 April 2018 Original production

30 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 1

Features and System Configura-

tion
This section explains the features of the Servo Drive and name of each part.
For the names and functions, system block diagram, and procedures to start operation
of Servo Drives, refer to the AC Servomotors/Servo Drives 1S-series with Built-in Eth-
erCAT® Communications User’s Manual (I586).

1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 Features of 1S-series Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-2 EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-1-3 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-3 Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-3-1 Servomotor Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-3-2 Servomotor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1-4 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1-4-1 EU Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1-4-2 UL and CSA Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1-4-3 Korean Radio Regulations (KC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1-4-4 SEMI F47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1-4-5 Australian EMC Labeling Requirements (RCM) . . . . . . . . . . . . . . . . . . . . . . 1-10
1-5 Unit Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1-5-1 Confirmation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11
1-5-2 Unit Versions and Sysmac Studio Versions . . . . . . . . . . . . . . . . . . . . . . . . . .1-11

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1-1
1 Features and System Configuration

1-1 Outline
The 1S-series 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 Position Control Unit with EtherCAT (Model: CJ1W-NC8), you can construct a high-speed and
sophisticated positioning control system.
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 adjustment functions, adaptive notch filter, notch filter, and damping control, you can set up a sys-
tem that provides stable operation by suppressing vibration in low-rigidity machines.
Moreover, with the two-degree-of-freedom (TDF) control structure, you can easily adjust high-precision
positioning.

1-1-1 Features of 1S-series Servo Drives

The 1S-series Servo Drives have the following features.

Optimal Functionality and Operability by Standardizing Specifica-

tions
As a Sysmac Device, 1S-series Servo Drives with built-in EtherCAT communications is designed to
achieve optimum functionality and ease of operation when it is used together with the NJ/NX-series
Machine Automation Controller and the Sysmac Studio Automation Software.
Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed
with unified communications specifications and user interface specifications.

Data Transmission Using EtherCAT Communications

Combining the 1S-series Servo Drive with a Machine Automation Controller NJ/NX-series CPU Unit or
Position Control Unit with EtherCAT (Model: CJ1W-NC8) enables you to exchange all position
information with the controller in high-speed data communications.
Since the various control commands are transmitted via data communications, Servomotor’s opera-
tional performance is maximized without being limited by interface specifications such as the response
frequency of the encoder feedback pulses.
You can use the Servo Drive’s various control parameters and monitor data on a host controller, and
unify the system data for management.

EtherCAT Communications Cycle of 125 µs

Combination with an NX7 Machine Automation Controller enables high-speed and high-precision
motion control at the communications cycle of 125 µs.

High Equipment Utilization Efficiency with 400-V Models

The 400-V models are provided for use with large equipment, at overseas facilities and in wide-ranging
applications and environment. Since the utilization ratio of facility equipment also increases, the TCO
(Total Cost of Ownership) will come down.

1-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 1 Features and System Configuration

Safe Torque OFF (STO) Function to Ensure Safety

You can cut off the motor current to stop the motor based on a signal from an emergency stop button or

1-1 Outline
other safety equipment. This can be used for an emergency stop circuit that is compliant with safety
standards without using an external contactor. Even during the torque OFF status, the present position
of the motor is monitored by the control circuits to eliminate the need to perform the homing at the time
of restart.

Achievement of Safety on EtherCAT Network 1

You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion con-

1-1-2 EtherCAT
trol system.
The 1S-series Servo Drive supports the FSoE (Safety over EtherCAT) protocol as the safety com-
munincations. You can build the safety system that uses the STO function from the safety controller on
the EtherCAT network.

Suppressing Vibration of Low-rigidity Machines During Accelera-

tion/Deceleration
The damping control function suppresses vibration of low-rigidity machines or devices whose tips tend
to vibrate. The function can also be used for damping control for larger constructions as it supports
vibration ranging from 0.5 to 300 Hz. You can maximize the performance of the Servomotor by
adjusting the trade-off between the damping time and the amount of peak control.

Easy Adjustment with TDF Control Structure

The TDF control structure allows you to separately adjust the amount of overshooting and the
resistance against disturbance. With this feature, you can easily achieve high-precision positioning,
which is difficult to achieve with the one-degree-of-freedom (ODF) control.

1-1-2 EtherCAT
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3).
Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.
A mechanism that allows sharing clock information enables high-precision synchronization control with
low communications jitter.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1-3
1 Features and System Configuration

1-1-3 Object Dictionary

1S-series Servo Drives with Built-in EtherCAT Communications use the object dictionary for CAN appli-
cation protocol over EtherCAT (CoE) as a base for communications.
An object is an abstract representation of a particular component within a device, which consists of
data, parameters, and methods.
An object dictionary is a data structure that contains description of data type objects, communication
objects and application objects.
All objects are assigned four-digit hexadecimal indexes in the areas shown in the following table.

Index (hex) Area Description

0000 to 0FFF Data Type Area Definitions of data types.
1000 to 1FFF CoE Communications Area Definitions of objects that can be used by all serv-
ers for designated communications.
2000 to 2FFF Manufacturer Specific Area 1 Objects with common definitions for all OMRON
products.
3000 to 5FFF Manufacturer Specific Area 2 Objects with common definitions for all 1S-series
Servo Drives (servo parameters).*1
6000 to DFFF Device Profile Area Variables defined in the Servo Drive’s CiA402 drive
profile.
E000 to EFFF Device Profile Area 2 Objects defined in the Servo Drive’s FSoE CiA402
slave connection.
F000 to FFFF Device Area Objects defined in a device.
*1. For details on servo parameters, refer to Section 5 Details on Servo Parameters.

1-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 1 Features and System Configuration

1-2 System Configuration

1-2 System Configuration
The system configuration for a 1S-series Servo Drive with Built-in EtherCAT Communications con-
nected to an Incremental Encoder Type Servomotor is shown below.

Controller (EtherCAT type)

1
ID211
0 1 2 3 4 5 6 7
AD042
RUN
8 9 10 11 12 13 14 15 ERC
ERH
B1 A1
0
1
2
3 MACH 78

9 01
456
No.
4 x10 1
23

5 R88D-1 Ether
CAT
78 SN
6

9 01
456
x10 0
23
7
L/A L/A
RUN ERRIN
8 OUT
9

EtherCAT
FS
10
11
12
13
14
15
COM

24 VDC
7 mA

Machine Automation Controller

NJ/NX-series

1S-series
Servo Drive
R88D-1SN-ECT

Programmable Controller Position Control Unit

CJ-series CJ1W-NC8

INC
1S-series
Incremental Encoder Type
Servomotor
R88M-1L/-1M

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1-5
1 Features and System Configuration

1-3 Names and Functions

This section describes the names and functions of Servo Drive parts.

1-3-1 Servomotor Part Names

The Servomotor part names are given below.

Flange Size of 80 x 80 or less

Encoder
Brake connector connector

Power connector

Flange
Shaft
Mating part

200 VAC 200 W Servomotors (with Brake)

Flange Size of 100 x 100 or more

Encoder
connector
Power/brake connector

Flange
Shaft
Mating part

200 VAC 1.5 kW Servomotors (with Brake)

1-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 1 Features and System Configuration

1-3 Names and Functions

1-3-2 Servomotor Functions
The functions of each part of the Servomotor are described below.

Shaft
The load is mounted on this shaft.
The direction which is in parallel with the shaft is called the thrust direction, and the direction which is
1
perpendicular to the shaft is called the radial direction.

1-3-2 Servomotor Functions

Flange
Used for mounting the Servomotor on the equipment.
Fit the mating part into the equipment and use the mounting holes to screw the Servomotor.

Power Connector
Used for supplying power to the phase U, V, and W of the Servomotor.
For Servomotors with a brake and flange size of 100 x 100 or more, the pins for power and brake are
set on the same connector.

Encoder Connector
Used for supplying power to the encoder of the Servomotor and communicating with the Servo Drive.

Brake Connector
Used for supplying power to the brake coil of the Servomotor.
This part is attached only to the Servomotors with a brake and flange size of 80 x 80 or less.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1-7
1 Features and System Configuration

1-4 Applicable Standards

This section describes applicable standards.

1-4-1 EU Directives
The 1S-series Servomotors, Servo Drives, and Footprint-type Noise Filters conform to the following
standards.

EU Directives Product Applicable standards

EMC Directive Servo Drives EN61800-3 second environment,
C3 Category
(EN 61326-3-1 Functional Safety)
Low Voltage Directive Servo Drives EN 61800-5-1
Servomotors EN 60034-1/-5
Footprint-type Noise EN 60939-2
Filters
Machinery Directive Servo Drives EN ISO 13849-1 (Cat.3)
EN 61508
EN 62061
EN 61800-5-2
Note To conform to EMC Directives, install the Servo Drive and Servomotor under the conditions described in 4-3
Wiring Conforming to EMC Directives on page 4-8.
The Servo Drives and Servomotors comply with EN 61800-5-1 as long as the following installation
conditions (a) and (b) are met.
(a) Use the Servo Drive in pollution degree 2 or 1 environment as specified in IEC 60664-1.
Example: Installation inside an IP54 control panel.
(b) Be sure to connect a fuse, which complies with IEC 60269-1 CLASS gG, between the power supply
and noise filter.
Select a fuse from the following table.

Servo Drive model Fuse

R88D-1SN01H-ECT CLASS gG 16A
R88D-1SN02H-ECT CLASS gG 16A
R88D-1SN04H-ECT CLASS gG 16A
R88D-1SN08H-ECT CLASS gG 16A
R88D-1SN10H-ECT CLASS gG 16A
R88D-1SN15H-ECT CLASS gG 40A

1-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 1 Features and System Configuration

1-4 Applicable Standards

1-4-2 UL and CSA Standards
The 1S-series Servomotors, Servo Drives, and Footprint-type Noise Filters conform to the following
standards.

Standard Product Applicable standards File number

UL standards Servo Drives UL 61800-5-1 E179149
Servomotors UL 1004-1, UL 1004-6 E331224
Footprint-type Noise Filters UL1283 E191135
1
CSA standards*1 Servo Drives CSA C22.2 No. 274 E179149
Servomotors CSA C22.2 No. 100 E331224

1-4-2 UL and CSA Standards

*1. IN CANADA, TRANSIENT SURGE SUPPRESSION SHALL BE INSTALLED ON THE LINE SIDE OF THIS
EQUIPMENT AND SHALL BE RATED 277 V (PHASE TO GROUND), SUITABLE FOR OVERVOLTAGE
CATEGORY III, AND SHALL PROVIDE PROTECTION FOR A RATED IMPULSE WITHSTAND VOLTAGE
PEAK OF 6 KV

The Servo Drives and Servomotors comply with UL 61800-5-1 as long as the following installation con-
ditions (a) and (b) are met.
(a) Use the Servo Drive in pollution degree 2 or 1 environment as specified in IEC 60664-1.
Example: Installation inside an IP54 control panel.
(b) Be sure to connect a fuse, which is a UL-listed product with LISTED and mark, between the
power supply and noise filter.
Select the fuse from the following table.
Use copper wiring with a temperature rating of 75°C or higher.

Servo Drive model Fuse

R88D-1SN01H-ECT UL CLASS RK5 15 A
R88D-1SN02H-ECT UL CLASS RK5 15 A
R88D-1SN04H-ECT UL CLASS RK5 15 A
R88D-1SN08H-ECT UL CLASS RK5 15 A
R88D-1SN10H-ECT UL CLASS RK5 15 A
R88D-1SN15H-ECT UL CLASS RK5 40 A

1-4-3 Korean Radio Regulations (KC)

• Observe the following precaution if you use this product in Korea.

Class A Device (Broadcasting Communications Device for Office Use)

This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes. Sellers and/or users need to take note of this.
• The 1S-series Servo Drives comply with the Korean Radio Regulations (KC).
• The 1S-series Servomotors are exempt from the Korean Radio Regulations (KC).

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1-9
1 Features and System Configuration

1-4-4 SEMI F47

• The main power supply inputs can conform to the SEMI F47 standard for momentary power interrup-
tions (voltage sag immunity) for no-load operation.
• This standard applies to semiconductor manufacturing equipment.

Precautions for Correct Use

• This standard does not apply to the 24-VDC control power input. Use the power supply.
• This standard does not apply to single-phase 100-V Servo Drives.
• Be sure to perform evaluation tests for SEMI F47 compliance in the entire machine and system.

1-4-5 Australian EMC Labeling Requirements (RCM)

• The 1S-series Servo Drives comply with the Australian EMC Labeling Requirements (RCM).
• The 1S-series Servomotors comply with the Australian EMC Labeling Requirements (RCM).

1 - 10 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 1 Features and System Configuration

1-5 Unit Versions

1-5 Unit Versions

The 1S-series Servo Drive uses unit versions.
Unit versions are used to manage differences in supported functions due to product upgrades, etc.

1-5-1 Confirmation Method 1

The unit version of 1S-series is displayed at the location shown below.

1-5-1 Confirmation Method

Display location

R88D
-1SN

RUN ERRIL/A L/A

EtherC
AT
Display on the product Unit version
N OUT
FS

1-5-2 Unit Versions and Sysmac Studio Versions

For 1S-series Incremental Encoder Type Servomotors, you must use the 1S-series Servo Drives unit
version 1.2 or later, and Sysmac Studio version 1.22 or higher.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 1 - 11

1 Features and System Configuration

1 - 12 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2
Models and External Dimensions
This section explains the models of Servomotors and peripheral devices, and provides
the external dimensions and mounting dimensions.
For the models and external dimensions of Servo Drives, refer to the AC Servomo-
tors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual
(I586).

2-1 Servo System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-2 How to Read Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-2-1 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-3 Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-3-1 Servomotor Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-3-2 Servo Drive and Servomotor Combination Tables . . . . . . . . . . . . . . . . . . . . . 2-6
2-3-3 Servomotor and Decelerator Combination Tables . . . . . . . . . . . . . . . . . . . . . 2-7
2-3-4 Cable and Connector Model Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2-4 External and Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-4-1 Servomotor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2-1
 2 Models and External Dimensions

2-1 Servo System Configuration

This section shows the Servo system configuration that consists of Controllers, Servo Drives, Servomo-
tors and other devices.

Controller Support Software

● Automation Software
Sysmac Studio
NJ/NX-series CPU Unit
(with EtherCAT port)

ID211
0 1 2 3 4 5 6 7
AD042
RUN
8 9 10 11 12 13 14 15 ERC
ERH
B1 A1
0
1
2
3 MACH 78
9 01
45 6

No.
4 ×101
23

5
78
6
9 01
456

×100
23
7
8
9
10
11
12
13
14
15
COM

24 VDC
7 mA

Machine Automation Controller

NJ/NX-series

CJ-series CPU Unit

+ Position Control Unit (with EtherCAT Interface)

Support Software
● FA Integrated Tool Package
Programmable Controller CX-One*1
CJ-CPU Position Control Unit (NC) (CX-Programmer
CJ1W-NC8 included)

*1. You cannot use the CX-One to make the settings of 1S-series Servo Drives. Obtain the Sysmac Studio.

2-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 2 Models and External Dimensions

2-1 Servo System Configuration

Servo Drive Servomotor
Power signal
Power cable
USB
communications ● Standard cable
· Without brake wire 2
R88A-CA1S
· With brake wire
R88A-CA1B
● Flexible cable
· Without brake wire
R88A-CA1SF
· With brake wire
R88A-CA1BF
R88D-1 Ether
CAT
SN

EtherCAT L/A L/A

RUN ERRIN

FS
OUT

communications

Brake cable for 750 W max.

● Standard cable
R88A-CA1AB
● Flexible cable
R88A-CA1ABF

Feedback signal
Encoder cable
● 1S-series Servo Drive ● 1S-series Incremental
● Standard cable Encoder Type Servomotor
R88D-1SN-ECT R88A-CR1AC
200 VAC R88M-1L/-1M
R88A-CR1BN 3,000 r/min
● Flexible cable INC 2,000 r/min
R88A-CR1ACF
R88A-CR1BNF

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2-3
2 Models and External Dimensions

2-2 How to Read Model Numbers

This section describes how to read and understand the model numbers of Servo Drives and Servomo-
tors.

2-2-1 Servomotor
The Servomotor model number tells the Servomotor type, rated output, rated rotation speed, voltage,
etc.

R88M-1M10030H-BOS2
1S-series Servomotor

Servomotor type
L Low inertia
M Middle inertia

Rated output
100 100 W
200 200 W
400 400 W
750 750 W
1K0 1 kW
1K5 1.5 kW

Rated rotation speed

20 2,000 r/min
30 3,000 r/min

Servo Drive main power supply voltage and encoder type

H 200 VAC incremental encoder

Options
Brake
None Without brake
B With 24-VDC brake
Oil seal
None Without oil seal
O With oil seal
Key and tap
None Straight shaft
S2 With key and tap

Combinations of Options
Without oil seal With oil seal
Straight shaft With key and tap Straight shaft With key and tap
Without
None -S2 -O -OS2
brake
With brake -B -BS2 -BO -BOS2

2-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 2 Models and External Dimensions

2-3 Model Tables

This section lists the models of Servo Drives, Servomotors, cables, connectors, peripheral devices, etc.

2-3 Model Tables

in the tables.

2-3-1 Servomotor Model Tables

The following tables list the Servomotor models by the rated motor speed.

3,000-r/min Servomotors 2

2-3-1 Servomotor Model Tables

Model
Refer-
Specifications Without oil seal With oil seal
ence
Straight shaft With key and tap Straight shaft With key and tap
200 VAC 100 W --- R88M- --- --- P. 2-12
Without brake

1M10030H-S2
200 W --- R88M- --- --- P. 2-14
1M20030H-S2
400 W --- R88M- --- --- P. 2-14
1M40030H-S2
750 W --- R88M- --- --- P. 2-16
1M75030H-S2
1 kW --- R88M- --- --- P. 2-18
1L1K030H-S2
1.5 kW --- R88M- --- --- P. 2-18
1L1K530H-S2
200 VAC 100 W --- R88M- --- --- P. 2-13
With brake

1M10030H-BS2
200 W --- R88M- --- --- P. 2-15
1M20030H-BS2
400 W --- R88M- --- --- P. 2-15
1M40030H-BS2
750 W --- R88M- --- --- P. 2-17
1M75030H-BS2
1 kW --- R88M- --- --- P. 2-19
1L1K030H-BS2
1.5 kW --- R88M- --- --- P. 2-19
1L1K530H-BS2

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2-5
2 Models and External Dimensions

2,000-r/min Servomotors

Model
Refer-
Specifications Without oil seal With oil seal
ence
Straight shaft With key and tap Straight shaft With key and tap
200 VAC 1 kW --- R88M- --- --- P. 2-20
Without brake With brake

1M1K020H-S2
1.5 kW --- R88M- --- --- P. 2-20
1M1K520H-S2

200 VAC 1 kW --- R88M- --- --- P. 2-21

1M1K020H-BS2
1.5 kW --- R88M- --- --- P. 2-21
1M1K520H-BS2

2-3-2 Servo Drive and Servomotor Combination Tables

The following tables show the possible combinations of 1S-series Servo Drives and Servomotors. The
Servomotors and Servo Drives can only be used in the listed combinations. “” at the end of the motor
model number is for options, such as the shaft type and brake.

3,000-r/min Servomotors and Servo Drives

Main circuit power Servomotor
Servomotor Servo Drive
supply voltage rated output
Single-phase/3-phase 100 W R88M-1M10030H- R88D-1SN01H-ECT
200 VAC 200 W R88M-1M20030H- R88D-1SN02H-ECT
400 W R88M-1M40030H- R88D-1SN04H-ECT
750 W R88M-1M75030H- R88D-1SN08H-ECT
3-phase 200 VAC 1 kW R88M-1L1K030H- R88D-1SN10H-ECT
Single-phase/3-phase 1.5 kW R88M-1L1K530H- R88D-1SN15H-ECT
200 VAC

2,000-r/min Servomotors and Servo Drives

Main circuit power Servomotor
Servomotor Servo Drive
supply voltage rated output
3-phase 200 VAC 1 kW R88M-1M1K020H- R88D-1SN10H-ECT
Single-phase/3-phase 1.5 kW R88M-1M1K520H- R88D-1SN15H-ECT
200 VAC

2-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 2 Models and External Dimensions

2-3-3 Servomotor and Decelerator Combination Tables

You cannot use a 1S-series Incremental Encoder Type Servomotor in combination with a Decelerator.

2-3 Model Tables

2-3-4 Cable and Connector Model Tables
The following tables list the models of cables and connectors. The cables include encoder cables,
motor power cables, and brake cables.

Encoder Cables (Standard Cable) 2

Applicable Servomotor Model

2-3-3 Servomotor and Decelerator Combination Tables

200 V 3,000-r/min Servomotors 3m R88A-CR1A003C
of 100 W, 200 W, 400 W, and 750 W 5m R88A-CR1A005C
10 m R88A-CR1A010C
15 m R88A-CR1A015C
20 m R88A-CR1A020C
30 m R88A-CR1A030C
40 m R88A-CR1A040C
50 m R88A-CR1A050C
3,000-r/min Servomotors of 1kW or more 3m R88A-CR1B003N
2,000-r/min Servomotors 5m R88A-CR1B005N
10 m R88A-CR1B010N
15 m R88A-CR1B015N
20 m R88A-CR1B020N
30 m R88A-CR1B030N
40 m R88A-CR1B040N
50 m R88A-CR1B050N

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2-7
2 Models and External Dimensions

Motor Power Cables (Standard Cable)

Model
Applicable Servomotor
Without brake wire With brake wire
200 V 3,000-r/min Servomotors 3m R88A-CA1A003S ---
of 100 W, 200 W, 400 W, and 750 W 5m R88A-CA1A005S ---
10 m R88A-CA1A010S ---
15 m R88A-CA1A015S ---
20 m R88A-CA1A020S ---
30 m R88A-CA1A030S ---
40 m R88A-CA1A040S ---
50 m R88A-CA1A050S ---
3,000-r/min Servomotors of 1 kW 3m R88A-CA1B003S R88A-CA1B003B
2,000-r/min Servomotors of 1 kW 5m R88A-CA1B005S R88A-CA1B005B
10 m R88A-CA1B010S R88A-CA1B010B
15 m R88A-CA1B015S R88A-CA1B015B
20 m R88A-CA1B020S R88A-CA1B020B
30 m R88A-CA1B030S R88A-CA1B030B
40 m R88A-CA1B040S R88A-CA1B040B
50 m R88A-CA1B050S R88A-CA1B050B
3,000-r/min Servomotors of 1.5 kW 3m R88A-CA1C003S R88A-CA1C003B
2,000-r/min Servomotors of 1.5 kW 5m R88A-CA1C005S R88A-CA1C005B
10 m R88A-CA1C010S R88A-CA1C010B
15 m R88A-CA1C015S R88A-CA1C015B
20 m R88A-CA1C020S R88A-CA1C020B
30 m R88A-CA1C030S R88A-CA1C030B
40 m R88A-CA1C040S R88A-CA1C040B
50 m R88A-CA1C050S R88A-CA1C050B

Brake Cables (Standard Cable)

Applicable Servomotor Model
200 V 3,000-r/min Servomotors 3m R88A-CA1A003B
of 100 W, 200 W, 400 W, and 750 W 5m R88A-CA1A005B
10 m R88A-CA1A010B
15 m R88A-CA1A015B
20 m R88A-CA1A020B
30 m R88A-CA1A030B
40 m R88A-CA1A040B
50 m R88A-CA1A050B

2-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 2 Models and External Dimensions

Encoder Cables (Flexible Cable)

Applicable Servomotor Model
200 V 3,000-r/min Servomotors 3m R88A-CR1A003CF

2-3 Model Tables

of 100 W, 200 W, 400 W, and 750 W 5m R88A-CR1A005CF
10 m R88A-CR1A010CF
15 m R88A-CR1A015CF
20 m R88A-CR1A020CF
30 m R88A-CR1A030CF
40 m R88A-CR1A040CF
50 m R88A-CR1A050CF
3,000-r/min Servomotors of 1kW or more 3m R88A-CR1B003NF
2
2,000-r/min Servomotors 5m R88A-CR1B005NF
10 m R88A-CR1B010NF

2-3-4 Cable and Connector Model Tables

15 m R88A-CR1B015NF
20 m R88A-CR1B020NF
30 m R88A-CR1B030NF
40 m R88A-CR1B040NF
50 m R88A-CR1B050NF

Motor Power Cables (Flexible Cable)

Model
Applicable Servomotor
Without brake wire With brake wire
200 V 3,000-r/min Servomotors 3m R88A-CA1A003SF ---
of 100 W, 200 W, 400 W, and 750 W 5m R88A-CA1A005SF ---
10 m R88A-CA1A010SF ---
15 m R88A-CA1A015SF ---
20 m R88A-CA1A020SF ---
30 m R88A-CA1A030SF ---
40 m R88A-CA1A040SF ---
50 m R88A-CA1A050SF ---
3,000-r/min Servomotors of 1 kW 3m R88A-CA1B003SF R88A-CA1B003BF
2,000-r/min Servomotors of 1 kW 5m R88A-CA1B005SF R88A-CA1B005BF
10 m R88A-CA1B010SF R88A-CA1B010BF
15 m R88A-CA1B015SF R88A-CA1B015BF
20 m R88A-CA1B020SF R88A-CA1B020BF
30 m R88A-CA1B030SF R88A-CA1B030BF
40 m R88A-CA1B040SF R88A-CA1B040BF
50 m R88A-CA1B050SF R88A-CA1B050BF
3,000-r/min Servomotors of 1.5 kW 3m R88A-CA1C003SF R88A-CA1C003BF
2,000-r/min Servomotors of 1.5 kW 5m R88A-CA1C005SF R88A-CA1C005BF
10 m R88A-CA1C010SF R88A-CA1C010BF
15 m R88A-CA1C015SF R88A-CA1C015BF
20 m R88A-CA1C020SF R88A-CA1C020BF
30 m R88A-CA1C030SF R88A-CA1C030BF
40 m R88A-CA1C040SF R88A-CA1C040BF
50 m R88A-CA1C050SF R88A-CA1C050BF

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2-9
2 Models and External Dimensions

Brake Cables (Flexible Cable)

Applicable Servomotor Model
200 V 3,000-r/min Servomotors 3m R88A-CA1A003BF
of 100 W, 200 W, 400 W, and 750 W 5m R88A-CA1A005BF
10 m R88A-CA1A010BF
15 m R88A-CA1A015BF
20 m R88A-CA1A020BF
30 m R88A-CA1A030BF
40 m R88A-CA1A040BF
50 m R88A-CA1A050BF

Peripheral Connector
 Servo Drive side connector

Name and application Model

Main circuit connector (CNA)*1 R88A-CN102P*4
For R88D-1SN01L-ECT/ -1SN02L-ECT/ -1SN04L-ECT/ -1SN01H-ECT/
-1SN02H-ECT/ -1SN04H-ECT/ -1SN08H-ECT/ -1SN10H-ECT
Main circuit connector A (CNA)*2 R88A-CN103P*4
For R88D-1SN15H-ECT/ -1SN20H-ECT/ -1SN30H-ECT/ -1SN06F-ECT/
-1SN10F-ECT/ -1SN15F-ECT/ -1SN20F-ECT/ -1SN30F-ECT
Main circuit connector B (CNB)*2 R88A-CN104P*4
For R88D-1SN15H-ECT/ -1SN20H-ECT/ -1SN30H-ECT/ -1SN06F-ECT/
-1SN10F-ECT/ -1SN15F-ECT/ -1SN20F-ECT/ -1SN30F-ECT
Motor connector (CNC) R88A-CN101A*4
For R88D-1SN01L-ECT/ -1SN02L-ECT/ -1SN04L-ECT/
-1SN01H-ECT/-1SN02H-ECT/ -1SN04H-ECT/ -1SN08H-ECT/ -1SN10H-ECT
Motor connector (CNC) R88A-CN102A*4
R88D-1SN15H-ECT/ -1SN20H-ECT/ -1SN30H-ECT/ -1SN06F-ECT/
-1SN10F-ECT/ -1SN15F-ECT/ -1SN20F-ECT/ -1SN30F-ECT
Control power supply connector (CND) R88A-CN101P*4
For R88D-1SN15H-ECT/ -1SN20H-ECT/ -1SN30H-ECT/ -1SN06F-ECT/
-1SN10F-ECT/ -1SN15F-ECT/ -1SN20F-ECT/ -1SN30F-ECT
Control I/O connector (CN1)*3 R88A-CN101C
Encoder connector (CN2) R88A-CN101R
Brake interlock connector (CN12) R88A-CN101B
*1. Two short-circuit wires are connected to the connector.
*2. One short-circuit wire is connected to the connector.
*3. Four short-circuit wires are connected to the connector.
*4. One opener is included.

2 - 10 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2 Models and External Dimensions

 Servomotor side connector

Name and application Model

Encoder connector 200 V For 3,000 r/min (100 to 750 W) R88A-CNK02R
200 V For 3,000 r/min (1 to 1.5 kW) R88A-CN104R

2-3 Model Tables

For 2,000 r/min
Power connector (for 750 W max.) R88A-CN111A
Brake connector (for 750 W max.) R88A-CN111B

2-3-4 Cable and Connector Model Tables

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2 - 11

2 Models and External Dimensions

2-4 External and Mounting Dimensions

This section provides the external dimensions and mounting dimensions of Servo Drives, Servomotors
and peripheral devices.

2-4-1 Servomotor Dimensions

Servomotors are grouped by rated rotation speed, and described in order of increasing rated output.

3,000-r/min Servomotors (200 V)

 100 W (without Brake)
R88M-1M10030H-S2
Encoder connector Motor connector
2-4.5±0.35 dia.

46
(43)

5±0.5 ±0
.3
dia
.
30-0.021 dia.
0
8-0.009 dia.
0

21.5±0.1
2.5±0.3 40×40±8
LL 25±0.5

Dimensions [mm]
Model
LL
R88M-1M10030H-S2 89±1
Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M10030H-S2 2 12 0 3 0 M3 8
3 1.2
-0.025 -0.2

2 - 12 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2 Models and External Dimensions

2-4 External and Mounting Dimensions

 100 W (with Brake)
R88M-1M10030H-BS2
Encoder connector Brake connector Motor connector
2-4.5±0.35 dia.

5±0.5
(43)

46
±0
.3

30-0.021 dia.
dia
.

0
8-0.009 dia.

2-4-1 Servomotor Dimensions

0
21.5±0.1

2.5±0.3 40×40±0.8
LL 25±0.5

Dimensions [mm]
Model
LL
R88M-1M10030H-BS2 125±1

Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M10030H-BS2 2 12 0 3 0 M3 8
3 1.2
-0.025 -0.2

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2 - 13

 2 Models and External Dimensions

 200 W/400 W (without Brake)

R88M-1M20030H-S2
R88M-1M40030H-S2
Encoder connector Motor connector

6±0.5
(52.6)

50 -0.025 dia.
0
S
.
dia
0 .3
27±0.1 7 0±
3±0.3
4-4.5±0.35 dia.
LL 30±0.5 60×60±0.95

Dimensions [mm]
Model
S LL
R88M-1M20030H-S2 11 0 78.5±1
-0.011 dia.
R88M-1M40030H-S2 14 0 104.5±1
-0.011 dia.

Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M20030H-S2 2 20 0 4 0 M4 10
4 1.5
-0.03 -0.2
R88M-1M40030H-S2 2 20 0 5 0 M5 12
5 2 -0.2
-0.03

2 - 14 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2 Models and External Dimensions

2-4 External and Mounting Dimensions

 200 W/400 W (with Brake)
R88M-1M20030H-BS2
R88M-1M40030H-BS2
Encoder connector Brake connector
Motor connector

6±0.5
(52.6)

50 -0.025 dia.
2

0
S
.
dia
±0.3
70

2-4-1 Servomotor Dimensions

27±0.1
3±0.3
4-4.5±0.35 dia.
LL 30±0.5 60×60±0.95

Dimensions [mm]
Model
S LL
R88M-1M20030H-BS2 11 0 106.5±1
-0.011 dia.
R88M-1M40030H-BS2 14 0 132.5±1
-0.011 dia.

Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M20030H-BS2 2 20 0 4 0 M4 10
4 1.5
-0.03 -0.2
R88M-1M40030H-BS2 2 20 0 5 0 M5 12
5 2 -0.2
-0.03

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2 - 15

2 Models and External Dimensions

 750 W (without Brake)

R88M-1M75030H-S2
Encoder connector Motor connector

8±0.5
(63.2)

70 -0.03 dia.
.
dia

0
0.3

19 -0.013 dia.
±
90

0
3±0.3 4-6±0.5 dia.
LL 35±0.8 80×80±0.95

Dimensions [mm]
Model
LL
R88M-1M75030H-S2 116.3±1
Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M75030H-S2 3 24 0 6 0 M5 12
6 2.5
-0.03 -0.2

2 - 16 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2 Models and External Dimensions

2-4 External and Mounting Dimensions

 750 W (with Brake)
R88M-1M75030H-BS2
Encoder connector Brake connector
Motor connector

8±0.5
(63.2)

70 -0.03 dia.
.
dia

0
0.3

19 -0.013 dia.
±
90
2

0
3±0.3 4-6±0.5 dia.
LL 35±0.8 80×80±0.95

2-4-1 Servomotor Dimensions

Dimensions [mm]
Model
LL
R88M-1M75030H-BS2 152±1
Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M75030H-BS2 3 24 0 6 0 M5 12
6 2.5
-0.03 -0.2

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2 - 17

2 Models and External Dimensions

 1 kW/1.5 kW (without Brake)

R88M-1L1K030H-S2
R88M-1L1K530H-S2
Encoder connector Motor connector
KB2
KB1

11
5
±0
.2
dia
.
KL2
45±2

95 -0.035 dia.
0
19 -0.013 dia.
50±0.8

0
10±0.5 3±0.3 4-9±0.5 dia.

LL 55±1 100×100±2

Dimensions [mm]
Model
LL KB1 KB2 KL2
R88M-1L1K030H-S2 168±2 85±1 153±2 97±2
R88M-1L1K530H-S2 168±2 85±1 153±2 97±2
Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1L1K030H-S2 3 42 0 6 0 M5 12
6 2.5
-0.03 -0.2
R88M-1L1K530H-S2 3 42 0 6 0 M5 12
6 2.5
-0.03 -0.2

2 - 18 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2 Models and External Dimensions

2-4 External and Mounting Dimensions

 1 kW/1.5 kW (with Brake)
R88M-1L1K030H-BS2
R88M-1L1K530H-BS2
Encoder connector Motor and brake connector
KB2
KB1

11
5
±0
.2
dia
.
KL2

2
45±2

95 -0.035 dia.

2-4-1 Servomotor Dimensions

0
19 -0.013 dia.
50±0.8

0
10±0.5 3±0.3 4-9±0.5 dia.
LL 55±1 100×100±2

Dimensions [mm]
Model
LL KB1 KB2 KL2
R88M-1L1K030H-BS2 209±3 85±1 194±2 97±2
R88M-1L1K530H-BS2 209±3 85±1 194±2 97±2

Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1L1K030H-BS2 3 42 0 6 0 M5 12
6 2.5
-0.03 -0.2
R88M-1L1K530H-BS2 3 42 0 6 0 M5 12
6 2.5
-0.03 -0.2

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2 - 19

2 Models and External Dimensions

2,000-r/min Servomotors (200 V)

 1 kW/1.5 kW (without Brake)
R88M-1M1K020H-S2
R88M-1M1K520H-S2
Encoder connector Motor connector
KB2
KB1
KL2
76±2

110 -0.035 dia.

.
dia
0

.2
±0
22-0.013 dia.

5
14
50±0.8
0

11.5±0.5 4±0.4 4-9±0.5 dia.

LL 55±1 130×130±2

Dimensions [mm]
Model
LL KB1 KB2 KL2
R88M-1M1K020H-S2 120.5±2 63±1 109±2 118±2
R88M-1M1K520H-S2 138±2 79±1 125±2 118±2
Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M1K020H-S2 3 42 0 7 0 M5 12
8 3
-0.036 -0.4
R88M-1M1K520H-S2 3 42 0 7 0 M5 12
8 3
-0.036 -0.4

2 - 20 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 2 Models and External Dimensions

2-4 External and Mounting Dimensions

 1 kW/1.5 kW (with Brake)
R88M-1M1K020H-BS2
R88M-1M1K520H-BS2
Encoder connector Motor and brake connector
KB2
KB1
KL2
76±2

110 -0.035 dia.

.
dia

0
.2

2-4-1 Servomotor Dimensions

0
5±

22-0.013 dia.
50±0.8 14

0
11.5±0.5 4±0.4 4-9±0.5 dia.
LL 55±1 130×130±2

Dimensions [mm]
Model
LL KB1 KB2 KL2
R88M-1M1K020H-BS2 162±2 63±1 149±2 118±2
R88M-1M1K520H-BS2 179±2 79±1 166±2 118±2
Note The standard shaft type is with a key and tap.

Shaft-end with key and tap

QA QK
W
U
T

QE (tap)
LT (tap depth)
Key and tap cross section
–

Dimensions [mm]
Model
QA QK W T U QE LT
R88M-1M1K020H-BS2 3 42 0 7 0 M5 12
8 3
-0.036 -0.4
R88M-1M1K520H-BS2 3 42 0 7 0 M5 12
8 3
-0.036 -0.4

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 2 - 21

2 Models and External Dimensions

2 - 22 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Specifications
3

This section provides the general specifications, characteristics, encoder specifications of

the Servomotors and other peripheral devices.
For the general specifications, connector specifications and I/O circuits of the Servo Drives,
refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communica-
tions User’s Manual (I586).

3-1 Servo Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-1-2 Main Circuit and Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-1-3 Encoder Connector (CN2) Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3-1-4 Overload Characteristics (Electronic Thermal Function) . . . . . . . . . . . . . . . . 3-8
3-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-2-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-2-2 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11
3-2-3 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3-3 Cable and Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3-3-1 Encoder Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3-3-2 Motor Power Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3-3-3 Resistance to Bending of Flexible Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3-3-4 Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3-1
3 Specifications

3-1 Servo Drive Specifications

Select a Servo Drive that matches the Servomotor to be used. Refer to 2-3-2 Servo Drive and Servo-
motor Combination Tables on page 2-6.

3-1-1 Characteristics
The characteristics of the Servo Drives are shown below.

200-VAC Input Models

Servo Drive model (R88D-) 1SN01H-ECT 1SN02H-ECT 1SN04H-ECT 1SN08H-ECT

Item 100 W 200 W 400 W 750 W
Input Main circuit Power sup- Single-phase and 3-phase 200 to 240 VAC (170 to 252 V)*1
ply voltage
Frequency 50/60 Hz (47.5 to 63 Hz)*1
Control circuit Power sup- 24 VDC (21.6 to 26.4 V)
ply voltage
Current con- 600 mA
sumption*2
Rated current Single- 1.8 2.7 4.6 7.3
[A (rms)] phase
(Main circuit 3-phase 1.0 1.5 2.7 4.0
power supply
voltage: 240
VAC)
Out- Rated current [A (rms)] 0.8 1.5 2.5 4.6
put Maximum current [A (rms)] 3.1 5.6 9.1 16.9
Maximum power loss of Servo Drive at 10% (Load condition: rated output)
power conversion
Applicable Servomotor rated output 100 200 400 750
[W]
3,000-r/min Servomo- 23-bit INC 1M10030H 1M20030H 1M40030H 1M75030H
tor (R88M-)
2,000-r/min Servomo- 23-bit INC --- --- --- ---
tor (R88M-)
Hold time at momentary power inter- 10 ms (Load condition: rated output)*3
ruption (Main circuit power supply volt-
age: 200 VAC)
Weight [kg] 1.2 1.2 1.5 2.0

3-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 3 Specifications

Servo Drive model (R88D-) 1SN10H-ECT 1SN15H-ECT

Item 1 kW 1.5 kW
Input Main circuit Power sup- 3-phase 200 to 240 Single-phase and
ply voltage VAC (170 to 252 V)*1 3-phase 200 to 240

3-1 Servo Drive Specifications

VAC (170 to 252 V)*1
Frequency 50/60 Hz (47.5 to 63 Hz)*1
Control circuit Power sup- 24 VDC (21.6 to 26.4 V)
ply voltage
Current con- 600 mA 900 mA
sumption*2
Rated current Single- --- 15.7
[A (rms)] phase
(Main circuit 3-phase 5.8 9.0
power supply
voltage: 240
VAC) 3
Out- Rated current [A (rms)] 7.7 9.7
put Maximum current [A (rms)] 16.9 28.4

3-1-1 Characteristics
Maximum power loss at power conver- 10% (Load condition: rated output)
sion
Applicable Servomotor rated output 1,000 1,500
[W]
3,000-r/min Servomo- 23-bit INC 1L1K030H 1L1K530H
tor (R88M-)
2,000-r/min Servomo- 23-bit INC 1M1K020H 1M1K520H
tor (R88M-)
Hold time at momentary power inter- 10 ms (Load condition: rated output)*3
ruption
(Main circuit power supply voltage:
200 VAC)
Weight [kg] 2.0 3.4
*1. The values outside parentheses indicate the rated value, and the values inside paren-
theses indicate the range of acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in
the current consumption.
The rated current value that is printed on the product nameplate is a condition to apply
the 1S-series product for the UL/Low Voltage Directive.
Therefore, you do not need to consider it when you select a DC power supply for each
model.
*3. The control power supply is not specified here as long as a DC power supply that
meets the following conditions is used.
Reinforced insulation or double insulation, and the output hold time of 10 ms or more

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3-3
3 Specifications

3-1-2 Main Circuit and Motor Connections

When you wire the main circuit, use proper wire sizes, grounding systems, and noise resistance.

R88D-1SN01H-ECT/-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT
/-1SN10H-ECT
 Main Circuit Connector (CNA) Specifications

Pin No. Symbol Name Specifications

1 L1 Main circuit power sup- R88D-1SNH-ECT
2 L2 ply input
Single-phase*1200 to 240 VAC (170 to 252 V) 50/60 Hz (47.5
3 L3 to 63 Hz)
R88D-1SNH-ECT
3-phase 200 to 240 VAC (170 to 252 V) 50/60 Hz (47.5 to 63
Hz)
4 B3 External Regeneration When the Internal Regeneration Resistor is used:
5 B2 Resistor connection ter- • Open between B1 and B2.
6 P/B1 minals
• Short-circuit B2 and B3.
When the External Regeneration Resistor is used:
• Connect the External Regeneration Resistor between B1
and B2.
• Open between B2 and B3.
7 N1 DC reactor connection When the DC reactor is not used:
8 N2 terminals • Short-circuit N1 and N2.
9 N3 When the DC reactor is used:
• Connect the DC reactor between N1 and N2.
10 24V Control circuit power 24 VDC (21.6 to 26.4 V)
11 supply input Measured current value: 600 mA
*1. For single-phase, connect between any two phases out of the following: L1, L2, and L3.

1 11

 Motor Connector (CNC) Specifications

Pin No. Symbol Name Specifications

1 U Motor connection termi- Phase U These are output terminals to the Servomotor.
2 V nals Phase V
3 W Phase W

1 2 3

3-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 3 Specifications

R88D-1SN15H-ECT
 Main Circuit Connector A (CNA) Specifications

3-1 Servo Drive Specifications

Symbol Name Specifications
B1 External Regeneration When the Internal Regeneration Resistor is used:
B2 Resistor connection termi- • Open between B1 and B2.
B3 nals
• Short-circuit B2 and B3.
When the External Regeneration Resistor is used:
• Connect the External Regeneration Resistor between B1 and B2.
• Open between B2 and B3.
L3 Main circuit power supply R88D-1SN15H-ECT
L2 input
Single-phase *1 200 to 240 VAC (170 to 252 V) 50/60 Hz (47.5 to 63
L1 Hz) 3
R88D-1SN15H-ECT/-1SN20H-ECT/-1SN30H-ECT
3-phase 200 to 240 VAC (170 to 252 V) 50/60 Hz (47.5 to 63 Hz)

3-1-2 Main Circuit and Motor Connections

*1. For single-phase, connect between any two phases out of the following: L1, L2, and L3.

B1 B2 B3 L3 L2 L1

 Main Circuit Connector B (CNB) Specifications

Symbol Name Specifications

N3 DC reactor connection ter- When the DC reactor is not used:
N2 minals • Short-circuit N1 and N2.
N1 When the DC reactor is used:
P
• Connect the DC reactor between N1 and N2.

N3 N2 N1 P

 Control Circuit Connector (CND) Specifications

Pin No. Symbol Name Specifications

1 +24V Control circuit power sup- 24 VDC (21.6 to 26.4 V)
2 0V ply input Measured current value: 900 mA
3 --- --- Do not connect.

1 2 3

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3-5
3 Specifications

 Motor Connector (CNC) Specifications

Symbol Name Specifications

W Motor connection terminals Phase W These are output terminals to the Servomotor.
V Phase V Be sure to wire them correctly.
U Phase U
FG FG

W V U FG

Terminal Block Wire Sizes

The following tables show the rated current that flows to the terminal block on the Servo Drive and the
applicable wire sizes. Use the wire with the rated voltage of 600 V or higher for the main circuit.
The wire size is determined for when the heat-resistant polyvinyl chloride insulated wire (HIV) is used at
the ambient temperature of 50°C.

 Wire Sizes for 200-VAC Input Model: R88D-1SNH-ECT

Model (R88D-1SN)
Item Unit
01H-ECT 02H-ECT 04H-ECT 08H-ECT 10H-ECT
Power supply capacity kVA 0.6 0.6 1.0 1.4 2.0
Main circuit Rated cur-
power supply rent A(rms) 1.8/1.0*2 2.7/1.5*2 4.6/2.7*2 7.3/4.0*2 5.8
input (L1, L2, Wire size AWG 22 to AWG 20 to AWG 18 to
AWG16 to 14,
and L3) *1 --- 14, 0.32 to 14, 0.5 to 14, 0.75 to
2.0 mm2 2.0 mm2 2.0 mm2 1.3 to 2.0 mm2
Control circuit Wire size
power supply --- AWG 20 to 16, 0.5 to 1.5 mm2
input (24 V, )
Motor connec- Rated cur-
A(rms) 0.8 1.5 2.5 4.6 7.7
tion terminals rent
(U, V, and Wire size AWG 20 to AWG 18 to AWG16 to
AWG 22 to 14,
W)*3*4 --- 14, 0.5 to 14, 0.75 to 14, 1.3 to
0.32 to 2.0 mm2
2.0 mm2 2.0 mm2 2.0 mm2
Protective earth Wire size AWG 12,
---
2.5 mm2
Screw size --- M4
Tightening
N·m 1.2
torque

3-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 3 Specifications

Model (R88D-1SN)
Unit
Item 15H-ECT
Power supply capacity kVA 2.5
Main circuit power Rated cur- 15.7/
A

3-1 Servo Drive Specifications

supply input (L1, rent 9.0*2
L2, and L3) *1 Wire size
---
AWG 12 to 8,
3.3 to 8.4 mm2
Control circuit Wire size
AWG 20 to 16,
power supply input ---
0.5 to 1.5 mm2
(+24 V and 0 V)
Motor connection Rated cur-
A 9.7
terminals (U, V, rent
and W) *3*4 Wire size
---
AWG 14 to 8,
2.0 to 8.4 mm2
Protective earth Wire size AWG 12,
---
2.5 mm2 3
Screw size --- M4
Tightening

3-1-2 Main Circuit and Motor Connections

N·m 1.2
torque
*1. For single-phase, connect between any two phases out of the following: L1, L2, and L3.
*2. The first value is for single-phase input power and the second value is for 3-phase input power.
*3. Connect OMRON Power Cables to the motor connection terminals.
*4. Use the wire with the same current capacity for the wiring of the motor connection terminals and for that of B1
and B2.

Wire Sizes and Allowable Current (Reference)

The following table shows the allowable currents for each wire size.
Select wires carefully so that the specified allowable currents are not exceeded.

 600-V Heat-resistant Vinyl Wire (HIV)

Nominal Allowable current [A]

Conductive
cross-sec- Configuration for ambient temperature
AWG size resistance
tional area [wires/mm2]
[Ω/km] 30°C 40°C 50°C
[mm2 ]
20 0.5 19/0.18 39.5 6.6 5.6 4.5
--- 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
8 8.0 7/1.2 2.41 55 49 40
6 14.0 7/1.6 1.35 79 70 57
4 22.0 7/2.0 0.85 99 88 70

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3-7
3 Specifications

3-1-3 Encoder Connector (CN2) Specifications

The specifications of the encoder connectors are shown below.

Pin No. Symbol Name

1 E5V Encoder power supply voltage
2 E0V Encoder power supply GND
3 Not used. NC
4 Not used. NC
5 PS+ Encoder + phase S I/O
6 PS- Encoder - phase S I/O
Shell FG Frame ground

 Connectors for CN2 (6 Pins)

Name Model Manufacturer OMRON model
Receptacle 3E206-0100KV 3M R88A-CN101R
Shell kit 3E306-3200-008 3M

3-1-4 Overload Characteristics (Electronic Thermal Function)

The overload protection function (electronic thermal) is built into the Servo Drive to protect the Servo
Drive and Servomotor from overloading.
If an overload occurs, first eliminate the cause of the overload and then wait for the Servomotor
temperature to drop before you turn ON the power again.
If the error reset is repeated at short intervals, the Servomotor windings may burn out.

Overload Characteristics Graphs

The following graphs show the electronic thermal operation time after continuous operation with 100%
load (hot start).
The electronic thermal operation time after a continuous 0% load state (cold start) is longer than that for
a hot start.
In cases where models with an oil seal or with a brake have different characteristics, each of their char-
acteristics is described.
The characteristics are the same as those of models with no option unless otherwise specified.

3-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 3 Specifications

 200-VAC Servomotors

• 100 W • 200 W

R88M-1M10030H R88M-1M20030H

3-1 Servo Drive Specifications

10000 10000
S (rotation) S,BS (rotation)
S (lock) S,BS (lock)
1000 BS (rotation) 1000
Detection time [s]

Detection time [s]

BS (lock)
100 100

10 10

1 1

0.1 0.1 3
100% 150% 200% 250% 300% 350% 400% 100% 150% 200% 250% 300% 350% 400%
Output current ratio [%] Output current ratio [%]

3-1-4 Overload Characteristics (Electronic Thermal Function)

• 400 W • 750 W

R88M-1M40030H R88M-1M75030H
10000 10000
S (rotation) S,BS (rotation)
S (lock) S,BS (lock)
1000 BS (rotation) 1000
Detection time [s]

Detection time [s]

BS (lock)
100 100

10 10

1 1

0.1 0.1
100% 150% 200% 250% 300% 350% 400% 100% 150% 200% 250% 300% 350% 400%
Output current ratio [%] Output current ratio [%]

• 1 kW • 1.5 kW

R88M-1L1K030H/-1M1K020H R88M-1L1K530H/-1M1K520H
10000 10000
1L1K030H (rotation) 1L1K530H (rotation)
1L1K030H (lock) 1L1K530H (lock)
1000 1M1K020H (rotation) 1000 1M1K520H (rotation)
Detection time [s]

Detection time [s]

1M1K020H (lock) 1M1K520H (lock)

100 100

10 10

1 1

0.1 0.1
100% 150% 200% 250% 300% 350% 400% 100% 150% 200% 250% 300% 350% 400%
Output current ratio [%] Output current ratio [%]

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3-9
3 Specifications

3-2 Servomotor Specifications

The following 1S-Series Incremental Encoder Type Servomotors are available.
• 3,000-r/min Servomotors
• 2,000-r/min Servomotors
There are various options available, such as models with brakes, or different shaft types.
Select a Servomotor based on the mechanical system’s load conditions and the installation environ-
ment.

3-2-1 General Specifications

Item Specifications
Operating ambient temperature 0 to 40°C
and humidity 20% to 90% (with no condensation)
Storage ambient temperature and -20 to 65°C
humidity 20% to 90% (with no condensation)
Operating and storage atmosphere No corrosive gases
Vibration resistance*1 Acceleration of 49 m/s2
24.5 m/s2 max. in X, Y, and Z directions when the motor is stopped
Impact resistance Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions
Insulation resistance Between power terminals and FG terminals: 10 MΩ min. (at 500 VDC Meg-
ger)
Dielectric strength Between power terminals and FG terminals: 1,500 VAC for 1 min (voltage
100 V, 200 V)
Between power terminals and FG terminals: 1,800 VAC for 1 min (voltage
400 V)
Between brake terminal and FG terminals: 1,000 VAC for 1 min
Insulation class Class F
Protective structure IP67 (except for the through-shaft part and connector pins)
IP20 if you use a 30-meter or longer encoder cable.
Interna- EU Direc- Low Volt- EN 60034-1/-5
tional tives age Direc-
standard tive
UL standards UL 1004-1/-6
CSA standards CSA C22.2 No.100 (with cUL mark)
*1. The amplitude may be increased by machine resonance. As a guideline, 80% of the specified value must not
be exceeded.

Note 1. Do not use the cable when it is laying in oil or water.

2. Do not expose the cable outlet or connections to stress due to bending or its own weight.

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 3 Specifications

3-2-2 Encoder Specifications

The encoder specifications are shown below.

3-2 Servomotor Specifications

Item Specifications
Encoder system Optical incremental encoder
Resolution per rotation 23 bits
Power supply voltage 5 VDC±10%
Current consumption 230 mA max.
Output signal Serial communications
Output interface RS485 compliant

3-2-2 Encoder Specifications

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3 Specifications

3-2-3 Characteristics

3,000-r/min Servomotors
Model (R88M-) 200 VAC
Item Unit 1M10030H 1M20030H 1M40030H 1M75030H
Rated output*1*2 W 100 200 400 750
Rated torque*1*2 N·m 0.318 0.637 1.27 2.39
Rated rotation speed*1*2 r/min 3,000
Maximum rotation speed r/min 6,000
Momentary maximum torque*1 N·m 1.11 2.2 4.5 8.4
Rated current*1*2 A (rms) 0.84 1.5 2.5 4.6
Momentary maximum current*1 A (rms) 3.10 5.6 9.1 16.9
Rotor inertia Without brake × 10-4 0.0890 0.2232 0.4452 1.8242
kg·m2
With brake × 10-4 0.0968 0.2832 0.5052 2.0742
kg·m2
Applicable load inertia × 10-4 1.62 4.80 8.40 19.4
kg·m2
Torque constant*1 N·m/ A 0.42 0.48 0.56 0.59
(rms)
Power rate*1*3 kW/s 11.9 18.5 36.6 31.4
Mechanical time constant*3 ms 1.2 0.78 0.56 0.66
Electrical time constant ms 0.83 2.4 2.6 3.3
Allowable radial load*4 N 68 245 245 490
Allowable thrust load*4 N 58 88 88 196
Weight Without brake kg 0.52 1.0 1.4 2.9
With brake kg 0.77 1.3 1.9 3.9
Radiator plate dimensions (material) mm 250 × 250 × t6 (aluminum)
Brake Excitation voltage*5 V 24 DC ±10%
specifi- Current consumption A 0.27 0.32 0.32 0.37
cations (at 20°C)
Static friction torque N·m 0.32 min. 1.37 min. 1.37 min. 2.55 min.
Attraction time ms 25 max. 30 max. 30 max. 40 max.
Release time*6 ms 15 max. 20 max. 20 max. 35 max.
Backlash ° 1.2 max. 1.2 max. 1.2 max. 1.0 max.
Allowable braking work J 9 60 60 250
Allowable total work J 9,000 60,000 60,000 250,000
Allowable angular rad/s2 10,000 max.
acceleration
Brake lifetime (accelera- --- 10 million times min.
tion/deceleration)
Insulation class --- Class F

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 3 Specifications

Model (R88M-) 200 VAC

Item Unit 1L1K030H 1L1K530H
Rated output*1*2 W 1,000 1,500
Rated torque*1*2 N·m 3.18 4.77

3-2 Servomotor Specifications

Rated rotation speed*1*2 r/min 3,000
Maximum rotation speed r/min 5,000
Momentary maximum torque*1 N·m 9.55 14.3
Rated current*1*2 A (rms) 5.2 8.8
Momentary maximum current*1 A (rms) 16.9 28.4
Rotor inertia Without brake × 10-4 2.1042 2.1042
2
kg·m
With brake × 10-4 2.5542 2.5542
kg·m2
Applicable load inertia × 10-4 35.3 47.6 3
kg·m2
Torque constant*1 N·m/ A 0.67 0.58

3-2-3 Characteristics
(rms)
Power rate*1*3 kW/s 48 108
Mechanical time constant*3 ms 0.58 0.58
Electrical time constant ms 5.9 6.1
Allowable radial load*4 N 490
Allowable thrust load*4 N 196
Weight Without brake kg 5.7 5.7
With brake kg 7.4 7.4
Radiator plate dimensions (material) mm 400 × 400 × t20 (aluminum)
Brake Excitation voltage *5 V 24 VDC±10%
specifi- Current consumption A 0.70 0.70
cations (at 20°C)
Static friction torque N·m 9.3 min. 9.3 min.
Attraction time ms 100 max. 100 max.
Release time*6 ms 30 max. 30 max.
Backlash ° 1.0 max. 1.0 max.
Allowable braking work J 500 500
Allowable total work J 900,000 900,000
Allowable angular rad/s2 10,000 max.
acceleration
Brake lifetime (accelera- --- 10 million times min.
tion/deceleration)
Insulation class --- Class F
*1. This is a typical value for when the Servomotor is used at a normal temperature
(20°C, 65%) in combination with a Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an
ambient temperature of 40°C when the Servomotor is horizontally installed on a
specified radiator plate.
*3. This value is for models without options.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 13

 3 Specifications

*4. The allowable radial and thrust loads are the values determined for a limit of 20,000
hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.

Radial load

Thrust load

Center of shaft (LR/2)

LR
*5. This is a non-excitation brake. It is released when excitation voltage is applied.
*6. This value is a reference value.

 Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (200

VAC)
The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or
single-phase 220-VAC input.

• R88M-1M10030H • R88M-1M20030H • R88M-1M40030H

1.2 2.5 5
4.5
1
Torque [N·m]

Momentary 2 Momentary 4 Momentary

Torque [N·m]
Torque [N·m]

0.8 operation range operation range 3.5 operation range

1.5 3
0.6 2.5
1 2
0.4 1.5
0.2 Continuous 0.5 Continuous 1 Continuous
operation range operation range 0.5 operation range
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Rotation [r/min] Rotation [r/min] Rotation [r/min]

• R88M-1M75030H • R88M-1L1K030H • R88M-1L1K530H

10 12 16
9 14
8 10 Momentary
Momentary 12
Torque [N·m]
Torque [N·m]

7 Momentary operation range

Torque [N·m]

operation range 8 10
6 operation range
5 6 8
4 6
3 4
4 Continuous
2 Continuous 2 Continuous
1 operation range 2 operation range
operation range
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Rotation [r/min] Rotation [r/min] Rotation [r/min]

Note The continuous operation range is the range in which continuous operation is possible at an ambient tem-
perature of 40°C when the Servomotor is horizontally installed on a specified radiator plate.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output
torque.

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 3 Specifications

2,000-r/min Servomotors
Model (R88M-) 200 VAC
Item Unit 1M1K020H 1M1K520H

3-2 Servomotor Specifications

Rated output*1*2 W 1,000 1,500
Rated torque*1*2 N·m 4.77 7.16
Rated rotation speed*1*2 r/min 2,000
Maximum rotation speed r/min 3,000
Momentary maximum torque*1 N·m 14.3 21.5
Rated current*1*2 A (rms) 5.2 8.6
Momentary maximum current*1 A (rms) 16.9 28.4
Rotor inertia Without brake 10-4 6.0042 9.0042
kg·m2
With brake 6.5042 9.5042
3
10-4
kg·m2

3-2-3 Characteristics
Applicable load inertia 10-4 59.0 79.9
kg·m2
Torque constant*1 N·m/A 0.93 0.83
(rms)
Power rate*1*3 kW/s 38 57
Mechanical time constant*3 ms 0.94 0.78
Electrical time constant ms 13 15
Allowable radial load*4 N 490
Allowable thrust load*4 N 196
Weight Without brake kg 6.6 8.5
With brake kg 8.6 10.5
Radiator plate dimensions (material) mm 400 × 400 × t20 470 × 470 × t20
(aluminum) (aluminum)
Brake Excitation voltage*5 V 24 VDC±10%
specifi- Current consumption A 0.51 0.51
cations (at 20°C)
Static friction torque N·m 9.0 min. 9.0 min.
Attraction time ms 100 max. 100 max.
Release time*6 ms 30 max. 30 max.
Backlash ° 0.6 max. 0.6 max.
Allowable braking work J 1,000 1,000
Allowable total work J 3,000,000 3,000,000
Allowable angular rad/s2 10,000 max.
acceleration
Brake lifetime (accelera- --- 10 million times min.
tion/deceleration)
Insulation class --- Class F
*1. This is a typical value for when the Servomotor is used at a normal temperature
(20°C, 65%) in combination with a Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an
ambient temperature of 40°C when the Servomotor is horizontally installed on a
specified radiator plate.
*3. This value is for models without options.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 15

 3 Specifications

*4. The allowable radial and thrust loads are the values determined for a limit of 20,000
hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.

Radial load

Thrust load

Center of shaft (LR/2)

LR
*5. This is a non-excitation brake. It is released when excitation voltage is applied.
*6. This value is a reference value.

 Torque-Rotation Speed Characteristics for 2,000-r/min Servomotors (200

VAC)
The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or
single-phase 220-VAC input.

• R88M-1M1K020H • R88M-1M1K520H
16 25
14
Momentary 20 Momentary
12
Torque [N·m]
Torque [N·m]

operation range operation range

10 15
8
6 10
4 Continuous Continuous
5
2 operation range operation range
0 0
0 1000 2000 3000 0 1000 2000 3000
Rotation [r/min] Rotation [r/min]
Note The continuous operation range is the range in which continuous operation is possible at an ambient tem-
perature of 40°C when the Servomotor is horizontally installed on a specified radiator plate.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output
torque.

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 3 Specifications

3-3 Cable and Connector Specifications

3-3 Cable and Connector Specifications

This section describes the specifications of the cables to connect between Servo Drives and Servomo-
tors, and the connectors to be used.
Select an appropriate cable for the Servomotor.

3-3-1 Encoder Cable Specifications

These cables are used to connect the Servo Drive with an encoder installed in the Servomotor. Select
an appropriate cable for the Servomotor.

Precautions for Correct Use

3
If the cable is used in a moving part, use a flexible cable.

3-3-1 Encoder Cable Specifications

The protective structure rating of the Servomotor with an encoder cable whose length [L] is 30
m or more is IP20.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 17

3 Specifications

Encoder Cables (Standard Cable)

 R88A-CR1AC
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CR1A003C 3m 5.3 dia. Approx. 0.3 kg
R88A-CR1A005C 5m Approx. 0.4 kg
R88A-CR1A010C 10 m Approx. 0.7 kg
R88A-CR1A015C 15 m Approx. 1.0 kg
R88A-CR1A020C 20 m Approx. 1.4 kg
R88A-CR1A030C 30 m 6.0 dia. Approx. 2.2 kg
R88A-CR1A040C 40 m Approx. 3.0 kg
R88A-CR1A050C 50 m Approx. 3.7 kg

Connection configuration and external dimensions [mm]

Servo Drive side Servomotor side

R88D-1SN R88M-1

Wiring
Servo Drive side Servomotor side
Symbol No. No. Symbol
Red
E5V 1 6 E5V
Black
E0V 2 3 E0V
Blue
S+ 5 7 S+
Blue/white
S- 6 4 S-
FG Shell 1 FG
Cable
Servo Drive side AWG22 × 2C + AWG24 × 1P UL20276 (3 to 20 m) Servomotor side connector
connector AWG18 × 2C + AWG24 × 1P UL20276 (30 to 50 m) Angle clamp model
Connector model JN6FR07SM1
Receptacle: 3E206-0100KV (3M) (Japan Aviation Electronics)
Shell kit: 3E306-3200-008 (3M) Connector pin model
LY10-C1-A1-10000
(Japan Aviation Electronics)

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 3 Specifications

 R88A-CR1BN
Applicable Servomotors

3-3 Cable and Connector Specifications

200 V:
3,000-r/min Servomotors of 1 kW, 2,000-r/min Servomotors

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CR1B003N 3m 6.0 dia. Approx. 0.3 kg
R88A-CR1B005N 5m Approx. 0.4 kg
R88A-CR1B010N 10 m Approx. 0.8 kg
R88A-CR1B015N 15 m Approx. 1.1 kg
R88A-CR1B020N 20 m Approx. 1.5 kg
R88A-CR1B030N 30 m Approx. 2.3 kg
3
R88A-CR1B040N 40 m Approx. 3.0 kg
R88A-CR1B050N 50 m Approx. 3.7 kg

3-3-1 Encoder Cable Specifications

Connection configuration and external dimensions [mm]
L

Servo Drive side Servomotor side

R88D-1SN R88M-1

Wiring
Servo Drive side Servomotor side
Symbol No. No. Symbol
Red
E5V 1 4 E5V
Black
E0V 2 1 E0V
Blue
S+ 5 3 S+
Blue/white
S- 6 7 S-
FG Shell 9 FG
Cable
Servo Drive side AWG22 × 2C + AWG24 × 1P UL20276 (3 to 20 m) Servomotor side connector
connector AWG18 × 2C + AWG24 × 1P UL20276 (30 to 50 m) Straight plug model
Connector model JN2DS10SL1-R
Receptacle: 3E206-0100KV (3M) (Japan Aviation Electronics)
Shell kit: 3E306-3200-008 (3M) Contact model
JN1-22-22S-10000
(Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 19

3 Specifications

Encoder Cables (Flexible Cable)

 R88A-CR1ACF
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CR1A003CF 3m 5.3 dia. 33 mm Approx. 0.3 kg
R88A-CR1A005CF 5m Approx. 0.4 kg
R88A-CR1A010CF 10 m Approx. 0.7 kg
R88A-CR1A015CF 15 m Approx. 1.0 kg
R88A-CR1A020CF 20 m Approx. 1.4 kg
R88A-CR1A030CF 30 m 6.0 dia. 42 mm Approx. 2.2 kg
R88A-CR1A040CF 40 m Approx. 3.0 kg
R88A-CR1A050CF 50 m Approx. 3.7 kg

Connection configuration and external dimensions [mm]

L

Servo Drive side Servomotor side

R88D-1SN R88M-1

Wiring
Servo Drive side Servomotor side
Symbol No. No. Symbol
Red
E5V 1 6 E5V
Black
E0V 2 3 E0V
Blue
S+ 5 7 S+
Blue/white
S- 6 4 S-
FG Shell 1 FG
Cable
Servo Drive side Servomotor side connector
AWG22 × 2C + AWG24 × 1P UL20276 (3 to 20 m)
connector
Connector model AWG18 × 2C + AWG24 × 1P UL20276 (30 to 50 m) Angle clamp model
Receptacle: 3E206-0100KV (3M) JN6FR07SM1 (Japan Aviation Electronics)
Connector pin model
Shell kit: 3E306-3200-008 (3M)
LY10-C1-A1-10000 (Japan Aviation Electronics)

3 - 20 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 R88A-CR1BNF
Applicable Servomotors

3-3 Cable and Connector Specifications

200 V:
3,000-r/min Servomotors of 1 kW and 2,000-r/min Servomotors

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CR1B003NF 3m 6.0 dia. 33 mm Approx. 0.3 kg
R88A-CR1B005NF 5m Approx. 0.4 kg
R88A-CR1B010NF 10 m Approx. 0.8 kg
R88A-CR1B015NF 15 m Approx. 1.1 kg
R88A-CR1B020NF 20 m Approx. 1.5 kg
R88A-CR1B030NF 30 m 42 mm Approx. 2.3 kg
3
R88A-CR1B040NF 40 m Approx. 3.0 kg
R88A-CR1B050NF 50 m Approx. 3.7 kg

3-3-1 Encoder Cable Specifications

Connection configuration and external dimensions [mm]
L

Servo Drive side Servomotor side

R88D-1SN R88M-1

Wiring
Servo Drive side Servomotor side
Symbol No. No. Symbol
Red
E5V 1 4 E5V
Black
E0V 2 1 E0V
Blue
S+ 5 3 S+
Blue/white
S- 6 7 S-
FG Shell 9 FG
Cable
Servo Drive side AWG22 × 2C + AWG24 × 1P UL20276 (3 to 20 m) Servomotor side connector
connector AWG18 × 2C + AWG24 × 1P UL20276 (30 to 50 m) Straight plug model
Connector model JN2DS10SL1-R
Receptacle: 3E206-0100KV (3M) (Japan Aviation Electronics)
Shell kit: 3E306-3200-008 (3M) Contact model
JN1-22-22S-10000
(Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 21

3 Specifications

3-3-2 Motor Power Cable Specifications

These cables are used to connect the Servo Drive and Servomotor. Select an appropriate cable for the
Servomotor.

Precautions for Correct Use

If the cable is used in a moving part, use a flexible cable.

Power Cables without Brake Wire (Standard Cable)

 R88A-CA1AS
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W

Cable types
Outer diameter of
Model Length [L] Weight
sheath
R88A-CA1A003S 3m 6.8 dia. Approx. 0.4 kg
R88A-CA1A005S 5m Approx. 0.6 kg
R88A-CA1A010S 10 m Approx. 1.1 kg
R88A-CA1A015S 15 m Approx. 1.5 kg
R88A-CA1A020S 20 m Approx. 2.0 kg
R88A-CA1A030S 30 m Approx. 3.0 kg
R88A-CA1A040S 40 m Approx. 4.0 kg
R88A-CA1A050S 50 m Approx. 5.0 kg

Connection configuration and external dimensions [mm]

60 (80) L
Ferrite core E04SR301334 (SEIWA
ELECTRIC MFG CO. Ltd)
Servo Drive side Two turns on the core Servomotor side
R88D-1SN R88M-1

150

Wiring
Ferrite core
Servo Drive side E04SR301334 (SEIWA Servomotor side
ELECTRIC MFG CO. Ltd) No. Symbol
Red
1 Phase U
White
Semi-strip 2 Phase V
Blue
3 Phase W
M4 Crimp terminal 4 FG
Cable 5 Shield
Ring terminal (NICHIFU) R2-4
+ AWG18 × 3C UL2464 Servomotor side connector
F(Z) (SUMITOMO ELECTRIC 33/0.18 3C XLPE30-SV(U)K-M Connector
(Oki Electric Cable Co., Ltd.) JN6FS05SJ2 (Japan Aviation Electronics)
FINE POLYMER, INC.)
Socket contact
ST-JN6-S-C1B-2500 (Japan Aviation Electronics)

3 - 22 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 R88A-CA1BS
Applicable Servomotors

3-3 Cable and Connector Specifications

200 V:
3,000-r/min Servomotors of 1 kW and 2,000-r/min Servomotors of 1 kW

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CA1B003S 3m 10.8 dia. Approx. 1.0 kg
R88A-CA1B005S 5m Approx. 1.6 kg
R88A-CA1B010S 10 m Approx. 2.9 kg
R88A-CA1B015S 15 m Approx. 4.3 kg
R88A-CA1B020S 20 m Approx. 5.7 kg
R88A-CA1B030S 30 m Approx. 8.4 kg
3
R88A-CA1B040S 40 m Approx. 11.1 kg
R88A-CA1B050S 50 m Approx. 13.8 kg

3-3-2 Motor Power Cable Specifications

Connection configuration and external dimensions [mm]

60 (80) L
Ferrite core E04SR301334 (SEIWA
ELECTRIC MFG CO. Ltd)
Servo Drive side Two turns on the ferrite core Servomotor side
R88D-1SN R88M-1

150

Wiring
Ferrite core
Servo Drive side E04SR301334 (SEIWA Servomotor side
ELECTRIC MFG CO. Ltd) No. Symbol
Red
A Phase U
Semi-strip White
B Phase V
Blue
C Phase W
Green/Yellow
M4 Crimp terminal D FG
Cable Servomotor side connector
Ring terminal (NICHIFU) R5.5-4 AWG16 × 4C UL2586 Connector
+
F(Z) (SUMITOMO ELECTRIC JL10-6A20-4SE-EB
(Japan Aviation Electronics)
FINE POLYMER, INC.)
Clamp
JL04-2022CK(12)-R
(Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 23

3 Specifications

 R88A-CA1CS
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 1.5 kW and 2,000-r/min Servomotors of 1.5 kW

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CA1C003S 3m 10.8 dia. Approx. 1.0 kg
R88A-CA1C005S 5m Approx. 1.6 kg
R88A-CA1C010S 10 m Approx. 2.9 kg
R88A-CA1C015S 15 m Approx. 4.3 kg
R88A-CA1C020S 20 m Approx. 5.7 kg
R88A-CA1C030S 30 m Approx. 8.4 kg
R88A-CA1C040S 40 m Approx. 11.1 kg
R88A-CA1C050S 50 m Approx. 13.8 kg

Connection configuration and external dimensions [mm]

175 L

Servo Drive side Servomotor side

R88D-1SN R88M-1
170

Wiring
Servo Drive side Servomotor side
No. Symbol
Red
A Phase U
White
Semi-strip Blue B Phase V
C Phase W
Green/Yellow
D FG
M4 Crimp terminal Cable Servomotor side connector
Green/Yellow
Ring terminal AWG16 × 4C UL2586 Connector
(NICHIFU) R2-4
+ JL10-6A20-4SE-EB
F(Z) (SUMITOMO ELECTRIC (Japan Aviation Electronics)
FINE POLYMER, INC.) Clamp
JL04-2022CK(12)-R
(Japan Aviation Electronics)

3 - 24 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

Power Cables without Brake Wire (Flexible Cable)

3-3 Cable and Connector Specifications

 R88A-CA1ASF
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CA1A003SF 3m 6.8 dia. 40 mm Approx. 0.4 kg
R88A-CA1A005SF 5m Approx. 0.6 kg
R88A-CA1A010SF 10 m Approx. 1.1 kg
R88A-CA1A015SF 15 m Approx. 1.5 kg
3
R88A-CA1A020SF 20 m Approx. 2.0 kg
R88A-CA1A030SF 30 m Approx. 3.0 kg

3-3-2 Motor Power Cable Specifications

R88A-CA1A040SF 40 m Approx. 4.0 kg
R88A-CA1A050SF 50 m Approx. 5.0 kg

Connection configuration and external dimensions [mm]

60 (80) L
Ferrite core E04SR301334 (SEIWA
ELECTRIC MFG CO. Ltd)
Servo Drive side Two turns on the core Servomotor side
R88D-1SN R88M-1

150

Wiring
Ferrite core
Servo Drive side E04SR301334 (SEIWA Servomotor side
ELECTRIC MFG CO. Ltd) No. Symbol
Red
1 Phase U
White
Semi-strip 2 Phase V
Blue
3 Phase W
M4 Crimp terminal 4 FG
Cable 5 Shield
Ring terminal (NICHIFU) R2-4
+ AWG18 × 3C UL2517 Servomotor side connector
F(Z) (SUMITOMO ELECTRIC 180/0.08 3C EF28-SV(U)K-M Connector
FINE POLYMER, INC.) (Oki Electric Cable Co., Ltd.) JN6FS05SJ2 (Japan Aviation Electronics)
Socket contact
ST-JN5-S-C1B-2500 (Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 25

3 Specifications

 R88A-CA1BSF
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 1 kW and 2,000-r/min Servomotors of 1 kW

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CA1B003SF 3m 10.8 dia. 90 mm Approx. 1.0 kg
R88A-CA1B005SF 5m Approx. 1.6 kg
R88A-CA1B010SF 10 m Approx. 2.9 kg
R88A-CA1B015SF 15 m Approx. 4.3 kg
R88A-CA1B020SF 20 m Approx. 5.7 kg
R88A-CA1B030SF 30 m Approx. 8.4 kg
R88A-CA1B040SF 40 m Approx. 11.1 kg
R88A-CA1B050SF 50 m Approx. 13.8 kg

Connection configuration and external dimensions [mm]

60 (80) L
Ferrite core E04SR301334 (SEIWA
ELECTRIC MFG CO. Ltd)
Servo Drive side Two turns on the ferrite core Servomotor side
R88D-1SN R88M-1

150

Wiring
Ferrite core
Servo Drive side E04SR301334 (SEIWA Servomotor side
ELECTRIC MFG CO. Ltd)
No. Symbol
Red
A Phase U
Semi-strip White
B Phase V
Blue
C Phase W
Green/Yellow
M4 Crimp terminal D FG
Cable Servomotor side connector
Ring terminal (NICHIFU) R5.5-4 AWG16 × 4C UL2586 Connector
+
F(Z) (SUMITOMO ELECTRIC FINE JL10-6A20-4SE-EB
POLYMER, INC.) (Japan Aviation Electronics)
Clamp
JL04-2022CK(12)-R
(Japan Aviation Electronics)

3 - 26 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 R88A-CA1CSF
Applicable Servomotors

3-3 Cable and Connector Specifications

200 V:
3,000-r/min Servomotors of 1.5 kW
2,000-r/min Servomotors of 1.5 kW

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CA1C003SF 3m 10.8 dia. 90 mm Approx. 1.0 kg
R88A-CA1C005SF 5m Approx. 1.6 kg
R88A-CA1C010SF 10 m Approx. 2.9 kg
R88A-CA1C015SF 15 m Approx. 4.3 kg
R88A-CA1C020SF 20 m Approx. 5.7 kg 3
R88A-CA1C030SF 30 m Approx. 8.4 kg
R88A-CA1C040SF 40 m Approx. 11.1 kg

3-3-2 Motor Power Cable Specifications

R88A-CA1C050SF 50 m Approx. 13.8 kg

Connection configuration and external dimensions [mm]

175 L

Servo Drive side Servomotor side

R88D-1SN R88M-1
170

Wiring
Servo Drive side Servomotor side
No. Symbol
Red
A Phase U
White
Semi-strip Blue B Phase V
C Phase W
Green/Yellow
D FG
M4 Crimp terminal Servomotor side connector
Green/Yellow Cable
Ring terminal AWG16 × 4C UL2586 Connector
(NICHIFU) R2-4
JJL10-6A20-4SE-EB (Japan Aviation Electronics)
+
F(Z) (SUMITOMO ELECTRIC FINE POLYMER, INC.) Clamp
JL04-2022CK(12)-R (Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 27

3 Specifications

Power Cables with Brake Wire (Standard Cable)

 R88A-CA1BB
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 1 kW
2,000-r/min Servomotors of 1 kW

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CA1B003B 3m 12.5 dia. Approx. 1.2 kg
R88A-CA1B005B 5m Approx. 1.9 kg
R88A-CA1B010B 10 m Approx. 3.5 kg
R88A-CA1B015B 15 m Approx. 5.1 kg
R88A-CA1B020B 20 m Approx. 6.7 kg
R88A-CA1B030B 30 m Approx. 10.0 kg
R88A-CA1B040B 40 m Approx. 13.2 kg
R88A-CA1B050B 50 m Approx. 16.5 kg

Connection configuration and external dimensions [mm]

60 (80) L
Ferrite core E04SR301334
(SEIWA ELECTRIC MFG CO. Ltd)
Servo Drive side Two turns on the ferrite core Servomotor side
R88D-1SN R88M-1

Ferrule 216-201 150

(WAGO)
160
Wiring
Servo Drive side Servomotor side
No. Symbol
Ferrule Black
G Brake
216-201 Black
(WAGO) H Brake
Ferrite core
E04SR301334 (SEIWA ELECTRIC MFG CO. Ltd) A NC
Red
F Phase U
Semi-strip White
I Phase V
Blue
B Phase W
Green/Yellow
M4 Crimp terminal E FG
D FG
Cable
Ring terminal (NICHIFU) R5.5-4 C NC
AWG16 × 4C UL2586
+ AWG20 × 2C UL2586 Servomotor side connector
F(Z) (SUMITOMO ELECTRIC
Connector
FINE POLYMER, INC.)
JL10-6A20-18SE-EB
(Japan Aviation Electronics)
Clamp
JL04-2022CK(12)-R
(Japan Aviation Electronics)

3 - 28 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 R88A-CA1CB
Applicable Servomotors

3-3 Cable and Connector Specifications

200 V:
3,000-r/min Servomotors of 1.5 kW
2,000-r/min Servomotors of 1.5 kW

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CA1C003B 3m 12.5 dia. Approx. 1.2 kg
R88A-CA1C005B 5m Approx. 1.9 kg
R88A-CA1C010B 10 m Approx. 3.5 kg
R88A-CA1C015B 15 m Approx. 5.1 kg
R88A-CA1C020B 20 m Approx. 6.7 kg 3
R88A-CA1C030B 30 m Approx. 10.0 kg
R88A-CA1C040B 40 m Approx. 13.2 kg

3-3-2 Motor Power Cable Specifications

R88A-CA1C050B 50 m Approx. 16.5 kg

Connection configuration and external dimensions [mm]

175 L

Servo Drive side Servomotor side

R88D-1SN R88M-1

Ferrule 216-201
(WAGO) 170
180

Wiring
Servo Drive side Servomotor side
No. Symbol
Ferrule Black
G Brake
216-201 Black
(WAGO) H Brake
A NC
Red
F Phase U
White
Semi-strip I Phase V
Blue
B Phase W
Green/Yellow
E FG
M4 Crimp terminal D FG
Green/Yellow Cable
C NC
Ring terminal AWG16 × 4C UL2586
(NICHIFU) R2-4 AWG20 × 2C UL2586 Servomotor side connector
+ Connector
F(Z) (SUMITOMO ELECTRIC JL10-6A20-18SE-EB
FINE POLYMER, INC.) (Japan Aviation Electronics)
Clamp
JL04-2022CK(12)-R
(Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 29

3 Specifications

Power Cables with Brake Wire (Flexible Cable)

 R88A-CA1BBF
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 1 kW
2,000-r/min Servomotors of 1 kW

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CA1B003BF 3m 12.5 dia. 90 mm Approx. 1.2 kg
R88A-CA1B005BF 5m Approx. 1.9 kg
R88A-CA1B010BF 10 m Approx. 3.5 kg
R88A-CA1B015BF 15 m Approx. 5.1 kg
R88A-CA1B020BF 20 m Approx. 6.7 kg
R88A-CA1B030BF 30 m Approx. 10.0 kg
R88A-CA1B040BF 40 m Approx. 13.2 kg
R88A-CA1B050BF 50 m Approx. 16.5 kg
Connection configuration and external dimensions [mm]
60 (80) L
Ferrite core E04SR301334
(SEIWA ELECTRIC MFG CO. Ltd)
Servo Drive side Two turns on the ferrite core Servomotor side
R88D-1SN R88M-1

Ferrule 216-201 150

(WAGO)
160

Wiring

Servo Drive side Servomotor side

No. Symbol
Ferrule Black
G Brake
216-201 Black
(WAGO) H Brake
Ferrite core
E04SR301334 (SEIWA ELECTRIC MFG CO. Ltd) A NC
Red
F Phase U
Semi-strip White
I Phase V
Blue
B Phase W
Green/Yellow
M4 Crimp terminal E FG
D FG
Cable
C NC
Ring terminal (NICHIFU) R5.5-4 AWG16 × 4C UL2586
+ AWG20 × 2C UL2586 Servomotor side connector
F(Z) (SUMITOMO ELECTRIC FINE Connector
POLYMER, INC.) JL10-6A20-18SE-EB
(Japan Aviation Electronics)
Clamp
JL04-2022CK(14)-R
(Japan Aviation Electronics)

3 - 30 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 R88A-CA1CBF
Applicable Servomotors

3-3 Cable and Connector Specifications

200 V:
3,000-r/min Servomotors of 1.5 kW
2,000-r/min Servomotors of 1.5 kW

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CA1C003BF 3m 12.5 dia. 90 mm Approx. 1.2 kg
R88A-CA1C005BF 5m Approx. 1.9 kg
R88A-CA1C010BF 10 m Approx. 3.5 kg
R88A-CA1C015BF 15 m Approx. 5.1 kg
R88A-CA1C020BF 20 m Approx. 6.7 kg 3
R88A-CA1C030BF 30 m Approx. 10.0 kg
R88A-CA1C040BF 40 m Approx. 13.2 kg

3-3-2 Motor Power Cable Specifications

R88A-CA1C050BF 50 m Approx. 16.5 kg

Connection configuration and external dimensions [mm]

175 L

Servo Drive side Servomotor side

R88D-1SN R88M-1

Ferrule 216-201
(WAGO) 170
180

Wiring
Servo Drive side Servomotor side
No. Symbol
Ferrule Black
G Brake
216-201 Black
(WAGO) H Brake
A NC
Red
F Phase U
White
Semi-strip I Phase V
Blue
B Phase W
Green/Yellow
E FG
M4 Crimp terminal Cable D FG
Green/Yellow AWG16 × 4C UL2586 C NC
Ring terminal
AWG20 × 2C UL2586
(NICHIFU) R2-4 Servomotor side connector
+
Connector
F(Z) (SUMITOMO ELECTRIC FINE
JL10-6A20-18SE-EB
POLYMER, INC.)
(Japan Aviation Electronics)
Clamp
JL04-2022CK(12)-R
(Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 31

3 Specifications

Brake Cables (Standard Cable)

 R88A-CA1AB
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W

Cable types

Outer diameter of
Model Length [L] Weight
sheath
R88A-CA1A003B 3m 5.0 dia. Approx. 0.2 kg
R88A-CA1A005B 5m Approx. 0.3 kg
R88A-CA1A010B 10 m Approx. 0.5 kg
R88A-CA1A015B 15 m Approx. 0.7 kg
R88A-CA1A020B 20 m Approx. 0.9 kg
R88A-CA1A030B 30 m Approx. 1.4 kg
R88A-CA1A040B 40 m Approx. 1.8 kg
R88A-CA1A050B 50 m Approx. 2.3 kg

Connection configuration and external dimensions [mm]

40 L
5 dia.

Servo Drive side Servomotor side

R88D-1SN R88M-1

Ferrule 216-201
(WAGO)

Wiring

Servo Drive side Servomotor side

No. Symbol
Ferrule Black
1 Brake
216-201 Black
(WAGO) 2 Brake
Cable: AWG22 × 2C UL2517
Servomotor side connector
Connector
JN6FR02SM1 (Japan Aviation Electronics)
Socket contact
LY10-C1-A1-10000 (Japan Aviation Electronics)

3 - 32 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

Brake Cables (Flexible Cable)

3-3 Cable and Connector Specifications

 R88A-CA1ABF
Applicable Servomotors
200 V:
3,000-r/min Servomotors of 100 W, 200 W, 400 W, and 750 W

Cable types

Outer diame- Minimum bending

Model Length [L] Weight
ter of sheath radius
R88A-CA1A003BF 3m 5.0 dia. 30 mm Approx. 0.2 kg
R88A-CA1A005BF 5m Approx. 0.3 kg
R88A-CA1A010BF 10 m Approx. 0.5 kg
R88A-CA1A015BF 15 m Approx. 0.7 kg
3
R88A-CA1A020BF 20 m Approx. 0.9 kg
R88A-CA1A030BF 30 m Approx. 1.4 kg

3-3-2 Motor Power Cable Specifications

R88A-CA1A040BF 40 m Approx. 1.8 kg
R88A-CA1A050BF 50 m Approx. 2.3 kg

Connection configuration and external dimensions [mm]

40 L
5 dia.

Servo Drive side Servomotor side

R88D-1SN R88M-1

Ferrule 216-201
(WAGO)

Wiring

Servo Drive side Servomotor side

No. Symbol
Ferrule Black
1 Brake
216-201 Black
(WAGO) 2 Brake
Cable: AWG22 × 2C UL2517
Servomotor side connector
Connector
JN6FR02SM1 (Japan Aviation Electronics)
Socket contact
LY10-C1-A1-10000 (Japan Aviation Electronics)

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 33

3 Specifications

3-3-3 Resistance to Bending of Flexible Cable

If the cable is used in a moving part, use a flexible cable.
The flexing life of a Flexible Cable is estimated under the following conditions.

Precautions for Correct Use

• Because the lifetime data on resistance to bending is intended for reference only, use the
cable with a sufficient margin.
• The minimum bending radius refers to the value at which the core conductor provides electri-
cal continuity without causing cracks and scratches that can have functional impact on the
sheath, which does not cover the disconnection of shielded wire.
• Malfunction or grounding fault due to dielectric breakdown may occur if cables are used at a
radius smaller than the minimum bending radius.

Moving Bend Test

Stroke

Bending radius (R)

 Encoder Cable

Bend test conditions

Model Minimum bending Estimated life
Stroke
radius [R]
R88A-CR1ACF*1 33 mm 500 to 1,000 mm 20 million times

R88A-CR1BNF*1
R88A-CR1ACF*2 42 mm 500 to 1,000 mm 20 million times

R88A-CR1BNF*2
*1.  represents a number between 003 and 020.
*2.  represents a number between 030 and 050.
When 030 to 050 cables are used, the bending position on the cables must be at least 100 mm away from the
Servomotor's connector.

3 - 34 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 Power Cables without Brake Wire

3-3 Cable and Connector Specifications

Bend test conditions
Model Minimum bending Estimated life
Stroke
radius [R]
R88A-CA1ASF*1 40 mm 500 mm 10 million times
R88A-CA1BSF*1 90 mm 500 to 1,000 mm 20 million times

R88A-CA1CSF*1
*1.  represents a number between 003 and 050.

 Power Cables with Brake Wire

Bend test conditions

Model Minimum bending Estimated life
Stroke
radius [R] 3
R88A-CA1BBF*1 90 mm 500 to 1,000 mm 20 million times

R88A-CA1CBF*1

3-3-3 Resistance to Bending of Flexible Cable

R88A-CA1DBF*1
*1.  represents a number between 003 and 050.

 Brake Cable

Bend test conditions

Model Minimum bending Estimated life
Stroke
radius [R]
R88A-CA1ABF*1 30 mm 500 to 1,000 mm 20 million times

*1.  represents a number between 003 and 050.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 35

3 Specifications

3-3-4 Connector Specifications

Encoder Cable Connectors

These connectors are used for encoder cables.
Use them when you prepare an encoder cable by yourself.

 Servo Drive Connector

Item Specifications
Applicable Servomotor 1S-series Servomotors of all capacities
Connector This is a soldering-type connector.
Receptacle 3E206-0100KV (3M)
Shell kit 3E306-3200-008 (3M)
Receptacle and R88A-CN101R (OMRON)
shell kit
Applicable cable Applicable wire AWG 18 max.
Insulating cover 2.1 mm dia. max.
outer diameter
Outer diameter of 5.4 to 7.5 mm dia.
sheath
37.4

12.0
18.8

18.8

3 - 36 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

 Servomotor Connector

3-3 Cable and Connector Specifications

Item Specifications
Applicable Servo- 200 V 3,000-r/min Servomotors of 100 to 750 W
motor
Connector This is a crimping-type connector. For required tools, contact the
manufacturers directly.
Angle plug JN6FR07SM1 (Japan Aviation Electronics)
Connector pin LY10-C1-A1-10000 (Japan Aviation Electronics)
Angle plug and con- R88A-CNK02R (OMRON)
nector pin
Applicable cable Applicable wire AWG 22 max.
Insulating cover 1.3 mm dia. max.
outer diameter
Outer diameter of 5.0±0.5 mm dia.
sheath 3
12.5
8

3-3-4 Connector Specifications

13 dia.
16.6

13
21

21.5

Item Specifications
Applicable Servo- 200 V 3,000-r/min Servomotors of 1 to 1.5 kW
motor 2,000-r/min Servomotors of 1 to 1.5 kW
Connector This is a crimping-type connector. For required tools, contact the
manufacturers directly.
Straight plug JN2DS10SL1-R (Japan Aviation Electronics)
Contact JN1-22-22S-10000 (Japan Aviation Electronics)
Straight plug and R88A-CN104R (OMRON)
contact
Applicable cable Applicable wire AWG 20 max.
Outer diameter of 5.7 to 7.3 mm dia.
sheath
15.6 dia.

19.5 dia.
20 dia.

52 max.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 37

3 Specifications

Power Cable Connector

This connector is used for power cables.
Use it when you prepare a power cable by yourself.

Item Specifications
Applicable Servo- 200 V 3,000-r/min Servomotors of 100 to 750 W
motor
Connector This is a crimping-type connector. For required tools, contact the
manufacturers directly.
Angle plug JN6FS05SJ2 (Japan Aviation Electronics)
Socket contact ST-JN6-S-C1B-2500 (Japan Aviation Electronics)
Angle plug and R88A-CN111A (OMRON)
socket contact
Applicable cable Applicable wire AWG 18
Insulating cover 1.7 to 1.9 mm dia.
outer diameter
Outer diameter of 6.4 to 7.2 mm dia.
sheath

18
14
20.5
24.5

20

30

3 - 38 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 3 Specifications

Brake Cable Connector

3-3 Cable and Connector Specifications

This connector is used for brake cables.
Use it when you prepare a brake cable by yourself.

Item Specifications
Applicable Servo- 200 V 3,000-r/min Servomotors of 100 to 750 W
motor
Connector This is a crimping-type connector. For required tools, contact the
manufacturers directly.
Angle plug JN6FR02SM1 (Japan Aviation Electronics)
Socket contact LY10-C1-A1-10000 (Japan Aviation Electronics)
Angle plug and R88A-CN111B (OMRON)
socket contact
Applicable cable Applicable wire AWG 22 to 26
Insulating cover 0.8 to 1.3 mm dia.
3
outer diameter
Outer diameter of 4.5 to 5.5 mm dia.

3-3-4 Connector Specifications

sheath

12.5
8
13 dia.
16.6

13
21

21.5

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 3 - 39

3 Specifications

3 - 40 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Configuration and Wiring
This section explains the conditions for installing, Servomotors, and the wiring methods
including wiring conforming to EMC Directives.
For the Servo Drive installation conditions, the regenerative energy calculation meth- 4
ods, and the performance of External Regeneration Resistors, refer to the AC Servo-
motors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s
Manual (I586).

4-1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-1 Servomotor Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-1 Connector Attachment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-2 Power/Brake Connector Attachment Procedure . . . . . . . . . . . . . . . . . . . . . . . 4-7
4-3 Wiring Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-3-1 Peripheral Equipment Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-3-2 Selecting Connection Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4-1
4 Configuration and Wiring

4-1 Installation Conditions

This section explains the conditions for installing Servo Drives, Servomotors and noise filters.

4-1-1 Servomotor Installation Conditions

Operating Environment Conditions

• The environment in which the Servomotor is operated must meet the following conditions. Operating
the Servomotor outside of the following ranges may result in malfunction of the Servomotor.
Operating temperature: 0 to 40°C (The temperature at a point 50 mm from the Servomotor)
Operating humidity: 20% to 90% max. (with no condensation)
Operating ambient atmosphere: No corrosive gases.

Impact and Load

• The Servomotor is resistant to vibration of up to 49 m/s2.
• If the Servomotor is mounted on a thin plate, the rigidity
may decrease and severe vibration may occur.
• The Servomotor is resistant to impacts of up to 98 m/s2.
Do not apply heavy impacts or loads during transport,
installation, or removal of the Servomotor.
• When transporting the Servomotor hold the motor body
itself. And do not hold the encoder, cable, or connector
areas. Failure to follow this guideline may result in damaging the Servomotor.
• Always use a pulley remover to remove pulleys, couplings, or other parts from the shaft.
• Connect cables and connectors carefully so that they are not strained. After assembly, secure cables
so that there is no impact or load placed on the cable outlet.
• As a magnetic sensor is used for the encoder of the Servomotor, do not apply external magnetic
force on the Servomotor (10 mT at the encoder cover surface).

4-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 4 Configuration and Wiring

Connecting to Mechanical Systems

• For the allowable axial loads for Servomotors, refer to
3-2-3 Characteristics on page 3-12. If an axial load Ball screw center line
greater than that specified is applied to a Servomotor, it
may reduce the limit of the motor bearings and may
break the motor shaft. Misalignment of
• When you connect the Servomotor to a load, use cou- Motor center line shaft center
plings that can sufficiently absorb mechanical eccentric-

4-1 Installation Conditions

ity and declination.
• When you connect or disconnect loads (or couplings) to
or from the Servomotor, be careful not to apply an
impact on the motor shaft. Do not allow the thrust load
Backlash
and radial load to exceed the values that are specified in
the manual or catalog while you connect a load to the Set a structure in which
the distance between
Servomotor. axes can be adjusted.
• If an abnormal noise is generated from couplings, adjust
the shaft center again to eliminate the noise.
• When you align the shaft center of the couplings, turn 4
Bevel gear
both the Servomotor side shaft and equipment side
shaft.

4-1-1 Servomotor Installation Conditions

• For spur gears, an extremely large radial load may be Set a movable
applied depending on the gear precision. Use spur structure
gears with a high degree of precision (for example, JIS
class 2: normal line pitch error of 6 µm max. for a pitch Pulley
circle diameter of 50 mm).
• If the gear precision is not adequate, allow backlash to
ensure that no radial load is placed on the motor shaft.
• When you use bevel gears, a load is applied in the
Belt
thrust direction depending on the assembly precision,
the gear precision, and temperature changes. Provide
appropriate backlash or take other measures to ensure that a thrust load larger than the specified
level is not applied.
• Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the
Servomotor flange may crack under the tightening force.
• When you connect the Servomotor to a V-belt or timing belt, consult the manufacturer for belt selec-
tion and tension.
• A radial load twice as large as the belt tension will be placed on the motor shaft. Do not allow a load
that exceeds the allowable radial load to be placed on the motor shaft. If an excessive radial load is
applied, the motor shaft and bearings may be damaged.
Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension
can be adjusted.
Install the Servo Drive so that its bottom faces the gravity direction.

Pulley

Tension adjustment
(Set a movable structure.)

Belt
Tension

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4-3
4 Configuration and Wiring

Water and Drip Resistance

The protective structure rating of the Servomotor is IP67, except for the through-shaft part and connec-
tor pins.
It is IP20 if you use a 30-meter or longer encoder cable.

Oil-water Measures
Do not use the Servomotors in an environment where oil drops can adhere to the through-shaft part.

Radiator Plate Installation Conditions

When you mount a Servomotor onto a small device, be sure to provide enough radiation space on the
mounting area because the heat is radiated from the mounting surface. Otherwise the Servomotor tem-
perature may rise too high. One of the preventive measures is to install a radiator plate between the
motor attachment area and the motor flange. (See the following figure)
Failure to follow this guideline may result in damaging the Servomotor due to a temperature rise.
Refer to 3-2 Servomotor Specifications on page 3-10 for the radiator plate specifications.
Radiator plate

• The temperature rise depends on the mounting part materials and the installation environment.
Check the actual temperature rise by using a real Servomotor.
• Depending on the environment, such as when the Servomotor is installed near a heating element,
the Servomotor temperature may rise significantly. In this case, take any of the following measures.
a) Lower the load ratio.
b) Review the heat radiation conditions of the Servomotor.
c) Install a cooling fan and apply forced air cooling to the Servomotor.

Other Precautions
Take measures to protect the motor shaft from corrosion. The motor shaft is coated with anti-corrosion
oil when it is shipped, but you should also apply anti-corrosion oil or grease when you connect the com-
ponents that apply load to the shaft.

Caution
Do not apply a commercial power supply directly to
the motor.
Fire may result.

Do not repair the Servo Drive by disassembling it.

Electric shock or injury may result.

4-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 4 Configuration and Wiring

4-2 Wiring
This section gives the examples of connection with peripheral equipment and wirig such as connection
of the main circuit and Servomotor.

4-2-1 Connector Attachment Procedure

This section describes the procedure for attaching a connector to a Servomotor with a flange size of 80
x 80 or less. This example uses an encoder connector.

1 Align the connector's orientation with the key position, and fit the connector into place.

4-2 Wiring
4

4-2-1 Connector Attachment Procedure

Key

2 Tighten the screws to fix the connector after it is fitted.

Example of a gap
Note Make sure that the connector is securely fitted into place without a gap or tilt.
Do not tighten the screws if the connector is not securely fitted into place. Doing so may result in a damage.
Tighten the four screws evenly.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4-5
4 Configuration and Wiring

Example: tighten the screws in the order

of 1, 4, 3, and then 2.

3 1

4 2

Example of a gap Example of screw tightening order

4-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 4 Configuration and Wiring

4-2-2 Power/Brake Connector Attachment Procedure

This section describes the procedure for attaching the Servomotor power/brake connector.
Use the following procedure to fit the connectors.

1 Align of the main keys of the plug and receptacle.

Receptacle Plug * The arrow mark on the receptacle shell
indicates the position of the main key.

Arrow mark

Main key

4-2 Wiring
2 Press in the plug gently and turn the coupling nut clockwise.
Fitting is completed when the turned coupling nut clicks into place.
4

4-2-2 Power/Brake Connector Attachment Procedure

Turn clockwise.

Press in gently. Coupling nut

When fitting is completed, the arrow marks of the plug and receptacle are aligned.

Arrow mark

Note Before starting the fitting procedure, make sure that there is no dirt, foreign materials, etc. adhered to the fit-
ting surfaces.
Do not perform the procedure in an environment where water or oil can adhere to these surfaces.
After fitting is completed, pull the plug gently (20 N max.) to confirm that it does not come out.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4-7
4 Configuration and Wiring

4-3 Wiring Conforming to EMC Directives

1S-series Servo Drives conform to the EMC Directives (EN 61800-3) under the wiring conditions
described in this section.
The following conditions are determined so that 1S-series products can conform to EMC Directives.
When the products are installed in the equipment, the customer must perform the check to confirm that
the overall machine conforms to EMC Directives.

The following are the conditions required for conformance to the EMC Directives.
• Install the Servo Drive on the ground plate.
• Install a noise filter and lightening surge absorbing element (surge absorber) on the power line.
• Use braided-shield cables for the I/O signals and encoder. Tinned soft steel wires must be used for
the shields.
• Ground the shield of each cable.

4-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 4 Configuration and Wiring

4-3-1 Peripheral Equipment Connection Examples

R88D-1SN01H-ECT/-1SN02H-ECT/-1SN04H-ECT/-1SN08H-ECT

4-3 Wiring Conforming to EMC Directives

Ground plate

(1) CNA
L1 FG
NF L2
L3 SD CN7
B3 FC1
B2 (5)
P/B1 ECAT IN CN10
SG
N1
N2 (6)
(2) N3 ECAT OUT CN11
24V
FC1
4
FC1

4-3-1 Peripheral Equipment Connection Examples

CN1 (7)

PE
FG
U
CN12

CN2

V
W
FC2 CNC
(4)

(9)
(10)

DC
24V
I/O slave

3-phase: 200 VAC SM Controller

Note For single-phase inputs, connect between any two phases out of the following: L1, L2, and L3.

• Provide single-point grounding of the ground plate for unit frame grounding as shown in the above
diagram.
• Use a protective earth wire with a minimum thickness of 2.5 mm2 and arrange the wiring so that the
protective earth wire is as short as possible.
• Install a surge absorber and noise filter near the main circuit connector A of Servo Drive.
Separate I/O wires from each other for the wiring.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4-9
4 Configuration and Wiring

 Device Details

Symbol Name Manufacturer Model Remarks

SG Surge absorber Soshin Electric Co., LT-C32G801WS 3-phase 200 VAC
Ltd.
NF Noise filter Soshin Electric Co., HF3020C-SZC-33DDD 3-phase 200 VAC (20 A)
Ltd. *1
OMRON R88A-FI1S202 3-phase R88D-1SN01H-ECT
3-phase R88D-1SN02H-ECT
R88A-FI1S203 3-phase R88D-1SN04H-ECT
R88A-FI1S208 3-phase R88D-1SN08H-ECT
SD Servo Drive OMRON --- *2
SM Servomotor OMRON --- *2
FC1 Ferrite core NEC TOKIN ESD-SR-250 ---
FC2 Ferrite core SEIWA ELECTRIC E04SR301334 ---
MFG
--- I/O slave --- --- ---
--- Controller --- --- ---
*1. Consult Soshin Electric Co., Ltd. for the specifications.
*2. Refer to 2-3-2 Servo Drive and Servomotor Combination Tables on page 2-6 for Servo Drive and Servomotor
combinations.

 Cable Details

Max. cable Cable classification Ferrite

No. Interface
length, shield EN/IEC 61800-3 EN/IEC 61326-3-1 core
1 Power supply cable 3m Power supply port AC input power sup- None
(main circuit) Non-shielded ply port
2 Power supply cable 3m Port for process mea- Signal and control 2 turns
(control circuit) Non-shielded surement and control line
4 Motor cable (Servomo- 20 m Power supply inter- Signal and control 2 turns
tor) Shielded face line
5 EtherCAT communica- 20 m Signal interface Signal and control 1 turn
tions cable (ECAT IN) Shielded line
6 EtherCAT communica- 20 m Signal interface Signal and control 1 turn
tions cable (ECAT Shielded line
OUT)
7 Safety/control 20 m Signal interface Signal and control None
I/O cables Shielded line
20 m Signal interface Signal and control None
Shielded line
9 Encoder cable 20 m Signal interface Signal and control None
Shielded line
10 Brake interlock cable 20 m Signal interface Signal and control None
Non-shielded line

4 - 10 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 4 Configuration and Wiring

R88D-1SN10H-ECT

Ground plate

4-3 Wiring Conforming to EMC Directives

(1) CNA
L1 FG
NF L2
L3 SD CN7
B3 FC1
B2 (5)
P/B1 ECAT IN CN10
SG
N1
N2 (6)
(2) N3 ECAT OUT CN11
24V
FC1
FC1

CN1 (7) 4

4-3-1 Peripheral Equipment Connection Examples

PE
FG
U
CN12

CN2

V
W
FC2 CNC
(4)

(9)
(10)

DC
24 V
I/O slave

3-phase: 200 VAC SM Controller

• Provide single-point grounding of the ground plate for unit frame grounding as shown in the above
diagram.
• Use a protective earth wire with a minimum thickness of 2.5 mm2 and arrange the wiring so that the
protective earth wire is as short as possible.
• Install a surge absorber and noise filter near the main circuit connector of Servo Drive.
Separate I/O wires from each other for the wiring.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4 - 11

4 Configuration and Wiring

 Device Details

Symbol Name Manufacturer Model Remarks

SG Surge absorber Soshin Electric Co., LT-C32G801WS 3-phase 200 VAC
Ltd.
NF Noise filter Soshin Electric Co., HF3020C-SZC-33DDD 3-phase 200 VAC (20 A)
Ltd. *1

OMRON R88A-FI1S208 3-phase

R88D-1SN10H-ECT
SD Servo Drive OMRON R88D-1SN10H-ECT *2
SM Servomotor OMRON --- *2
FC1 Ferrite core NEC TOKIN ESD-SR-250 ---
FC2 Ferrite core SEIWA ELECTRIC E04SR301334 ---
MFG
--- I/O slave --- --- ---
--- Controller --- --- ---
*1. Consult Soshin Electric Co., Ltd. for the specifications.
*2. Refer to 2-3-2 Servo Drive and Servomotor Combination Tables on page 2-6 for Servo Drive and Servomotor
combinations.

 Cable Details

Max. cable Cable classification Ferrite

No. Interface
length, shield EN/IEC 61800-3 EN/IEC 61326-3-1 core
1 Power supply cable 3m Power supply port AC input power sup- None
(main circuit) Non-shielded ply port
2 Power supply cable 3m Port for process mea- Signal and control 2 turns
(control circuit) Non-shielded surement and control line
4 Motor cable (Servomo- 20 m Power supply inter- Signal and control 2 turns
tor) Shielded face line
5 EtherCAT communica- 20 m Signal interface Signal and control 1 turn
tions cable (ECAT IN) Shielded line
6 EtherCAT communica- 20 m Signal interface Signal and control 1 turn
tions cable (ECAT Shielded line
OUT)
7 Safety/control 20 m Signal interface Signal and control None
I/O cables Shielded line
20 m Signal interface Signal and control None
Shielded line
9 Encoder cable 20 m Signal interface Signal and control None
Shielded line
10 Brake Interlock cable 20 m Signal interface Signal and control None
Shielded line

4 - 12 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 4 Configuration and Wiring

R88D-1SN15H-ECT
CNB
Ground plate N3

4-3 Wiring Conforming to EMC Directives

N2
N1
(1) CNA P
L1 FG
NF L2
L3 SD CN7
B3 FC1
B2 (5)
B1 ECAT IN CN10
SG

(2) (6)
+24V ECAT OUT CN11
0V
- FC1
FC1
CND

4
CN1 (7)

PE

4-3-1 Peripheral Equipment Connection Examples

FG

FG
CN12

CN2

U
V
(4) W
CNC
(9)
(10)

DC
24V
I/O slave

3-phase: 200 VAC SM Controller

Note For single-phase inputs, connect between any two phases out of the following: L1, L2, and L3.

• Provide single-point grounding of the ground plate for unit frame grounding as shown in the above
diagram.
• Use a protective earth wire with a minimum thickness of 2.5 mm2 and arrange the wiring so that the
protective earth wire is as short as possible.
• Install a surge absorber and noise filter near the main circuit connector A of Servo Drive.
Separate I/O wires from each other for the wiring.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4 - 13

4 Configuration and Wiring

 Device Details

Symbol Name Manufacturer Model Remarks

SG Surge absorber Soshin Electric Co., LT-C32G801WS 3-phase 200 VAC
Ltd.
NF Noise filter Soshin Electric Co., HF3020C-SZC-33DDD 3-phase 200 VAC (20 A)
Ltd. *1

OMRON R88A-FI1S216 3-phase R88D-1SN15H-ECT

3-phase R88D-1SN20H-ECT
3-phase R88D-1SN30H-ECT
SD Servo Drive OMRON --- *2
SM Servomotor OMRON --- *2
FC1 Ferrite core NEC TOKIN ESD-SR-250 ---
--- I/O slave --- --- ---
--- Controller --- --- ---
*1. Consult Soshin Electric Co., Ltd. for the specifications.
*2. Refer to 2-3-2 Servo Drive and Servomotor Combination Tables on page 2-6 for Servo Drive and Servomotor
combinations.

 Cable Details

Max. cable Cable classification Ferrite

No. Interface
length, shield EN/IEC 61800-3 EN/IEC 61326-3-1 core
1 Power supply cable 3m Power supply port AC input power sup- None
(main circuit) Non-shielded ply port
2 Power supply cable 3m Port for process mea- Signal and control 2 turns
(control circuit) Non-shielded surement and control line
4 Motor cable (Servomo- 20 m Power supply inter- Signal and control None
tor) Shielded face line
5 EtherCAT communica- 20 m Signal interface Signal and control 1 turn
tions cable (ECAT IN) Shielded line
6 EtherCAT communica- 20 m Signal interface Signal and control 1 turn
tions cable (ECAT Shielded line
OUT)
7 Safety/control 20 m Signal interface Signal and control None
I/O cables Shielded line
20 m Signal interface Signal and control None
Shielded line
9 Encoder cable 20 m Signal interface Signal and control None
Shielded line
10 Brake Interlock cable 20 m Signal interface Signal and control None
Shielded line

4 - 14 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 4 Configuration and Wiring

Noise Filter for Power Input

The following noise filters are recommended for Servo Drives.
The noise filter comes in two types: book type and footprint type. Both types conform to the EMC Direc-

4-3 Wiring Conforming to EMC Directives

tives.

Applicable Servo Drive Book-type Noise Filter*1

Rated
Phase Model Model Leakage current Manufacturer
current
Single- R88D-1SN-E HF2020A-SZC-33 20 Arms 8.5 mA max. Soshin Electric
phase CT DDD (at 250 VAC 60 Hz) Co., Ltd.
3-phase R88D-1SNH-E HF3020C-SZC-33 20 Arms 3.5 mA max.
CT DDD (at 400 VAC 50 Hz by
UL1283*2),
4.0 mA max.
(at 200 VAC 60 Hz, delta
connection and
single-phase ground)
*1. Consult Soshin Electric Co., Ltd. for the specifications.
4
*2. When you use a neutral grounded 3-phase power supply, the leakage current does not flow normally.

Applicable Servo Drive Footprint-type Noise Filter

4-3-1 Peripheral Equipment Connection Examples

Rated Manu-
Phase Voltage Model Model Leakage current
current facturer
Single- 200 V R88D-1SN01H-ECT R88A-FI1S103 3 Arms 6.6 mA (at 200 OMRON
phase R88D-1SN02H-ECT VAC 60Hz)
R88D-1SN04H-ECT R88A-FI1S105 5 Arms
R88D-1SN08H-ECT R88A-FI1S109 9 Arms
R88D-1SN15H-ECT R88A-FI1S116 16 Arms
3-phase 200 V R88D-1SN01H-ECT R88A-FI1S202*1 2 Arms 35 mA
R88D-1SN02H-ECT (at 200 VAC 60Hz,
with delta connec-
tion and single
phase ground)
R88D-1SN01H-ECT R88A-FI1S203*1 3 Arms 14 mA
R88D-1SN02H-ECT (at 200 VAC 60Hz,
R88D-1SN04H-ECT with delta connec-
R88D-1SN08H-ECT R88A-FI1S208 8 Arms tion and single
R88D-1SN10H-ECT phase ground)
R88D-1SN15H-ECT R88A-FI1S216 16 Arms
*1. Select a Noise Filter in accordance with the amount of the leakage current. If there is no problem with the
amount of the leakage current, you can select the R88A-FI1S202.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4 - 15

4 Configuration and Wiring

• If the molded case circuit breaker is located in an upper area and the power supply is wired through
the duct at the bottom, keep a sufficient distance between the input wires and internal wires, or use
the metal tubing for wiring. If input and output cables are placed in the same duct, the noise immunity
will be impaired.
• Place the noise filter as close as possible to the opening of the control panel. Use the diagram below
to the left for wiring.

Separate I/O Noise filter less effective

AC input AC output AC input

1 NF 4 1 NF 4
2 5 2 5
3 E 6 3 E 6
Ground
Ground
AC output

• The power cables must be twisted or tightly bundled.

Twist Servo Drive Tight bundle Servo Drive

L1
L1
L2
L2
L3
Bundle
• Wire the power and signal lines separately.

 External Dimensions of Book-type Noise Filter

HF2020A-SZC-33DDD/HF3020C-SZC (-33DDD)

R2.25 × 6
12.5 12.5

55
66
10.5

210 78
220 4.5 dia.

4 - 16 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 4 Configuration and Wiring

 Circuit Diagram of Book-type Noise Filter

HF2020A-SZC-33DDD
LINE LOAD

4-3 Wiring Conforming to EMC Directives

(PE)

HF3020C-SZC-33DDD

LINE LOAD

(PE)
4

4-3-1 Peripheral Equipment Connection Examples

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4 - 17

4 Configuration and Wiring

4-3-2 Selecting Connection Component

This section describes the criteria for selecting connection components that are required to improve
noise immunity.
Thoroughly understand the characteristics such as capacity, performance, and the range of application
of the connection components before you select them.
Consult the manufacturer for details of the parts.

Molded Case Circuit Breaker (MCCB)

Select a molded case circuit breaker based on the maximum input current and inrush current.

 Maximum input current

• The momentary maximum output of the Servo Drive is approximately three times as much as the
rated output, and the maximum output duration is three seconds.
Therefore, select a molded case circuit breaker which can operate 10 seconds or more at 300% of
the rated current.
• Select a molded case circuit breaker with a rated current larger than the sum of the effective load
current (when multiple Servo Drives are used). Refer to Main Circuit and Motor Connections on
page 3-4 for the rated current of the power supply input for each motor.
• When you select a molded case circuit breaker, add the current consumption by other devices
such as the Controller.

 Inrush Current
• The following table shows the inrush current of the Servo Drives.
• The amount of inrush current that a low-speed type molded case circuit breaker can flow for 0.02
seconds is approximately 10 times higher than the rated current.
• To turn ON the power supply for multiple Servo Drives simultaneously, select a molded case cir-
cuit breaker whose allowable current in 20 ms is larger than the sum of the inrush currents shown
in the following table.
• The inrush current of the control power supply is limited by the output capacity of the DC power
supply in use.

Inrush current (Ao-p)

Servo Drive model
Main circuit power supply
R88D-1SN01H-ECT 16 A*1
R88D-1SN02H-ECT 16 A*1
R88D-1SN04H-ECT 16 A*1
R88D-1SN08H-ECT 16 A*1
R88D-1SN10H-ECT 16 A*1
R88D-1SN15H-ECT 29 A
*1. If an external regeneration resistor is attached, the inrush
currents of the main circuit power supplies in the above table
will be increased.
(Increase in current = √2 × main circuit power supply volt-
age/external regeneration resistance)

4 - 18 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 4 Configuration and Wiring

The value of the inrush current varies depending on the input voltage to the Servo Drive. The values
shown above are for the following input voltages.

Main circuit power

Model
supply voltage
R88D-1SNH-ECT 240 VAC

4-3 Wiring Conforming to EMC Directives

Leakage Breaker
• Select a leakage breaker which is made for high frequency and surge resistance.
• When you determine the threshold value for leakage current detection, add the total leakage current
from all devices that are connected to the same breaker.
• Refer to the catalogs from the manufacturers for details on how to select a leakage breaker and
ensure a sufficient margin.

Servo Drive Servomotor

Leakage current Increase per 10 m of
model model Input power
(3 m cable) cable length
(R88D-) (R88D-)
1SN01H-ECT 1M10030H Single-phase 200 V 1.5 mA 1.3 mA 4
3-phase 200 V
1SN02H-ECT 1M20030H Single-phase 200 V

4-3-2 Selecting Connection Component

3-phase 200 V
1SN04H-ECT 1M40030H Single-phase 200 V
3-phase 200 V
1SN08H-ECT 1M75030H Single-phase 200 V
3-phase 200 V
1SN10H-ECT 1L1K030H 3-phase 200 V
1M1K020H 3-phase 200 V
1SN15H-ECT 1L1K530H Single-phase 200 V 2.2 mA 1.9 mA
3-phase 200 V
1M1K520H Single-phase 200 V
3-phase 200 V
Note These values vary greatly depending of the installation conditions of the motor power cable and the mea-
surement conditions. Use the values just as a reference.

Surge Absorber
• Use a surge absorber to absorb the lightning surge voltage and the abnormal voltage from the power
input line.
• The following table gives the recommended surge absorber specifications.

Recommended
Servo Drive voltage Surge current tolerance Recommended model
manufacturer
Single-phase 200 VAC 410 V±20%, 2500 A Soshin Electric Co., Ltd. LT-C12G801WS
3-phase 200 VAC 410 V±20%, 2500 A Soshin Electric Co., Ltd. LT-C32G801WS

Note 1. Refer to the catalogs from the manufacturer for how to use.
2. The surge current tolerance is the value for the standard impulse current of 8/20 μs. For a greater pulse
width, reduce the current or change the surge absorber to the one with a higher capacity.
3. Select a CSA-certified product when you use a surge absorber.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4 - 19

 4 Configuration and Wiring

 External Dimensions
For single-phase For 3-phase
Separator Separator
operation indicator operation indicator

25

25
33.5

33.5
4

4
a.
a.

di
di

19 19

3
3

4.
4.

Lead wire (L3) Lead wire (L1) Lead wire (L3) Lead wire (L2) Lead wire (L1)

Ground wire Ground wire

250

250
Case Case

28

28
4

4
38 22.5 38 22.5

 Equivalent Circuit
For single-phase For 3-phase

Thermal fuse
Thermal fuse
ZnO element
ZnO element

Discharging gap Discharging gap

4 - 20 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 4 Configuration and Wiring

Surge Suppressors
• Install surge suppressors for a load with an induction coil such as a relay, solenoid, and clutch.
• The following table gives the types of surge suppressors and the recommended products.

4-3 Wiring Conforming to EMC Directives

Type Feature Recommended product
Diode Diodes are used for relatively small loads Use a high-speed diode, especially the
such as relays when the reset time is not fast-recovery diode with short reverse
an issue. recovery time such as RU2 made by San-
The surge voltage at power cutoff is the ken Electronic Co., Ltd.
lowest, but the reset time takes longer.
Used for 24/48-VDC systems.
Varistor Thyristors and varistors are used for Select the varistor voltage according to
loads when an induction coil is large, as in the following list.
a solenoid, and when reset time is an • 24-VDC type: varistor voltage 39 V
issue.
• 100-VDC type: varistor voltage 200 V
The surge voltage at power cutoff is • 100-VAC type: varistor voltage 270 V
approximately 1.5 times the varistor volt-
• 200-VAC type: varistor voltage 470 V
age.
4
Capacitor and The combination of capacitor and resistor Okaya Electric Industries Co., Ltd.
resistor is used to absorb vibration in the surge at XEB12002 0.2 μF - 120 Ω
power cutoff. You can shorten the reset

4-3-2 Selecting Connection Component

XEB12003 0.3 μF - 120 Ω
time by selecting the appropriate capaci-
tance and resistance.
• The manufacturer of varistor is shown below. Refer to the catalogs from the manufacturer for details.
Varistor: SEMITEC Corporation, Panasonic Corporation

Contactor
Select a contactor based on the inrush current that flows through circuits and the maximum momentary
phase current.
For details on the inrush current of the Servo Drives, refer to Molded Case Circuit Breaker (MCCB) on
page 4-18.

Improving Noise Immunity of Control I/O Signals

The I/O signals may malfunction if control I/O is affected by noise.
• Use the control I/O power supply (especially 24 VDC) which is completely separated from the exter-
nal power supply used for operation. Especially, be careful not to connect the ground wires of these
two power supplies.
• Install a noise filter on the primary side of the control I/O power supply.
• When you use a motor with a brake, do not share the 24 VDC power supply between the brake and
the control I/O (24 VDC). Also, do not connect the ground wires. Doing so may cause I/O signals to
malfunction.
• If there is a long wiring for the control I/O power supply, you can improve its noise immunity by adding
an approximately 1-µF laminated ceramic capacitor between the control I/O power supply and the
ground at the Servo Drive's input section or the Controller's output section.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 4 - 21

4 Configuration and Wiring

Reactor for Harmonic Current Reduction

 Countermeasure against Harmonic Current
• Use a reactor to suppress the harmonic current. A reactor can suppress a sharp change in cur-
rent.
• Select the reactor according to the model of your Servo Drive.

Applicable Servo Drive DC Reactor

Rated Inductance
Voltage Model Model
current (0% to 20%)
200 VAC R88D-1SN01H-ECT R88A-PD2002 1.6 A 21.4 mH
R88D-1SN02H-ECT
R88D-1SN04H-ECT R88A-PD2004 3.2 A 10.7 mH
R88D-1SN08H-ECT R88A-PD2007 6.1 A 6.75 mH
R88D-1SN10H-ECT R88A-PD2015 9.3 A 3.51 mH
R88D-1SN15H-ECT

 DC Reactor Connection
As shown in the following figure, remove the short-circuit wire between N1 and N2, and connect the
DC Reactor between N1 and N2.
Servo Drive DC Reactor

N1 U

N2 X

Remove the short-circuit wire between N1 and N2.

4 - 22 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Details on Servo Parameters
This section explains the details on Servomotor-related parameters, including the set
values, settings, and the display.
For the details on Servo Drive-related parameters, refer to the AC Servomotors/Servo
Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586).

5
5-1 Object Description Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-2 External Device-related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-3 Encoder-related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 5-1
5 Details on Servo Parameters

5-1 Object Description Format

The 1S-series Servo Drives with built-in EtherCAT communications use the servo parameters that are
defined with objects. For information on the objects, refer to 1-1-3 Object Dictionary on page 1-4.
In this manual, objects are described in the following format.

Data
Index Subindex Object Setting Default PDO Complete Modes of
Unit attri- Size Access
(hex) (hex) name range setting map access operation
bute
<Index> <Subindex> <Object <Range> <Unit> <Default> <Attri- <Size> <Access> <PDO <Complete <Modes of
name> bute> map> access> operation>

Data is indicated in pointed brackets <>. Details on data are as follows.

Item Description
Index Object index given by a four-digit hexadecimal number.
Subindex Object subindex given by a two-digit hexadecimal number.
Object name The object name. For a subindex, the subindex name is given.
Setting range Indicates the range of data that can be set for a writable object.
Unit Physical units.
Default setting Default value set before shipment.
Data attribute The timing when a change in the contents is updated for a writable object.
A: Always updated
D: Possible to change only when the EtherCAT communications state is Pre-Opera-
tional (Pre-Op)
E: Servo ON
R: Updated after the control power is reset or restarted
–: Write prohibited
Size Gives the object size.
Access Indicates whether the object is to read only, or read and write.
RO: Read only
RW: Read and write (Saved in non-volatile memory)
W: Read and write (Not saved in non-volatile memory)
PDO map Indicates the PDO mapping attribute.
RxPDO: Reception PDOs can be mapped
TxPDO: Transmission PDOs can be mapped
–: PDOs cannot be mapped
Complete access Indicates whether Complete access is allowed or not.
Modes of operation The profile mode in which the object is enabled.
–: Independent of the Modes of operation
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
pp: Profile position mode
pv: Profile velocity mode
hm: Homing mode

5-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 5 Details on Servo Parameters

Mirror Objects
For 1S-series Servo Drives, a special object called “mirror object” is defined.
A mirror object enables access to the same object from different object numbers. Accessing the mirror
object and accessing the original object cause the same operation.
More specifically, the mirror objects are used to assign the Servo Drive profile objects (index number
6000s) to the servo parameter objects (index number 3000s to 4000s).

5-1 Object Description Format

5

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 5-3
5 Details on Servo Parameters

5-2 External Device-related Objects

These objects are used for the motor information display.

Sub- Data Modes

Index Setting Default PDO Complete
index Object name Unit attri- Size Access of oper-
(hex) range setting map access
(hex) bute ation
4410 --- Motor Identity --- --- --- --- --- --- --- Possible ---
00 Number of entries --- --- FF hex --- 1 byte RO --- --- ---
(U8)
81 Motor Model --- --- --- --- 20 bytes RO --- --- ---
(VS)
82 Serial Number --- --- --- --- 16 bytes RO --- --- ---
(VS)
83 Last Connected --- --- --- --- 20 bytes RO --- --- ---
Motor Model (VS)
84 Last Connected --- --- --- --- 16 bytes RO --- --- ---
Serial Number (VS)
90 Motor Type --- --- --- --- 2 bytes RO --- --- ---
(U16)
92 Motor Manufacturer --- --- --- --- 20 bytes RO --- --- ---
(VS)
F1 Motor Setup --- --- 0 A 4 bytes W --- --- ---
(INT32)
FF Setup Status --- --- --- --- 4 bytes RO --- --- ---
(INT32)

Subindex 81 hex: Motor Model

• Gives the model of the motor which is connected to the Servo Drive.

Subindex 82 hex: Serial Number

• Gives the serial number of the motor which is connected to the Servo Drive.

Subindex 83 hex: Last Connected Motor Model

• Gives the model of the motor which was connected the last time.

Subindex 84 hex: Last Connected Serial Number

• Gives the serial number of the motor which was connected the last time.

Subindex 90 hex: Motor Type

• Gives the type of connected motor.
• Mirror object of 6402 hex

5-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 5 Details on Servo Parameters

Subindex 92 hex: Motor Manufacturer

• Gives the motor manufacturer name.
• Mirror object of 6404 hex

Subindex F1 hex: Motor Setup

• The Motor ID Setup is executed by the writing of 7465 736D hex.

5-2 External Device-related Objects

Subindex FF hex: Setup Status
• Gives the execution status of Motor Setup.

 Description of Set Values

Set value Description

0 Setup is not executed or completed
1 Setup in execution

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 5-5
5 Details on Servo Parameters

5-3 Encoder-related Objects

These objects are used for the encoder setting.

Sub- Data Modes of

Index Setting Default PDO Complete
index Object name Unit attri- Size Access opera-
(hex) range setting map access
(hex) bute tion
4510 --- Encoder --- --- --- --- --- --- --- Possible ---
00 Number of --- --- FF hex --- 1 byte RO --- --- ---
entries (U8)
01 Operation Selec- 0 to 2 --- 2 R 4 bytes RW --- --- ---
tion when Using (INT32)
Absolute
Encoder
02 Absolute 0 to 32,767 rotation 32,000 A 4 bytes RW --- --- ---
Encoder Counter (INT32)
Overflow Warn-
ing Level
81 Serial Number --- --- --- --- 16 bytes RO --- --- ---
(VS)
82 Resolution per --- --- --- --- 4 bytes RO --- --- ---
Rotation (INT32)
84 One-rotation --- Encoder --- --- 4 bytes RO --- --- ---
Data unit (U32)
85 Multi-rotation --- rotation --- --- 4 bytes RO --- --- ---
Data (INT32)
86 Encoder Com- --- --- --- --- 4 bytes RO --- --- ---
munications (INT32)
Error Count
87 Electric Angle --- ° --- --- 4 bytes RO --- --- ---
(INT32)
88 Mechanical --- ° --- --- 4 bytes RO --- --- ---
Angle (U32)
89 Encoder Tem- --- °C --- --- 4 bytes RO --- --- ---
perature (INT32)
F1 Absolute 0000 0000 --- 0 A 4 bytes W --- --- ---
Encoder Setup to (U32)
FFFF FFFF
hex
F2 Encoder Com- 0000 0000 --- 0 A 4 bytes W --- --- ---
munications to (U32)
Error Count FFFF FFFF
Clear hex
FF Clear Status --- --- --- --- 4 bytes RO --- --- ---
(U32)

Subindex 01 hex: Operation Selection when Using Absolute

Encoder
• Selects the operating method for the absolute encoder.

 Description of Set Values

• When you use the Incremental Encoder Type Servomotors, you do not need to set this object.

Set value Description

0 Use as the absolute encoder
1 Use as the incremental encoder
2 Used as the absolute encoder and ignore the absolute encoder counter overflow.

5-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 5 Details on Servo Parameters

Subindex 02 hex: Absolute Encoder Counter Overflow Warning

Level
• Sets the level to notify the warning.
• When the Operation Selection when Using Absolute Encoder is set to 0 (use as the absolute
encoder), if the absolute value of encoder multi-rotation number exceeds the set value, the Absolute
Encoder Counter Overflow Warning is output.

Subindex 81 hex: Serial Number

• Gives the encoder serial number.

5-3 Encoder-related Objects

Subindex 82 hex: Resolution per Rotation
• Gives the resolution per rotation.

Subindex 84 hex: One-rotation Data

• Gives the one-rotation position of the encoder. When the phase-Z position is 0, if the motor rotates
counterclockwise as viewed from the motor load side, the encoder value increases.
5
Subindex 85 hex: Multi-rotation Data
• Gives the number of encoder rotations. The encoder value increases each time the motor rotates
counterclockwise as viewed from the motor load side.
• When you use the Incremental Encoder Type Servomotors, the encoder value is always set to 0.

Subindex 86 hex: Encoder Communications Error Count

• Obtains the total number of encoder errors via serial communications.

Subindex 87 hex: Electric Angle

• Gives the electric angle.
• In the counterclockwise rotation, 0° indicates the position which is the zero cross point (rising) of the
phase-U inductive voltage.
• The encoder value increases when the motor rotates counterclockwise, and the display range is from
0 to 359°.

Subindex 88 hex: Mechanical Angle

• Gives the one-rotation data of the encoder as the mechanical angle.
• The encoder value increases when the motor rotates counterclockwise, and the display range is from
0 to 359°.

Subindex 89 hex: Encoder Temperature

• Gives the internal temperature of the encoder which is mounted on the motor, or the internal tem-
perature of the motor.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 5-7
5 Details on Servo Parameters

Subindex F1 hex: Absolute Encoder Setup

• Clears the multi-rotation counter of the absolute encoder. Clear is executed by the writing of
6A64 6165 hex to this object.
• When you use the Incremental Encoder Type Servomotors, clear is not executed.

Subindex F2 hex: Encoder Communications Error Count Clear

• Clears the Encoder Communications Error Count. Clear is executed by the writing of 1 to this object.

Subindex FF hex: Clear Status

• Gives the status of the multi-rotation counter of the absolute encoder and Encoder Communications
Error Count Clear.

 Description of Set Values

Set value Description

Bit 0 Status of Absolute Encoder Setup
0 Clear is not executed or completed
1 Clear in execution
Bit 1 Status of Encoder Communications Error Count Clear
0 Clear is not executed or completed
1 Clear in execution

5-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Operation
This section provides the operational procedure and explains how to operate in each
mode.

6-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-2 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6-2-1 Items to Check Before Turning ON the Power Supply . . . . . . . . . . . . . . . . . . 6-3
6-2-2 Turning ON the Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-2-3 Checking the Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6
6-3 Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-3-1 Preparations for Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-3-2 Test Run via USB Communications from the Sysmac Studio . . . . . . . . . . . . . 6-8

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 6-1
6 Operation

6-1 Operational Procedure

Perform installation and wiring correctly, and turn ON the power supply to check the operation of the
individual Servomotor and Servo Drive.
Then make the function settings as required according to the use of the Servomotor and Servo Drive.
If the objects are set incorrectly, there is a risk of unexpected motor operation, which can be dangerous.
Set the objects accurately according to the setting methods in this manual.

Item Description Reference

Install the Servomotor and Servo Drive according to the installation
Installation and conditions. Do not connect the Servomotor to mechanical systems Section 4, 4-1
mounting
before checking the operation without any load.

Connect the Servomotor and Servo Drive to the power supply and
Wiring and con- peripheral equipment. Section 4, 4-2
nections Satisfy specified installation and wiring conditions, particularly for
models that conforms to the EU Directives.

Check the necessary items and then turn ON the commercial

Preparing for power supply.
Section 6, 6-2
operation Check on the display to see whether there are any internal errors
in the Servo Drive.

Function set- Set the objects related to the functions required for application
Section 5
tings conditions.

First, check motor operation without any load. Then turn the power
supply OFF and connect the Servomotor to mechanical systems.
Execute the Unit Restart or cycle the power supply, and check to
Test run see whether protective functions, such as the immediate stop and Section 6, 6-3
operational limits, operate properly.
Check operation at both low speed and high speed using the sys-
tem without a workpiece, or with dummy workpieces.

Manually adjust the set values of objects such as gain if neces-

Adjustment I586
sary.

Operation can now be started.

Operation If any problems should occur, refer to Section 7 Troubleshooting. Section 7
Perform homing after the power supply is turned ON.

6-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 6 Operation

6-2 Preparing for Operation

This section explains the procedure that you perform to prepare the system for operation after installa-
tion and wiring of the Servomotor and Servo Drive are completed. It explains items to check both before
and after turning ON the power supply.

6-2-1 Items to Check Before Turning ON the Power Supply

Checking Power Supply Voltage

Check to be sure that the power supply voltage is within the ranges shown below.

Main circuit Control circuit

Model

6-2 Preparing for Operation

power supply power supply
R88D-1SN01H-ECT/-1SN02H-ECT/ Single-phase/ 24 VDC (21.6
-1SN04H-ECT/-1SN08H-ECT/-1SN15H-ECT 3-phase 200 to 240 to 26.4 V)
(Single-phase/3-phase 200-VAC input) VAC (170 to 252 V)
50/60 Hz
R88D-1SN10H-ECT 3-phase 200 to 240 24 VDC (21.6
(3-phase 200-VAC input) VAC (170 to 252 V) to 26.4 V)
50/60 Hz

Checking Terminal Block Wiring 6

• The main circuit power supply inputs (L1/L2/L3) must be properly connected to the terminal block.

6-2-1 Items to Check Before Turning ON the Power Supply

• The control circuit power supply inputs (24V, or +24 V, 0V) must be properly connected to the ter-
minal block.
• The motor’s red (U), write (V), and blue (W) power lines and the green ( ) must be properly con-
nected to the terminal block.

Checking the Servomotor

• There should be no load on the Servomotor. Do not connect mechanical systems.
• The Servomotor side power lines and the power cables must be securely connected.

Checking the Encoder Wiring

• The encoder cable must be securely connected to the encoder connector (CN2) at the Servo Drive.
• The encoder cable must be securely connected to the encoder connector of the Servomotor.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 6-3
6 Operation

Checking the EtherCAT Communications Connectors

Do not connect the EtherCAT Communications Cables to the EtherCAT Communications Connectors
(ECAT IN and ECAT OUT).

Checking the Node Address Setting

Make sure that the node address is correctly set on the ID switches.

7-segment LED display

CN7

ID
01 2 01
EF EF
23

23345
CD

ID switches
CD
45

45
AB

AB

67 67
89 89
x16 x1

Status indicators

Description
ID switch setting Connection to NJ/NX-series CPU Unit or
Position Control Unit (Model: CJ1W-NC8)
00 The controller sets the node address.
01 to FF The ID switches set the node address.

Precautions for Correct Use

The ID switch setting is read only once when the Unit power supply is turned ON. Although the
setting is changed after the Unit power supply is ON, it is not reflected in the control. It is
enabled the next time the Unit power supply is turned ON.

6-2-2 Turning ON the Power Supply

Turn ON the control circuit power after you finish the checks which you must conduct before turning ON
the power supply. You can turn ON the main circuit power, but it is not a required.

6-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 6 Operation

6-2-3 Checking the Displays

7-segment LED Display

The following figure shows the 7-segment LED display located on the front panel.
When the power is turned ON, it shows the node address that is set by the ID switches. Then the
display changes according to the setting of the LED Display Selection (4210-01 hex).
An error code is displayed if an error occurs. A warning code is displayed if a warning occurs.
Control circuit power ON

Fully OFF

6-2 Preparing for Operation

Fully ON

Node address (set value of the ID switch) display (1 s)

Example: upper digit (×16) = 0 and lower digit (×1) = 3

● LED Display Selection (4210-01 hex) set to 0

6

[- -]

6-2-3 Checking the Displays

Main circuit power ON Main circuit power OFF

[- -] + Dot on right lights.

Servo ON Servo OFF

[OE] + Dot on right lights. (OE = Operation Enabled)

● LED Display Selection (4210-01 hex) set to a value other than 0

. The display of data that is selected in LED

Display Selection
Main circuit power ON Main circuit power OFF

Dot on right lights.

Servo ON Servo OFF

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 6-5
6 Operation

Error occurs
Error reset
Warning occurs

● Error display and warning display

The preset character, main code and sub code are displayed in turns.
Example) Encoder Communications Error: 2101 hex

[ER] Error No. Error No.

(1 s) Main (1 s) Sub (1 s)

● Information display
ST is displayed.
Example) STO Detected: C000 hex

[ST]
(1 s)

The node address is displayed as follows.

Node address Expression Display example

0 to 255 Expressed as 2-digit hexa-
decimal numbers from “0”
to “FF”.
1 255 (FF hex)
256 to 511 The dot of the indicator is
lit. The address is
expressed as numbers from
“.0” to “F.F”.
256 (100 hex) 511 (1FF hex)
512 or more Expressed as “0.0”.

512 or more

Numbers from 0 to F hex are displayed as follows.

0 1 2 3 4 5 6 7 8 9 A B C D E F

EtherCAT Status Indicators

Check the status of the status indicators.
If the RUN indicator does not turn ON or the ERR indicator does not turn OFF, refer to AC Servomo-
tors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586).

6-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 6 Operation

6-3 Test Run

When you finished installation, wiring, and switch settings, and confirmed that the status was normal
after turning ON the power supply, perform test run. The main purpose of test run is to confirm that the
servo system operation is electrically correct.
If an error occurs during test run, refer to Section 7 Troubleshooting and eliminate the cause. Then check
for safety, and retry test run.

6-3-1 Preparations for Test Run

Inspections Before Test Run

Check the following items.

 Wiring
• Make sure that there are no wiring errors (especially for the power supply input and motor output).

6-3 Test Run

• Make sure that there are no short circuits. (Check the ground for short circuits as well.)
• Make sure that there are no loose connections.
• Make sure that the EtherCAT cable is pulled out.

 Power Supply and Voltage

• Make sure that the power voltage is within the specified range. 6
• Make sure that there is no voltage fluctuation.

6-3-1 Preparations for Test Run

 Servomotor Installation
• Make sure that the Servomotor is securely installed.

 Disconnection from Mechanical Systems

• If necessary, make sure that the load is disconnected from mechanical systems.

 Brake Released
• Make sure that the brake is released.

 Connection to Mechanical Systems

• Make sure that the load and Servomotor shaft are properly aligned.
• Make sure that the load on the Servomotor shaft is within specifications.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 6-7
6 Operation

6-3-2 Test Run via USB Communications from the Sysmac Studio
1 Connect a sensor or other device to the control I/O connector (CN1).

2 Turn ON the Servo Drive power supply.

3 Connect a USB cable to the USB connector (CN7).

4 Start the Sysmac Studio and go online with the Servo Drive via USB communications.

5 In the Sysmac Studio, right-click the target Servo Drive under Configurations and Setup, and
select Test Run.

6 Click the Servo ON button to apply the servo lock to the Servomotor.

7 Click the or button to start the Servomotor.

For how to use the Sysmac Studio, refer to the Sysmac Studio Drive Functions Operation Manual (Cat.
No. I589).

Precautions for Correct Use

• A test run can be performed in the Profile position mode (pp) or Profile velocity mode (pv). If
the torque compensation is set, the axes move because the compensation command is out-
put when the Servo is turned ON.
• When you perform a test run via USB communications, pull out the EtherCAT cable before
you turn ON the power supply to the Servo Drive.
• When you perform a test run from the Sysmac Studio without EtherCAT connection, you can-
not use the STO function via EtherCAT communications. If you need the STO function, use
the STO function via safety input signals. In this case, display the test run pane so that you
can reset STO status via safety input signals.
• If you need EtherCAT connection while you perform a test run from the Sysmac Studio with-
out EtherCAT connection, first terminate the test run function and then perform EtherCAT
connection.

Additional Information

When you use an NJ/NX-series CPU Unit, you can perform a test run from the Sysmac Studio
via EtherCAT. In this case, you can use the STO function via EtherCAT communications.

6-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Troubleshooting
This section explains the items to check when problems occur, and troubleshooting by
the use of error displays or operation state.

7-1 Actions for Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7-1-1 Preliminary Checks When a Problem Occurs . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7-1-2 Precautions When a Problem Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7-1-3 Replacing the Servomotor or Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7-2 Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7-2-1 Related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7-2-2 Warning List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7-3 Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 7
7-3-1 Error List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
7-3-2 Deceleration Stop Operation at Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7-4 Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7-4-1 Related Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7-4-2 Information List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
7-5-1 Troubleshooting Using Error Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
7-5-2 Troubleshooting Using AL Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
7-5-3 Troubleshooting Using the Operation State . . . . . . . . . . . . . . . . . . . . . . . . . 7-39

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7-1
7 Troubleshooting

7-1 Actions for Problems

If any problems should occur, take the following actions.

7-1-1 Preliminary Checks When a Problem Occurs

This section explains the preliminary checks required to determine the cause of a problem if one
occurs.

Checking the Power Supply Voltage

Check the voltage at the power supply input terminals.
Input terminal Model Voltage
Main circuit power R88D-1SNH-ECT Single-phase/3-phase 200 to 240 VAC (170 to 252 V)*1
supply input (L1, L2, 50/60 Hz
L3)
Control Circuit Power --- 24 VDC (21.6 to 26.4V)
Supply Input Termi-
nals (24 V, or +24 V,
0V)
*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range
of acceptable variation. If the voltage is out of this range, operation failure may result. Be sure that the power
supply is within the specified range.

Make sure that the power supply voltage for control input signals is within the range of 12 VDC-5% to
24 VDC+5%, and the power supply voltage for safety input signals is within the range of 24 VDC±5%.
If the voltage is out of this range, operation failure may result. Be sure that the power supply is within
the specified range.

Checking the Error Occurrence

Check whether an error exists by the use of the 7-segment LED display on the front of the Servo Drive
or from the Sysmac Studio.

 When an Error Exists

Check the error display () and make an analysis based on the error that is indicated.
Refer to 7-5-1 Troubleshooting Using Error Displays on page 7-14.

 When an Error Does Not Exist

Make an analysis according to the error conditions.
Refer to 7-5-3 Troubleshooting Using the Operation State on page 7-39.

7-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 7 Troubleshooting

The following figure shows the 7-segment display when an error exists.

● Error display and warning display

The preset character, main code and sub code are displayed in turns.
Example) Encoder Communications Error: 2101 hex

[ER] Error No. main Error No. sub

(1 s) (1 s) (1 s)

● Information display
ST is displayed.
Example) STO Detected: C000 hex

[ST]
(1 s)

7-1 Actions for Problems

Numbers from 0 to F hex are displayed as follows.

0 1 2 3 4 5 6 7 8 9 A B C D E F

7-1-2 Precautions When a Problem Occurs

When you check and verify I/O after a problem occurred, the Servo Drive may suddenly start to operate 7
or suddenly stop, so always take the following precautions.
You should assume that anything not described in this manual is not possible with this product.

7-1-2 Precautions When a Problem Occurs

Precautions
• Disconnect the wiring before checking for cable breakage. If you test conduction with the cable con-
nected, test results may not be accurate due to conduction via bypassing circuit.
• If the encoder signal is lost, the Servomotor may run away, or an error may occur. Be sure to discon-
nect the Servomotor from mechanical systems before you check the encoder signal.
• When you perform tests, first check that there are no persons in the vicinity of the equipment, and
that the equipment will not be damaged even if the Servomotor runs away.
Before you perform the tests, verify that you can immediately stop the machine by the use of func-
tions such as the immediate stop in case the machine runs out of control.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7-3
7 Troubleshooting

7-1-3 Replacing the Servomotor or Servo Drive

Use the following procedure to replace the Servomotor or Servo Drive.

Replacing the Servomotor

1 Replace the Servomotor.

2 In the position control, perform origin adjustment.

• When you replace the motor, the motor’s origin position (phase Z) may deviate, so you must
perform origin adjustment.
• Refer to the position controller’s manual for details on performing origin adjustment.

Additional Information

With the Sysmac Studio, you can clear the Motor Operating Time retained by the Servo Drive.

Replacing the Servo Drive

1 Take a record of all object settings.

Use the Sysmac Studio to read all of the servo parameters in the Parameters tab page and save
them in a file.

2 Replace the Servo Drive.

3 Set the objects.

Use the Sysmac Studio to write all of the servo parameters in the Parameters tab page.

4 Perform the Motor Setup.

• When the Motor Replacement Detected (Error No. 95.05) occurs on the Servo Drive, use the
Sysmac Studio to clear the Motor Replacement Detected.
• When you use the Incremental Encoder Type Servomotors, you do not need to perform the
Motor Setup.

Precautions for Correct Use

• Confirm that the charge lamp is not lit before you perform replacement of the Servo Drive.
• Usually, it takes at least 10 minutes to discharge electricity.
• The models with a regeneration resistor can discharge electricity in a short period of time
when there is no error in its circuits and the main circuit power supply is cut off while the con-
trol power supply is ON.

7-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 7 Troubleshooting

Clearing Motor Replacement Detected

When you use the Incremental Encoder Type Servomotors, you do not need to perform the following
procedure.

1 Start the Sysmac Studio and go online with the Servo Drive via EtherCAT or USB communica-
tions.

2 In the Sysmac Studio, right-click the target Servo Drive under Configurations and Setup, and
select Motor and Encoder.

3 Click the Reset Motor Replacement Detection error button in the Encoder Properties pane.

4 Execute the Unit Restart or turn the control power supply to the Servo Drive OFF and then ON
again.

7-1 Actions for Problems

7

7-1-3 Replacing the Servomotor or Servo Drive

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7-5
7 Troubleshooting

7-2 Warnings
This function outputs a warning signal to enable you to check a state such as an overload before an
error occurs.
With Warning Customization (4020 hex), you can select whether or not to detect warnings and
whether or not to hold the warning state. Also, you can set this object to be notified of warnings as
errors.
If Warning Customization - Warning Hold Selection (4020-04 hex) is set to a not hold, a warning is
cleared automatically when the cause of warning is eliminated. If it is set to a hold, perform the normal
procedure to clear errors after you remove the cause of the error.

7-2-1 Related Objects

Subindex Refer-
Index (hex) Name Description
(hex) ence
4020 --- Warning Customi- Sets the warning detection function. I586
zation
01 Warning Mask 1 When a bit is set to 1, the detection of the corresponding I586
Selection warning is disabled.
bit 0: Overload Warning
bit 1: Regeneration Overload Warning
bit 2: Encoder Communications Warning
bit 3: Motor Vibration Warning
bit 4: Capacitor Lifetime Warning
bit 5: Inrush Current Prevention Relay Lifetime Warning
bit 7: Brake Interlock Output Relay Lifetime Warning
bit 9: Lifetime Information Corruption Warning
bit 10: Encoder Lifetime Warning
bit 11: Fan Rotation Warning
bit 12: Absolute Encoder Counter Overflow Warning
03 Warning Mask 3 When a bit is set to 1, the detection of the corresponding I586
Selection warning is disabled.
bit 0: Data Setting Warning
bit 1: Command Warning
bit 2: EtherCAT Communications Warning

7-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 7 Troubleshooting

Subindex Refer-
Index (hex) Name Description
(hex) ence
4020 04 Warning Hold Selects whether to hold or not the warning state. I586
Selection

Bit 0:
0: Not hold the warning enabled in Warning Mask 1 Selec-
tion.
The warning is automatically cleared when the cause of the
warning is eliminated. However, the warning is held for at
least 1 second.
1: Hold the warning enabled in Warning Mask 1 Selection.
After the cause of the warning is eliminated, the error reset
command must be sent.

Bit 2:
0: Not hold the warning enabled in Warning Mask 3 Selec-
tion.
The warning is automatically cleared when the cause of the
warning is eliminated. However, the warning is held for at
least 1 second.
1: Hold the warning enabled in Warning Mask 3 Selection.
After the cause of the warning is eliminated, the error reset

7-2 Warnings
command must be sent.
05 Warning Level When a bit is set to 1, the level of the corresponding warn- I586
Change 1 Selec- ing is set as the error.
tion bit 0: Overload Warning
bit 1: Regeneration Overload Warning
bit 2: Encoder Communications Warning
7
bit 3: Motor Vibration Warning
bit 4: Capacitor Lifetime Warning

7-2-1 Related Objects

bit 5: Inrush Current Prevention Relay Lifetime Warning
bit 7: Brake Interlock Output Relay Lifetime Warning
bit 9: Lifetime Information Corruption Warning
bit 10: Encoder Lifetime Warning
bit 11: Fan Rotation Warning
bit 12: Absolute Encoder Counter Overflow Warning
07 Warning Level When a bit is set to 1, the level of the corresponding warn- I586
Change 3 Selec- ing is set as the error.
tion bit 0: Data Setting Warning
bit 1: Command Warning
bit 2: EtherCAT Communications Warning

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7-7
7 Troubleshooting

7-2-2 Warning List

General Warnings
Error No. Warning Mask 1
Selection*1 (4020-01 hex)
Main Sub Warning name Warning condition Warning Level Change 1
(hex) (hex) Selection (4020-05 hex)
corresponding bit
A0 00 Overload Warning The load ratio of Servo Drive or Bit 0
motor (4150-81 hex) exceeded the
level set in Overload - Warning
Notification Level (4150-01 hex).
A1 00 Regeneration Overload The Regeneration Load Ratio Bit 1
Warning (4310-81 hex) exceeded 85% of the
regeneration overload ratio.
A3 00 Fan Rotation Warning The rotation speed of the fan is 80% Bit 11
or less of the rating and the cooling
performance decreases.
A4 00 Encoder Communications Encoder communications errors Bit 2
Warning occurred in series more frequently
than the specified value.
A6 00 Motor Vibration Warning The motor vibration, which was Bit 3
higher than or equal to the level set in
the Vibration Detection - Detection
Level (3B70-01 hex), was detected.
A7 01 Capacitor Lifetime The capacitor built into the Servo Bit 4
Warning Drive reached the service life of the
manufacturer’s guarantee.
02 Inrush Current Prevention The inrush current prevention relay Bit 5
Relay Lifetime Warning built into the Servo Drive reached the
service life of the manufacturer's
guarantee.
04 Brake Interlock Output The brake interlock output (BKIR) Bit 7
Relay Lifetime Warning relay built into the Servo Drive
reached the service life of the manu-
facturer's guarantee.
05 Lifetime Information An error was detected in the saved Bit 9
Corruption Warning lifetime information.
06 Encoder Lifetime Warning The encoder lifetime is close to the Bit 10
end.
AB 00 Absolute Encoder Counter The multi-rotation counter of the Bit 12
Overflow Warning encoder exceeded the value set in
Encoder - Absolute Encoder
Counter Overflow Warning Level
(4510-02 hex).
*1. For Warning Mask 1 Selection, when a bit is set to 1, the detection of the corresponding warning is disabled.

Precautions for Correct Use

You can clear these warnings by executing the error rest command. The command does clear
the warning even if the cause of the warning is not removed, but the same warning will occur
again.

7-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 7 Troubleshooting

EtherCAT Communications Warning

Error No. Warning Mask 3 Selection*1
(4020-03 hex),
Main Sub Warning name Warning condition Warning Level Change 3
(hex) (hex) Selection (4020-07 hex)
corresponding bit
B0 00 Data Setting Warning The object set value is out of the Bit 0
range.
B1 00 Command Warning A command could not be exe- Bit 1
cuted.
B2 00 EtherCAT Communications An EtherCAT communications Bit 2
Warning*2 error occurred more than one
time.
*1. For Warning Mask 3 Selection, when a bit is set to 1, the detection of the corresponding warning is disabled.
*2. This warning also occurs when the power supply to the master unit is turned OFF after EtherCAT communica-
tion establishment. For this reason, a warning may be recorded in the error history if the power supply to the
1S-series Servo Drive is turned OFF immediately after the power supply to the master unit is turned OFF.

7-2 Warnings
7

7-2-2 Warning List

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7-9
7 Troubleshooting

7-3 Errors
If the Servo Drive detects an abnormality, it outputs an error (/ERR), turns OFF the power drive circuit,
and displays the error number (main and sub) on the front panel.

Precautions for Correct Use

• Refer to 7-5-1 Troubleshooting Using Error Displays on page 7-14 for information on trouble-
shooting.
• You can reset the error by turning OFF the power supply and then ON again, or executing the
error reset command via EtherCAT communications or on the Sysmac Studio. Be sure to
remove the cause of the error first.
• Some errors are reset only by turning the power supply OFF then ON again. For details, refer
to 7-3-1 Error List on page 7-10.
• If nothing is displayed on the 7-segment display even when the control power supply is ON, it
indicates that the internal MPU is malfunctioning. If you find this symptom, cut off the power
supply immediately.

7-3-1 Error List

Error No. Attribute

Main Sub Error name Can be Deceleration
(hex) (hex) reset*1 operation*2
12 00 Overvoltage Error --- B
13 00 Main Power Supply Undervoltage (insufficient voltage Yes B
between P and N)
01 Main Circuit Power Supply Phase Loss Error Yes B
14 00 Overcurrent Error --- B
01 Power Module Error --- B
02 Regeneration Circuit Error Detected during Power ON*3 --- B
15 00 Servo Drive Overheat Yes B
01 Motor Overheat Error Yes B
16 00 Overload Error Yes B
18 00 Regeneration Overload Error --- B
02 Regeneration Processing Error --- B
20 00 Runaway Detected*4 --- B
21 00 Encoder Communications Disconnection Error --- B
01 Encoder Communications Error --- B
24 00 Excessive Position Deviation Error Yes A
01 Excessive Speed Deviation Error Yes A
26 00 Excessive Speed Error Yes A
27 01 Absolute Value Cleared --- B
28 00 Pulse Output Overspeed Error Yes A
01 Pulse Output Setting Error --- A
29 03 Following Error Counter Overflow --- B
33 00 General Input Allocation Duplicate Error --- A
09 General Output Allocation Duplicate Error --- A
34 01 Software Limit Exceeded Yes A

7 - 10 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No. Attribute

Main Sub Error name Can be Deceleration
(hex) (hex) reset*1 operation*2
35 00 FPGA WDT Error --- B
01 System Error --- B
02 Self-diagnosis Error --- B
36 00 Non-volatile Memory Data Error --- A
37 00 Non-volatile Memory Hardware Error --- A
38 00 Drive Prohibition Input Error Yes A
01 Drive Prohibition Detected Yes A
41 00 Absolute Encoder Counter Overflow Error --- A
43 01 Encoder Memory Error --- B
44 00 1-rotation Counter Error --- B
45 00 Absolute Encoder Multi-rotation Counter Error*5 --- B
01 Absolute Position Detection Error --- B
47 00 Overspeed Error --- B
58 00 Main Circuit Temperature Monitoring Circuit Failure --- B
59 00 Fan Error Yes A
62 00 Control Right Release Error Yes A
70 00 Safety Parameter Error Yes A
01 Safety Communications Setting Error Yes A
02 FSoE Slave Address Error Yes A
03 Safety Frame Error Yes A
04 Safety Communications Timeout Yes A

7-3 Errors
83 01 EtherCAT State Change Error Yes A
02 EtherCAT Illegal State Change Error Yes A
03 Communications Synchronization Error Yes A
04 Synchronization Error Yes*6 A
05 Sync Manager WDT Error Yes A
7
06 Bootstrap State Transition Request Error Yes A
87 00 Error Stop Input Yes A

7-3-1 Error List

88 01 ESC Initialization Error --- A
02 Synchronization Interruption Error --- A
03 SII Verification Error --- A
04 ESC Error --- A
90 00 Mailbox Setting Error Yes A
01 PDO WDT Setting Error Yes A
02 SM Event Mode Setting Error Yes A
03 DC Setting Error Yes A
04 Synchronization Cycle Setting Error Yes A
05 RxPDO Setting Error Yes A
06 TxPDO Setting Error Yes A
07 RxPDO Mapping Error Yes A
08 TxPDO Mapping Error Yes A
09 Node Address Updated --- A
91 01 Command Error Yes A
93 00 Electronic Gear Setting Error --- A
94 00 Function Setting Error Yes A
95 01 Motor Non-conformity --- A
05 Motor Replacement Detected*4 --- A
97 00 Brake Interlock Error --- B
*1. “Yes” means that you can clear the error by executing the error reset command. The mark “---” means that you
need to cycle the power supply or execute Unit Restart (2400 hex) to clear the error.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 11

7 Troubleshooting

*2. The deceleration operation shows the operation (Operation A or Operation B) that is used when Fault reac-
tion option code (605E hex) is set to -4 to -7.
*3. This error can occur in the unit version 1.2 or later.
*4. This error can occur in the unit version 1.1 or later.
*5. This error cannot occur in the Incremental Encoder Type Servomotors.
*6. “---” is specified for the unit version 1.0.

7-3-2 Deceleration Stop Operation at Errors

The deceleration stop function controls the motor and decelerates it to stop if an error that causes the
deceleration stop occurs.

Related Objects
Index Subindex Refer-
Name Description
(hex) (hex) ence
605E 00 Fault reaction option Sets the state during deceleration and after I586
code stopping for when an error occurs.
3B21 --- Deceleration Stop Sets the torque for deceleration stop. I586
01 Torque Sets the torque limit value during deceleration I586
stop.

Deceleration Stop Operation

Speed
[r/mn]

Motor speed
Velocity command

Speed
determined
as stop
[30 r/min]
Time
Error No error Error that causes the deceleration stop occurs

Control Control through host commands Control through host commands

Torque control is performed to stop the motor
with Deceleration Stop - Torque (3B21-01 hex
(measure to reduce shock at the time of stop)

7 - 12 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

7-4 Information
Information is an event other than errors of which you are notified.
You can change information to errors by changing its level.

7-4-1 Related Objects

Index Subindex Refer-

Name Description
(hex) (hex) ence
4030 --- Information Customi- Sets the information. I586
zation
01 Information Level Sets the level change of information. I586
Change Selection When a bit is set to 1, the level of the corresponding informa-
tion is set as the error.
Bit 0: STO

7-4-2 Information List

7-4 Information
Error No. Information Level Change
Information name Warning condition Selection*1
Main (hex) Sub (hex)
(4030-01 hex)
C0 00 STO Detected STO status Bit 0

*1. For Information Level Change Selection, when a bit is set to 1, the level of the corresponding information is set as the
error.
7

7-4-1 Related Objects

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 13

7 Troubleshooting

7-5 Troubleshooting
If an error occurs in the Servo Drive or operation, identify the cause of the error and take appropriate
measures as shown below.
• For the error occurrence, check its frequency, timing, and the environment in which the error
occurred.
• You can reduce errors that occur temporarily by taking noise countermeasures such as wiring a thick
ground wire as short as possible.
• For details on noise countermeasures, refer to 4-3 Wiring Conforming to EMC Directives on page
4-8.

7-5-1 Troubleshooting Using Error Displays

When an error or warning occurs, the error number is displayed on the 7-segment LED display the front
of the Servo Drive.

Error List
Error No.
Main Sub Name Cause Measures
(hex) (hex)
12 00 Overvoltage The main circuit power The P-N voltage Input the correct voltage.
Error supply voltage (P-N exceeded the specified
voltage) exceeded the value.
operation guarantee The input voltage Use appropriately external devices
range. increased. such as UPS.
The Regeneration If a resistance value of the external
Resistor wiring is bro- resistor is infinite between the ter-
ken. minal B1 and B2 of the Servo Drive,
the wiring is broken. Replace the
external resistor.
The External Regenera- Confirm the necessary regeneration
tion Resistor is set or processing capacity, and connect
selected inappropriately. an appropriate External Regenera-
tion Resistor. Also, set the parame-
ters of the External Regeneration
Resistor to the resistance value of
the External Regeneration Resistor
in use.
Servo Drive failure If this event occurs again after you
performed all corrections shown
above, replace the Servo Drive.

7 - 14 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
13 00 Main Power The main circuit power Incorrect wiring of the If the power supply cables are not
Supply supply voltage fell below main circuit power sup- wired to the main circuit power sup-
Undervolt- the operation guaran- ply ply terminals (L1 , L2 , L3), connect
age (insuffi- tee range during Servo them.
cient voltage ON. The low power supply Increase the power supply capacity
between P voltage is applied to the if it is small. Measure the applied
and N) Servo Drive. power supply voltage, and apply the
voltage according to the specifica-
tion.
The long time was set in Remove the cause that momentar-
Momentary Hold Time ily decreased the voltage. Set a
and the voltage was short time in the Momentary Hold
decreased momentarily. Time so as not to detect this error
due to a momentary decrease in
voltage.
Servo Drive failure If this event occurs again after you
performed all corrections shown
above, replace the Servo Drive.
01 Main Circuit The phase loss of the Incorrect wiring, for Confirm the Servo Drive specifica-
Power Sup- main circuit power sup- example the single- tions, and perform the correct wir-

7-5 Troubleshooting
ply Phase ply was detected. phase power supply is ing.
Loss Error input to a 3-phase input
type Servo Drive.
In the case where the Set Main Circuit Power Supply -
single-phase power Phase Loss Detection Enable
supply is input to a sin- (4320-02 hex) to 0 (disabled).
gle- and 3-phase input
type Servo Drive, the
phase loss detection is 7
enabled.
The power supply volt- Improve power supply conditions by

7-5-1 Troubleshooting Using Error Displays

age is low or insufficient. increasing the power supply capac-
ity or the like.
Broken wiring of the Replace the main circuit power sup-
main circuit power sup- ply input cable.
ply input
Servo Drive failure If this event occurs again after you
performed all corrections shown
above, replace the Servo Drive.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 15

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
14 00 Overcurrent The current flowing to There is a short circuit, Correct the connection of the U, V,
Error the motor exceeded the ground fault, or contact or W motor cable.
protection level. failure on the U, V, or W
motor cable.
There is a short circuit Correct the wiring of External
on the wiring of External Regeneration Resistor.
Regeneration Resistor.
The insulation resis- Replace the motor.
tance failed between the
U, V, or W motor cable
and the motor ground
wire.
False detection due to Take noise countermeasures.
the noise
Servo Drive failure If this event occurs again after you
performed all corrections shown
above, replace the Servo Drive.
01 Power Mod- An error was detected in There is a short circuit, Correct the connection of the U, V,
ule Error the power module. ground fault, or contact or W motor cable.
failure on the U, V, or W
motor cable.
There is a short circuit If there is a short-circuit on the wir-
on the wiring of External ing of External Regeneration Resis-
Regeneration Resistor, tor, correct the wiring.
or the value of resis-
tance became too small.
The insulation resis- Replace the motor.
tance failed between the
U, V, or W motor cable
and the motor ground
wire.
Servo Drive failure If this event occurs again after you
performed all corrections shown
above, replace the Servo Drive.

7 - 16 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
14 02 Regenera- An error of the Regener- • Power supply voltage Cut off the main circuit power sup-
tion Circuit ation Circuit was is insufficient at power ply immediately and check whether
Error detected at power ON. ON, or rising slowly. charge lamp is turned ON/OFF.
Detected • Power supply voltage
during Power fluctuated at power If the charge lamp is turned OFF,
ON*1 ON. remove the wiring and make the fol-
• L1, L2, and L3 termi- lowing check.
nals are not con-
• Check whether there is an abnor-
nected or
mality in the appearence of the
disconnected.
Servo Drive, and that the wiring is
• N1 and N2 terminals properly done.
are opened.
• Check that the resistance value
and the power of the External
Regeneration Resistor is correct.
• Wait until the voltage between P
and N1 goes to less than 1 V to
check the resistance value
between P and N1. (If it is less
than 10 kΩ, replace the Servo

7-5 Troubleshooting
Drive.)
• Wait until the voltage get stable to
check the resistance value
between B2 and N1. (If it is less
than 100 kΩ, replace the Servo
Drive.)
• Check whether fluctuation in the
power supply voltage or power
supply occurs or not. (Make sure 7
that an instantaneous power drop
does not occur, and that the

7-5-1 Troubleshooting Using Error Displays

power rise time is 500 ms or
shorter.)

If the charge lamp is turned ON,

check whether fluctuation in the
power supply voltage or power sup-
ply occurs or not. (Make sure that
an instantaneous power drop does
not occur, and that the power rise
time is 500 ms or shorter.)
Servo Drive failure If this event occurs again after you
performed all corrections shown
above, replace the Servo Drive.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 17

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
15 00 Servo Drive The internal tempera- The ambient tempera- Improve the ambient temperature
Overheat ture of Servo Drive ture of the Servo Drive and the cooling conditions of the
exceeded the circuit exceeded the specified Servo Drive.
protection level. value.
Overload Increase the setting of the accelera-
tion/deceleration time or stopping
time to lighten the load. Or,
increase the capacities of the Servo
Drive and the motor.
01 Motor Over- The encoder detected The temperature is high Adjust the temperature around the
heat Error the temperature that around the motor. motor to be within the range of the
exceeded the protec- operating temperature.
tion level of motor. The motor is over- Adjust the motor load ratio to be
loaded. within the specified range.
Encoder failure Replace the motor if this event
occurs repeatedly.
16 00 Overload The load ratio of Servo Operation was contin- Take the following actions accord-
Error Drive or motor (4105-81 ued for a long time with ing to conditions.
hex) exceeded 100%. high load. • Increase the set value of the
acceleration/deceleration time or
the stop time.
• Lighten the load.
• Adjust the gain or inertia ratio.
• If torque waveforms oscillate
excessively, adjust the system by
the tuning so that the oscillation
does not occur.
• Set the appropriate brake timing.
• Increase the capacities of the
Servo Drive and the motor.
There is incorrect wir- • Connect the motor cable as
ing of the motor cable or shown in the wiring diagram. If
a broken cable. the cable is broken, replace it. Or,
connect the motor cable and
encoder cable that are used
together to the same motor.
• Measure the voltage at the brake
terminal. If the brake is applied,
release it.
Increase in friction Check machine conditions and
remove the cause of the friction.

7 - 18 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
18 00 Regenera- The Regeneration Load The regeneration pro- Check the regeneration processing
tion Over- Ratio (4310-81 hex) cessing is set inappro- setting, and set the same value as
load Error exceeded the regenera- priately. the resistance value of the Regen-
tion overload ratio. eration Resistor in use.
The Regeneration Check the operation pattern by the
Resistor is selected velocity monitor. Check the load
inappropriately. ratio of Regeneration Resistor, and
perform the following corrections
accordingly.
• Increase the deceleration time
and stopping time.
• Decrease the command velocity
to the motor.
• Use an External Regeneration
Resistor.
• Increase the capacities of the
Servo Drive and the motor.
The Regeneration The Regeneration Resistor cannot
Resistor is used for con- be used for continuous regenera-

7-5 Troubleshooting
tinuous regenerative tive braking.
braking.
The applied power sup- Apply the specified power supply
ply voltage is higher voltage.
than the specified value.
Regeneration Resistor Check whether the Regeneration
failure Resistor is faulty, and use one with-
out failures.
02 Regenera- The regeneration pro- The regeneration pro- Check the regeneration processing 7
tion Process- cessing was stopped to cessing is set inappro- setting, and set the same value as
ing Error protect the Regenera- priately. the resistance value of the Regen-

7-5-1 Troubleshooting Using Error Displays

tion Resistor. eration Resistor in use.
This error occurs when The Regeneration Check the operation pattern by the
the regeneration pro- Resistor is selected velocity monitor. Check the load
cessing continues for inappropriately. ratio of Regeneration Resistor, and
500 ms or more. perform the following corrections
accordingly.
• Increase the deceleration time
and stopping time.
• Decrease the command velocity
to the motor.
• Use an External Regeneration
Resistor.
• Increase the capacities of the
Servo Drive and the motor.
The Regeneration The Regeneration Resistor cannot
Resistor is used for con- be used for continuous regenera-
tinuous regenerative tive braking.
braking.
The applied power sup- Apply the specified power supply
ply voltage is higher voltage.
than the specified value.
Regeneration Resistor Check whether the Regeneration
failure Resistor is faulty, and use one with-
out failures.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 19

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
20 00 Runaway The motor rotated in the There is incorrect wir- Connect the motor cable as shown
Detected*2 direction opposite to the ing of the motor cable or in the wiring diagram. If the cable is
command. a broken cable. broken, replace it.
Or, connect the motor cable and
encoder cable that are used
together to the same motor.
The motor rotated in the Take countermeasures so that the
direction opposite to the motor is not subjected to external
command by external forces.
forces. Set Runaway Detection - Enable
(3B71-01 hex) to 0 (disabled) when
the motor runs as intended.
21 00 Encoder The communications Noise into the encoder • Separate the motor cable and the
Communica- disconnection was cable encoder cable if they are bundled
tions Discon- detected between the together.
nection Error encoder and the Servo • Connect the shield to FG.
Drive. • Confirm that the motor ground
This error is detected if wire is connected to FG.
the encoder communi- Contact failure of the Replace the encoder cable if it is
cations timeout occurs signal line, and discon- broken. Firmly connect the encoder
four times in a row. nection of the encoder connector to the Servo Drive.
Power supply undervolt- Use the recommended encoder
age to the encoder cable.
Encoder failure If this event occurs after you per-
formed all corrections shown
above, replace the motor.
01 Encoder Illegal data was Noise into the encoder • Separate the motor cable and the
Communica- received from the cable encoder cable if they are bundled
tions Error encoder the specified together.
number of times. • Connect the shield to FG.
This error is detected if • Check that the motor ground wire
the data error occurs is connected to FG.
four times in a row Contact failure of the Replace the encoder cable if it is
during communications signal line, and discon- broken. Firmly connect the encoder
with the encoder. nection of the encoder connector to the Servo Drive.
Power supply undervolt- Use the recommended encoder
age to the encoder cable.

7 - 20 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
24 00 Excessive The position deviation is The motor operation Identify and remove a cause that
Position greater than or equal to does not follow the com- limits the motor operation.
Deviation the value set in the Fol- mand. During the acceleration/decelera-
Error lowing error window. tion, the command may not be fol-
lowed depending on operation
patterns. In that case, adjust the
gain, increase the accelera-
tion/deceleration time or the like.
The value of Following Increase the setting of the Follow-
error window is small. ing error window to an acceptable
range.
01 Excessive The speed deviation is The motor operation Adjust the gain to improve the fol-
Speed Devia- greater than or equal to does not follow the com- lowing ability. Or, increase the
tion Error the value set in the mand because a param- acceleration/deceleration time for
Excessive Velocity eter value is the internal position command
Deviation Detection inappropriate. velocity.
Level. The output axis of motor Take countermeasures so that the
is limited on the opera- output axis is not limited on the
tion by external forces. operation by external forces.
The value of the Exces- Increase the setting of the Exces-

7-5 Troubleshooting
sive Velocity Deviation sive Velocity Deviation Detection
Detection Level is inap- Level to an acceptable range. Dis-
propriate. able the Excessive Velocity Devia-
tion Detection if it is unnecessary to
monitor the velocity deviation.
26 00 Excessive The feedback motor The velocity command Do not give the excessive velocity
Speed Error speed is greater than or value is too large. command. Check whether the elec-
equal to the value set in tronic gear ratio is set correctly.
the Excessive Speed
7
Overshooting occurred. If overshooting occurred due to
Detection Level. faulty gain adjustment, adjust the
gain.

7-5-1 Troubleshooting Using Error Displays

The motor is rotated by Check whether the motor is rotated
external forces. by external forces.
27 01 Absolute The multi-rotation counter of the absolute encoder This operation is performed for
Value was cleared. safety and is not an error.
Cleared
28 00 Pulse Output The speed, which The dividing ratio setting Correct the setting of Encoder
Overspeed exceeded the fre- is inappropriate for the Dividing Pulse Output - Dividing
Error quency that could be actual usage condition. Denominator and Dividing Numera-
output by the Encoder tor.
Dividing Pulse Output
function, was detected.
01 Pulse Output The dividing numerator exceeded the dividing Correct the setting of Encoder
Setting Error denominator when the Encoder Dividing Pulse Dividing Pulse Output - Dividing
Output - Dividing Denominator was set to a value Denominator and Dividing Numera-
other than 0. tor.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 21

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
29 03 Following The following error The motor operation Identify and remove a cause that
Error Counter value exceeded the does not follow the com- limits the motor operation.
Overflow range from mand. During the acceleration/decelera-
-2,147,483,648 to tion, the command may not be fol-
2,147,483,647. lowed depending on operation
patterns. In that case, change the
operation pattern by increasing the
acceleration/deceleration time or
the like.
The motor is rotated or Take countermeasures so that the
limited on the operation motor is not subjected to external
by external forces. forces.
33 00 General Input More than one function input is allocated to one Correct the duplicate general input
Allocation general input. allocation.
Duplicate
Error
09 General Out- More than one function output is allocated to one Correct the duplicate general output
put Alloca- general output. allocation.
tion Duplicate
Error
34 01 Software The Position actual Incorrect setting of Soft- Correct the setting of Software
Limit value detected the posi- ware Position Limit Position Limit.
Exceeded tion that exceeded the When the Software Set the command value to be within
value set in the Soft- Position Limit - Stop the range of Software Position
ware Position Limit, and Selection was set to a Limit.
stopped the operation Stop according to the
according to the user setting of Fault reaction
setting. option code, the position
exceeded the value set
in the Software Position
Limit.
35 00 FPGA WDT An FPGA error was False detection due to a If this event does not occur after
Error detected. data read error that was you cycled the power supply, use
caused by excessive the product continuously. It is sup-
noise posed that a temporary error
Hardware failure occurred due to a read error.
If this event occurs again, the hard-
ware is faulty. Replace the Servo
Drive.
01 System Error A hardware error due to False detection due to a If this event does not occur after
the self-diagnosis and a data read error that was you cycled the power supply, use
fatal software error were caused by excessive the product continuously. It is sup-
detected. noise posed that a temporary error
A fatal software error occurred due to a read error.
was detected. If this event occurs again, a fatal
Hardware failure error exists. Replace the Servo
Drive.
02 Self-diagno- An error was detected False detection due to a If this event does not occur after
sis Error by the self-diagnosis of data read error that was you cycled the power supply, use
the safety function. caused by excessive the product continuously. It is sup-
noise posed that a temporary error
Hardware failure occurred due to a read error.
If this event occurs again, replace
the Servo Drive.

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 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
36 00 Non-volatile An error of data saved Power interruption or Save data after setting the parame-
Memory Data in the non-volatile mem- noise occurred while ter again, and cycle the power sup-
Error ory was detected. parameters other than ply.
the safety were saved
Power interruption or Execute Motor Setup, and cycle the
noise occurred while the power supply.
motor identity informa-
tion was saved
Power interruption or Clear the FSoE slave address, exe-
noise occurred while cute FSoE Enable Reset, and cycle
safety parameters were the power supply.
saved
37 00 Non-volatile An error occurred on the False detection due to a After you cycled the power supply, if
Memory non-volatile memory. data read error that was this error occurs continuously
Hardware caused by excessive although the error is reset, the
Error noise non-volatile memory is faulty.
Non-volatile memory Replace the Servo Drive.
failure
38 00 Drive Prohibi- Both the Positive Drive An error occurred on the Check and correct an error on the
tion Input Prohibition (POT) and switch, wire, power sup- switch, wire, power supply, and wir-

7-5 Troubleshooting
Error the Negative Drive Pro- ply, and wiring that was ing that is connected to the Positive
hibition Input (NOT) connected to the Posi- Drive Prohibition Input or Negative
turned ON. tive Drive Prohibition Drive Prohibition Input.
Input (POT) or Nega-
tive Drive Prohibition
Input (NOT).
False detection Check whether the control signal
occurred because the power supply (12 to 24 VDC) is
control signal power turned ON slowly, and adjust the
7
supply was turned ON timing if it is slow.
slowly.

7-5-1 Troubleshooting Using Error Displays

01 Drive Prohibi- The operation was Incorrect or broken wir- Correct the wiring if the Positive
tion Detected stopped according to ing of Positive Drive Drive Prohibition Input (POT) or
the user setting Prohibition Input (POT) Negative Drive Prohibition Input
because the motor ran or Negative Drive Prohi- (NOT) is wired incorrectly.
in the prohibited direc- bition Input (NOT) If the cable is broken, replace it.
tion when the Drive Pro- Incorrect setting of the Review the setting of the drive pro-
hibition was enabled. Drive Prohibition Input hibition input port and set it cor-
rectly.
41 00 Absolute The multi-rotation An inappropriate value Set the appropriate value in the
Encoder counter of the encoder was set in the Encoder Encoder - Operation Selection
Counter exceeded the maxi- - Operation Selection when Using Absolute Encoder
Overflow mum number of rota- when Using Absolute (4510-01 hex).
Error tions. Encoder (4510-01 hex).
The multi-rotation num- Set the travel distance so that the
ber of the encoder multi-rotation number does not
exceeded the maxi- exceed the maximum number of
mum number of rota- rotations.
tions.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 23

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
43 01 Encoder The encoder detected a False detection due to a If this event occurs after you cycled
Memory non-volatile memory data read error that was the power supply, the encoder is
Error error. caused by excessive faulty. Replace the motor.
noise
Non-volatile memory
failure
44 00 1-rotation The encoder detected a There is excessive Take noise countermeasures. If this
Counter Error one-rotation counter noise. event occurs after you performed
error. Failure due to vibration, noise countermeasures, the motor
impact, condensation or is faulty. Replace the motor.
foreign matter, etc.
45 00 Absolute The encoder detected a A temporary error Use the product continuously if this
Encoder multi-rotation counter occurred in the encoder event does not occur after improv-
Multi-rotation error. multi-rotation detection ing the operating environment.
Counter Error function due to vibra- Replace the motor if this event
tion, impact, or conden- occurs again.
sation.
Encoder failure
01 Absolute The encoder detected a A detection error was Perform the Absolute Encoder
Position multi-rotation counter detected in the Setup after cycling the power sup-
Detection error. multi-rotation detection ply, and update the multi-rotation
Error section of the encoder. number.
There is excessive Take noise countermeasures.
noise. Replace the motor if this event
occurs repeatedly.
47 00 Overspeed The encoder detected The motor is rotated by Take countermeasures so that the
Error the overspeed. external forces. motor is not subjected to external
forces if the motor is rotated by
external forces.
Encoder failure and If this event occurs repeatedly, the
false detection encoder is faulty. Replace the
motor.
58 00 Main Circuit A temperature monitoring circuit failure was If this event occurs repeatedly after
Temperature detected on the main circuit. you cycled the power supply,
Monitoring Replace the Servo Drive.
Circuit Fail-
ure
59 00 Fan Error The rotation speed of There is a foreign mat- Check whether there is a foreign
the fan is 40% or less of ter in the cooling fan matter in the fan. If you find a for-
the rating and the cool- and it blocks the rota- eign matter, remove it.
ing performance tion.
decreases. Cooling fan failure If there is no improvement after you
performed the correction above,
replace the Servo Drive.

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 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
62 00 Control Right Communications The USB cable or Eth- Connect the USB cable or Ether-
Release between the Sysmac erCAT cable was dis- CAT cable between the Servo Drive
Error Studio and Servo Drive connected during the and the computer that controls the
were interrupted while a connection with the Sys- Servo Drive if it is disconnected.
specific function was mac Studio.
used from the Sysmac There is excessive Take noise countermeasures for the
Studio. noise. USB cable or EtherCAT cable.
This error is detected A command sent from Finish other applications to reduce
when the FFT, test run, the Sysmac Studio was the processing load of the com-
or control output check not sent to the Servo puter.
function is used. Drive because the com-
puter was in a busy
state or the like.
70 00 Safety Safety process data communications were not Check whether the connected
Parameter established with the Safety CPU Unit because an safety slave model matches the
Error incorrect parameter was received. safety slave model that is set from
the Sysmac Studio, and correct it.
01 Safety Com- Safety process data The watchdog time was If the watchdog time of the safety
munications communications were set incorrectly. process data communications set-
Setting Error not established with the ting was set to a value inappropri-

7-5 Troubleshooting
Safety CPU Unit ate for the communications cycle or
because of an incorrect the configuration, correct it, and
communications setting. transfer the setting to the Safety
CPU Unit.
The processing was not If there is no improvement after you
completed within the performed noise countermeasures,
watchdog time because set the longer watchdog time, and
communications were transfer the setting to the Safety
not established due to CPU Unit. 7
the noise.
02 FSoE Slave Safety process data communications were not Perform the FSoE Slave Address

7-5-1 Troubleshooting Using Error Displays

Address established with the Safety CPU Unit because of Clear for the Servo Drive.
Error an incorrect FSoE slave address.
03 Safety Frame Safety process data An incorrect frame was The Servo Drive model does not
Error communications were received in safety pro- match the safety slave model that is
not established with the cess data communica- sent from the safety master.
Safety CPU Unit tions. Check the connection configuration
because an incorrect and configure it correctly.
frame was received. There is excessive Take noise countermeasures.
noise.
04 Safety Com- A communications time- A setting is not correct. Increase the safety task period of
munications out occurred in safety The setting of the safety the Safety CPU Unit and then trans-
Timeout process data communi- task period of the Safety fer the settings to the Safety CPU
cations with the Safety CPU Unit is too short. Unit.
CPU Unit. There is excessive Take noise countermeasures.
noise.
The Safety CPU Unit or Check the status of the Safety CPU
safety slave entered a Unit or safety slave.
status where it could not
continue safety process
data communications.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 25

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
83 01 EtherCAT A communications state change command was Check the command specifications
State Change received for which the current communications for communications state transi-
Error state could not be changed. tions in the host controller and cor-
rect host controller processing.
02 EtherCAT An undefined communications state change com- Check the command specifications
Illegal State mand was received. for communications state transi-
Change Error tions in the host controller and cor-
rect host controller processing.
03 Communica- Communications were The power supply to the Reset the error in the host control-
tions Syn- not established consec- host controller was ler. This event reports an error that
chronization utively because the syn- interrupted during PDO was detected when the power sup-
Error chronization with the communications. ply to the host controller was inter-
EtherCAT Master could rupted. It does not indicate that an
not be achieved. error currently exists.
An EtherCAT communi- Connect the EtherCAT communica-
cations cable is discon- tions cable securely. If the cable is
nected, loose, broken, broken, replace it.
or has a contact failure.
Noise Take noise countermeasures if
excessive noise affects the Ether-
CAT communications cable.
04 Synchroniza- A signal for synchro- Noise Take noise countermeasures if
tion Error nous communications excessive noise affects the Ether-
could not be detected. CAT communications cable.
Error of the EtherCAT If this event occurs again after you
slave communications cycled the power supply, replace
controller the Servo Drive.
05 Sync Man- PDO communications An EtherCAT communi- Connect the EtherCAT communica-
ager WDT were interrupted for the cations cable is discon- tions cable securely.
Error allowable period or lon- nected, loose, or
ger. broken.
Host controller error Check the operation of the host
controller. Take appropriate
countermeasures if there is a prob-
lem.
06 Bootstrap The state transition to unsupported Bootstrap was Check the EtherCAT master setting
State Transi- requested. so that the EtherCAT master does
tion Request not request the transition to Boot-
Error strap.
87 00 Error Stop The Error Stop Input The Error Stop Input Remove the cause of Error Stop
Input (ESTP) is active. (ESTP) was input. Input (ESTP).
The Error Stop Input Correct the wiring if the Error Stop
(ESTP) is incorrectly Input (ESTP) is incorrectly wired.
wired.

7 - 26 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
88 01 ESC Initial- The initialization of Eth- Data was incorrectly If this event does not occur after
ization Error erCAT slave communi- written in the non-vola- you cycled the power supply, use
cations controller failed. tile memory of the Eth- the product continuously. It is sup-
erCAT slave posed that a temporary error
communications con- occurred due to a read error.
troller. If this event occurs again, replace
Failure of the EtherCAT the Servo Drive.
slave communications
controller
02 Synchroniza- Synchronization inter- Incorrect EtherCAT syn- Set the synchronization setting of
tion Interrup- ruption did not occur chronization setting of the host controller according to the
tion Error within the specified the host controller. synchronization specifications for
period. the EtherCAT slave.
Failure of the EtherCAT If this event does not occur after
slave communications you cycled the power supply, use
controller or false detec- the product continuously. It is sup-
tion posed that a temporary error
occurred due to a read error. If this
event occurs again, the Servo Drive
is faulty. Replace the Servo Drive.

7-5 Troubleshooting
03 SII Verifica- An error occurred in SII Data was incorrectly If this event does not occur after
tion Error data of the EtherCAT overwritten in the you cycled the power supply, use
slave communications non-volatile memory of the product continuously. It is sup-
controller. the EtherCAT slave posed that a temporary error
communications con- occurred due to a read error.
troller. If this event occurs again, replace
Failure of the EtherCAT the Servo Drive.
slave communications
controller or false detec- 7
tion
04 ESC Error An error occurred in the EtherCAT slave communi- If this event occurs repeatedly after

7-5-1 Troubleshooting Using Error Displays

cations controller. you cycled the power supply, the
EtherCAT slave communications
controller is faulty. Replace the
Servo Drive.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 27

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
90 00 Mailbox Set- An incorrect mailbox setting of Sync Manager was Check the mailbox setting, and then
ting Error detected. download it to the EtherCAT master
again.
01 PDO WDT An incorrect PDO WDT setting was detected. Check the PDO WDT setting, and
Setting Error then download it to the EtherCAT
master again.
02 SM Event The unsupported SM Event Mode was set. Check the synchronization setting,
Mode Set- and then download it to the Ether-
ting Error CAT master again.
03 DC Setting A mistake was made in the DC Mode operation Check the DC Mode setting, and
Error setting. then download it to the EtherCAT
master again.
04 Synchroniza- When the DC mode was The variable PDO map- Set the number of objects to a value
tion Cycle established, the cycle ping is used, and the smaller than the maximum number
Setting Error time was set to the inop- number of objects is of mapped objects for the cycle
erable value. more than the maximum time.
In the variable PDO number of mapped
mapping, the maximum objects for the cycle
number of objects you time.
can map is specified as The cycle time setting is Correct the cycle time setting.
follows: 6 for both incorrect.
RxPDO and TxPDO for
the communication
period of 125 µs, 10 for
both RxPDO and
TxPDO for other com-
munication periods. An
error occurs if you map
a larger number of
objects than that speci-
fied above.
This error is also
detected in the following
case: the cycle time is
an integral multiple of
125 µs and is not 10 ms
or lower.
05 RxPDO Set- An RxPDO setting error The RxPDO setting of Correct the RxPDO setting accord-
ting Error was detected. EtherCAT master is ing to the definition of ESI of Servo
incorrect. Drive, and then download it to the
Servo Drive failure EtherCAT master again.
If this event occurs repeatedly after
the download to the EtherCAT mas-
ter, the Servo Drive is faulty.
Replace the Servo Drive.
06 TxPDO Set- A TxPDO setting error The TxPDO setting of Correct the TxPDO setting accord-
ting Error was detected. EtherCAT master is ing to the definition of ESI of Servo
incorrect. Drive, and then download it to the
Servo Drive failure EtherCAT master again.
If this event occurs repeatedly after
the download to the EtherCAT mas-
ter, the Servo Drive is faulty.
Replace the Servo Drive.

7 - 28 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
90 07 RxPDO Map- An incorrect RxPDO was set, such as out of the Correct the RxPDO setting, and
ping Error allowable range of Index, Subindex, or size. then download it to the EtherCAT
This error is detected when the following settings master again.
are made.
• If an object which cannot be mapped as a PDO
is mapped
• If the total size of objects mapped as the safety
process data exceeds the specified size
• If the total size of objects mapped to Sync Man-
ager 2 PDO Assignment is one byte
• If the total size of objects mapped as the variable
PDOs exceeds the maximum size
• If 1710 hex is not mapped while 1B10 hex is
mapped (in 1B10 hex/1710 hex mapping)
• If there were too many or too little data in 1710
hex
• If the process data components were included in
PDOs other than 1710 hex
08 TxPDO Map- An incorrect TxPDO was set, such as out of the Correct the TxPDO setting, and

7-5 Troubleshooting
ping Error allowable range of Index, Subindex, or size. then download it to the EtherCAT
This error is detected when the following settings master again.
are made.
• If an object which cannot be mapped as a PDO
is mapped
• If the total size of objects mapped as the safety
process data exceeds the specified size
• If the total size of objects mapped to Sync Man- 7
ager 3 PDO Assignment is one byte
• If the total size of objects mapped as the variable

7-5-1 Troubleshooting Using Error Displays

PDOs exceeds the maximum size
• If 1B10 hex is not mapped while 1710 hex is
mapped (in 1710 hex/1B10 hex mapping)
• If there were too many or too little data in 1B10
hex
• If the process data components were included in
PDOs other than 1B10 hex
09 Node The node address is changed from a set value in Check the node address value. Set
Address Sysmac Studio to a value of the ID switches. a correct value if it is wrong.
Updated

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 29

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
91 01 Command A mistake was made in When bit 9 (Remote) of Check the Servo Drive specifica-
Error using a command. the Statusword was set tions and use the command cor-
to 1 (remote), and the rectly.
Servo Drive was in
Operation enabled state
(Servo ON), the Servo
Drive received a com-
mand to change the
communications state
from Operational to
another state (Init,
Pre-Operational, or
Safe-Operational).
A mode of operation
other than the hm mode
was set during the hom-
ing operation.
Modes of operation was
set to pp, pv or hm
mode when the commu-
nications period was set
to shorter than 250 μs.
93 00 Electronic The electronic gear ratio exceeded the allowable Correct the electronic gear ratio to
Gear Setting range. the range from 1/2,000 to 2,000
Error You can set the electronic gear ratio to the range times.
from 1/2,000 to 2,000 times.
94 00 Function The function that was The electronic gear ratio Correct the electronic gear ratio to
Setting Error set does not support the was not 1:1 when the 1:1, or set the communications
communications period. communications period period to longer than 125 µs.
was set to 125 μs.
The Backlash Compen- Disable the Backlash
sation was enabled Compensation, or set the
when the communica-
communications period to longer
tions period was set to
125 μs. than 125 μs.
95 01 Motor The Servo Drive and motor combination is not cor- Replace the motor with one that
Non-confor- rect. matches the Servo Drive.
mity
05 Motor The connected motor is The motor was Perform the Motor Setup and Abso-
Replace- different from the motor replaced. lute Encoder Setup.
ment that was connected the The Servo Drive was Perform the Motor Setup.
Detected last time. replaced.
97 00 Brake Inter- The Brake Interlock The Brake Interlock Increase the set value of the Time-
lock Error Output (BKIR) was out- Output (BKIR) was out- out at Servo OFF according to
put by the Timeout at put because the motor actual operation conditions.
Servo OFF. rotation speed did not
decrease to or less than
the speed set in the
Threshold Speed at
Servo OFF within the
time set in the Timeout
at Servo OFF when
Servo OFF was per-
formed during the motor
operation.

7 - 30 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
A0 00 Overload The load ratio of Servo Operation was contin- Perform the following corrections
Warning Drive or motor (4150-81 ued for a long time with accordingly.
hex) exceeded the level high load. • Increase the set value of the
set in the Overload - acceleration/deceleration time or
Warning Notification the stop time.
Level.
• Lighten the load.
• Adjust the gain and inertia ratio.
• If torque waveforms oscillate
excessively, adjust the system by
the tuning so that the oscillation
does not occur.
• Set the appropriate brake timing.
• Increase the capacities of the
Servo Drive and the motor.
There is incorrect wir- • Connect the motor cable as
ing of the motor cable or shown in the wiring diagram. If
a broken cable. the cable is broken, replace it. Or,
connect the motor cable and
encoder cable that are used

7-5 Troubleshooting
together to the same motor.
• Measure the voltage at the brake
terminal. If the brake is applied,
release it.
Increase in friction Check machine conditions and
remove the cause of the friction.
A1 00 Regenera- The Regeneration Load The regeneration pro- Check the regeneration processing
tion Over- Ratio (4310-81 hex) cessing is set inappro- setting, and set the same value as
load Warning exceeded 85% of the priately. the resistance value of the Regen-
7
regeneration overload eration Resistor in use.
ratio. The Regeneration Check the operation pattern by the

7-5-1 Troubleshooting Using Error Displays

Resistor is selected velocity monitor. Check the load
inappropriately. ratio of Regeneration Resistor, and
perform the following corrections
accordingly.
• Increase the deceleration time
and stopping time.
• Decrease the command velocity
to the motor.
• Use an External Regeneration
Resistor.
• Increase the capacities of the
Servo Drive and the motor.
This Regeneration The Regeneration Resistor cannot
Resistor is used for con- be used for continuous regenera-
tinuous regenerative tive braking.
braking.
The applied power sup- Apply the specified power supply
ply voltage is higher voltage.
than the specified value.
Regeneration Resistor Check whether the Regeneration
failure Resistor is faulty, and use one with-
out failures.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 31

7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
A3 00 Fan Rotation The rotation speed of There is a foreign mat- Check whether there is a foreign
Warning the fan is 80% or less of ter in the cooling fan matter in the fan. If you find a for-
the rating and the cool- and it blocks the rota- eign matter, remove it.
ing performance tion.
decreases. Cooling fan failure If there is no improvement after you
performed the correction above,
replace the Servo Drive.
A4 00 Encoder Encoder communica- Noise into the encoder • Separate the motor cable and the
Communica- tions errors occurred in cable encoder cable if they are bundled
tions Warning series more frequently together.
than the specified value. • Connect the shield to FG.
This warning is detected • Check that the motor ground wire
if encoder communica- is connected to FG.
tion fails twice in a row Contact failure of the Check whether the connector is dis-
due to events such as a encoder cable connected. Connect the connector
timeout or data error. firmly if it is disconnected or loose.
Check that the encoder cable is not
broken. Replace the encoder cable
if it is broken.
Power supply undervolt- Use the recommended encoder
age to the encoder cable.
A6 00 Motor Vibra- The motor vibration, The control parameter is Set the control parameters such as
tion Warning which was higher than set inappropriately. inertia ratio, gain, and filter to
or equal to the level set appropriate values by gain tuning or
in the Vibration Detec- manually.
tion - Detection Level The rigidity decreased Check whether the mechanical sys-
(3B70-01 hex), was due to mechanical tem is not loose and secure it firmly.
detected. looseness or wear. If the rigidity of mechanical system
is changed, adjust the control
parameter again.

7 - 32 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
A7 01 Capacitor The capacitor built into The operating time of Send the Servo Drive for repair or
Lifetime the Servo Drive reached the capacitor in the replace the Servo Drive with a new
Warning the service life. Servo Drive exceeded one. It is necessary to replace the
the service life. component that reached the service
02 Inrush Cur- The inrush current pre- The number of operat- life.
rent Preven- vention relay built into ing times of the inrush
tion Relay the Servo Drive reached current prevention relay
Lifetime the service life. in the Servo Drive
Warning exceeded the service
life.*3
04 Brake Inter- The brake interlock out- The number of operat-
lock Output put (BKIR) relay built ing times of the brake
Relay Life- into the Servo Drive interlock output in the
time Warning reached the service life. Servo Drive exceeded
the service life.*3
05 Lifetime An error was detected in The lifetime information Perform the Lifetime Information
Information the saved lifetime infor- corruption was detected Clear. Note that the lifetime may not
Corruption mation. when the power supply be detected correctly after the clear
Warning was turned ON. operation because the value of life-

7-5 Troubleshooting
time information is cleared.
If this event occurs repeatedly, the
area to save lifetime information is
faulty. Replace the Servo Drive.
06 Encoder Life- The encoder lifetime is Temporary noise If this event occurs repeatedly, the
time Warning close to the end. The end of the encoder lifetime is close to the end. Replace
life the motor.
AB 00 Absolute The multi-rotation An inappropriate value Set an appropriate value in the
Encoder counter of the encoder was set in the Encoder Encoder - Operation Selection 7
Counter exceeded the value set - Operation Selection when Using Absolute Encoder
Overflow in Encoder - Absolute when Using Absolute (4510-01 hex).

7-5-1 Troubleshooting Using Error Displays

Warning Encoder Counter Encoder (4510-01 hex).
Overflow Warning The multi-rotation num- Set the travel distance so that the
Level (4510-02 hex). ber of the encoder multi-rotation number does not
exceeded the warning exceed the value set in the
level. Encoder - Absolute Encoder
Counter Overflow Warning Level
(4510-02 hex).
B0 00 Data Setting The object set value is out of the range. Correct the object setting to be
Warning within the specified range.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 33

 7 Troubleshooting

Error No.
Main Sub Name Cause Measures
(hex) (hex)
B1 00 Command A command could not The Switch on com- Send the Switch on command with
Warning be executed. mand was received. the main circuit power supply ON.
The Enable operation Send the Enable operation com-
command was received. mand under the following condi-
tions.
• In supported operation mode
• The motor rotation speed is 30
r/min or less.
• In the free-run mode, the interpo-
lation time period is the integral
multiple of the communications
cycle.
An operation command Check status of the Drive Prohibi-
in the prohibition direc- tion Input and Software Position
tion was received after Limit by the Digital inputs, Sta-
the immediate stop by tusword, and Software Position
the Drive Prohibition Limit. Then, do not issue the com-
Input or Software Posi- mand in the drive prohibition direc-
tion Limit. tion.
Homing started. Set a supported number of the
Homing method for homing.
Start homing at the timing of when
homing is not performed.
The positioning start Set a supported value for bit 5 and
command was received 6 in the Controlword.
in the Profile position
mode.
B2 00 EtherCAT An EtherCAT communi- An EtherCAT communi- Connect the EtherCAT communica-
Communica- cations error occurred cations cable has a con- tions cable securely. If the cable is
tions Warning more than one time. tact failure, or is broken, replace it.
connected incorrectly or
broken.
Noise Take noise countermeasures so
that the noise does not affect the
EtherCAT communications cable.
C0 00 STO The safety input OFF The cable is discon- Reconnect the input wiring for
Detected state was detected via nected or broken. safety inputs 1 and 2. If the cable is
the safety input signal or broken, replace it.
EtherCAT communica- The STO input was Remove the cause that turned OFF
tions. turned OFF via Ether- the safety input signal of the Safety
CAT communications. Input Unit.
*1. This error can occur in the unit version 1.2 or later.
*2. This error can occur in the unit version 1.1 or later.
*3. Refer to AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual
(I586) for the lifetime of components.

7 - 34 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

7-5-2 Troubleshooting Using AL Status Codes

The AL status codes notify users of errors related to EtherCAT communications.
This section gives errors that 1S-series Servo Drives notify to the host controllers with AL status codes,
as well as their causes and remedies.

AL Status Code List

AL status
Name Cause Measures
code (hex)
0011 EtherCAT A communications state change command was Check the command specifications
State Change received for which the current communications state for communications state transi-
Error could not be changed. tions in the host controller and cor-
rect host controller processing.
0012 EtherCAT Ille- An undefined communications state change command Check the command specifications
gal State was received. for communications state transi-
Change Error tions in the host controller and cor-
rect host controller processing.
0013 Bootstrap The state transition to unsupported Bootstrap was Check the EtherCAT master setting
State Transi- requested by the EtherCAT master. so that the EtherCAT master does

7-5 Troubleshooting
tion Request not request the transition to Boot-
Error strap.
0014 SII Verifica- An error occurred in SII Data was incorrectly over- If this event does not occur after
tion Error data of the EtherCAT written in the non-volatile you cycled the power supply, use
slave communications memory of the EtherCAT the product continuously. It is sup-
controller. slave communications posed that a temporary error
controller. occurred due to a read error.
Failure of the EtherCAT If this event occurs again, replace
slave communications the Servo Drive. 7
controller or false detec-
tion

7-5-2 Troubleshooting Using AL Status Codes

0016 Mailbox Set- An incorrect mailbox setting of Sync Manager was Check the mailbox setting, and then
ting Error detected. download it to the EtherCAT master
again.
001B Sync Man- PDO communications An EtherCAT communica- Connect the EtherCAT communica-
ager WDT were interrupted for the tions cable is discon- tions cable securely.
Error allowable period or longer. nected, loose, or broken
Host controller error Check the operation of the host
controller. Take appropriate
countermeasures if there is a prob-
lem.
001D RxPDO Set- An RxPDO setting error The RxPDO setting of Correct the RxPDO setting accord-
ting Error was detected. EtherCAT master is incor- ing to the definition of ESI of Servo
rect. Drive, and then download it to the
Servo Drive failure EtherCAT master again.
If this event occurs repeatedly after
the download to the EtherCAT mas-
ter, the Servo Drive is faulty.
Replace the Servo Drive.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 35

7 Troubleshooting

AL status
Name Cause Measures
code (hex)
001E TxPDO Set- A TxPDO setting error The TxPDO setting of Eth- Correct the TxPDO setting accord-
ting Error was detected. erCAT master is incorrect. ing to the definition of ESI of Servo
Servo Drive failure Drive, and then download it to the
EtherCAT master again.
If this event occurs repeatedly after
the download to the EtherCAT mas-
ter, the Servo Drive is faulty.
Replace the Servo Drive.
001F PDO WDT An incorrect PDO WDT setting was detected. Check the PDO WDT setting, and
Setting Error then download it to the EtherCAT
master again.
0024 TxPDO Map- An incorrect TxPDO was set, such as out of the allow- Correct the TxPDO setting, and
ping Error able range of Index, Subindex, or size. then download it to the EtherCAT
This error is detected when the following settings are master again.
made.
• If an object which cannot be mapped as a PDO is
mapped
• If the total size of objects mapped as the safety pro-
cess data exceeds the specified size
• If the total size of objects mapped to Sync Manager
3 PDO Assignment is one byte
• If the total size of objects mapped as the variable
PDOs exceeds the maximum size
• If 1B10 hex is not mapped while 1710 hex is mapped
(in 1710 hex/1B10 hex mapping)
• If there were too many or too little data in 1B10 hex
• If the process data components were included in
PDOs other than 1B10 hex
0025 RxPDO Map- An incorrect RxPDO was set, such as out of the allow- Correct the RxPDO setting, and
ping Error able range of Index, Subindex, or size. then download it to the EtherCAT
This error is detected when the following settings are master again.
made.
• If an object which cannot be mapped as a PDO is
mapped
• If the total size of objects mapped as the safety pro-
cess data exceeds the specified size
• If the total size of objects mapped to Sync Manager
2 PDO Assignment is one byte
• If the total size of objects mapped as the variable
PDOs exceeds the maximum size
• If 1710 hex is not mapped while 1B10 hex is mapped
(in 1B10 hex/1710 hex mapping)
• If there were too many or too little data in 1710 hex
• If the process data components were included in
PDOs other than 1710 hex
0028 SM Event The unsupported SM Event Mode was set. Check the synchronization setting,
Mode Setting and then download it to the Ether-
Error CAT master again.

7 - 36 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

AL status
Name Cause Measures
code (hex)
002C Synchroniza- A signal for synchronous Noise Take noise countermeasures if
tion Error communications could not excessive noise affects the Ether-
be detected. CAT communications cable.
Error of the EtherCAT If this event occurs again after you
slave communications cycled the power supply, replace
controller the Servo Drive.
002D Synchroniza- Synchronization interrup- Incorrect EtherCAT syn- Set the synchronization setting of
tion Interrup- tion did not occur within chronization setting of the the host controller according to the
tion Error the specified period. host controller. synchronization specifications for
the EtherCAT slave.
Failure of the EtherCAT If this event does not occur after
slave communications you cycled the power supply, use
controller or false detec- the product continuously. It is sup-
tion posed that a temporary error
occurred due to a read error. If this
event occurs again, the Servo Drive
is faulty. Replace the Servo Drive.
0030 DC Setting A mistake was made in the DC Mode operation setting. Check the DC Mode setting, and
Error then download it to the EtherCAT
master again.
0034 Communica- Communications were not The power supply to the Reset the error in the host control-

7-5 Troubleshooting
tions Synchro- established consecutively host controller was inter- ler. This event reports an error that
nization Error because the synchroniza- rupted during PDO com- was detected when the power sup-
tion with the EtherCAT munications. ply to the host controller was inter-
Master could not be rupted. It does not indicate that an
achieved. error currently exists.
An EtherCAT communica- Connect the EtherCAT communica-
tions cable is discon- tions cable securely. If the cable is
nected, loose, broken, or broken, replace it.
has a contact failure. 7
Noise Take noise countermeasures if
excessive noise affects the Ether-

7-5-2 Troubleshooting Using AL Status Codes

CAT communications cable.
0035 Synchroniza- When the DC mode was The variable PDO map- Set the number of objects to a value
tion Cycle established, the cycle time ping is used, and the num- smaller than the maximum number
Setting Error was set to the inoperable ber of objects is more than of mapped objects for the cycle
value. the maximum number of time.
In the variable PDO map- mapped objects for the
ping, the maximum num- cycle time.
ber of objects you can The cycle time setting is Correct the cycle time setting.
map is specified as fol- incorrect.
lows: 6 for both RxPDO
and TxPDO for the com-
munication period of 125
µs, 10 for both RxPDO
and TxPDO for other com-
munication periods. An
error occurs if you map a
larger number of objects
than that specified above.
This error is also detected
in the following case: the
cycle time is an integral
multiple of 125 µs and is
not 10 ms or lower.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 37

7 Troubleshooting

AL status
Name Cause Measures
code (hex)
0050 ESC Error An error occurred in the Error access from the Please contact the manufacturer of
EtherCAT slave communi- non-OMRON EtherCAT EtherCAT master.
cations controller. master
0051 Error of the EtherCAT If this event occurs repeatedly after
slave communications you cycled the power supply, the
controller or false detec- EtherCAT slave communications
tion controller is faulty. Replace the
Servo Drive.
0061 Node Address The node address is changed to a value of the ID Check the node address value.
Updated switches. Set a correct value if it is wrong.
The node address is changed from a set value in Sys-
mac Studio to a value of the ID switches.
8000 Unit Restarted Restart was performed. ---

7 - 38 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

7-5-3 Troubleshooting Using the Operation State

Symptom Probable cause Check items Measures

The 7-segment dis- The control power is not sup- Check to see if the power sup- Supply the correct power sup-
play does not light. plied. ply input is within the allowed ply voltage.
power supply voltage range.
Check to see if the power sup- Wire correctly.
ply input is wired correctly.
The ECAT ERR indi- A communications-related error Refer to EtherCAT Communications Warning on page 7-9.
cator flashes or lights. occurred.
The L/A IN and L/A A link in the EtherCAT physical Check to see if the communica- Connect the communications
OUT indicators are communications layer is not tions cable is connected cor- cable correctly.
OFF. established. rectly.
Check to see if the host control- Start the host controller.
ler started.
An error occurred. Read the error number and the Check the cause listed in 7-5-1 Troubleshooting Using Error Dis-
error log. plays on page 7-14.
The Servo does not The power cable is not con- Check to see if the motor power Wire the motor power cable
lock. nected correctly. cable is connected properly. correctly.
The Servomotor power supply Check the main circuit wiring Input the correct power and
is not ON. and power voltage. voltage for the main circuit.

7-5 Troubleshooting
Positive Drive Prohibition Input • Check to see if the input for Turn ON POT and NOT. Input
(POT) or Negative Drive Prohi- POT or NOT is OFF. +24 VIN correctly.
bition Input (NOT) is OFF. • Check the input of +24 VIN to
CN1.
The torque limit is set to 0. Check to see if the torque limits Set the maximum torque that
in the Positive torque limit you use for each of these
value (60E0 hex) and the Neg- objects.
ative torque limit value (60E1
hex) are set to 0. 7
The Servo Drive is in a safe Check the wiring of the safety Wire correctly.
state (STO). input.

7-5-3 Troubleshooting Using the Operation State

Communications with the When you use the STO func- Make the settings for the Safety
Safety CPU Unit are not estab- tion via EtherCAT communica- CPU Unit.
lished. tions, confirm that
communications with the
Safety CPU Unit are per-
formed.
The Servo Drive is broken --- Replace the Servo Drive.
down.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 39

7 Troubleshooting

Symptom Probable cause Check items Measures

The Servo locks but The host controller does not For a position command, check Enter position and speed data.
the Servomotor does give a command. to see if the speed and position Start the Servomotor.
not rotate. are set to 0.
The Servo Drive received a Check to see if the Servo Drive Set the Servo Drive so that it
command but it is not retains the object value for two retains the object value for two
accepted. communications cycles or more communications cycles or
in Profile position mode (pp). more.
It is hard to determine if the Check to see if the velocity Check the velocity command
Servomotor is rotating. command given by the host from the host controller.
controller is too small.
The holding brake is operating. Check the Brake Interlock Out- Check to see if the holding
put (BKIR) signal and the +24 brake on a Servomotor with
VDC power supply. brake is released when the
Servo is locked.
The torque limits set in the Check to see if the torque limits Set the maximum torque that
Positive torque limit value in objects 60E0 hex and 60E1 you use for each of these
(60E0 hex) and the Negative hex are set to a value close to objects.
torque limit value (60E1 hex) 0.
are too small.
Positive Drive Prohibition Input Check the ON/OFF state of the • Turn ON the POT and NOT
(POT) or Negative Drive Prohi- POT and NOT signals from the signals.
bition Input (NOT) is OFF. Sysmac Studio. • Disable them in the settings
when the POT and NOT sig-
nals are not used.
The motor power cable is wired Check the wiring. Wire correctly.
incorrectly.
The encoder cable is wired
incorrectly.
Power is not supplied. Check the power supply and Turn ON the power.
the 7-segment display.
Check the voltage between the Wire the power-ON circuit cor-
power terminals. rectly.
The Servo Drive is broken --- Replace the Servo Drive.
down.
The Servomotor oper- The position commands given Check the position data and the Set the correct data.
ates momentarily, but are too little. electronic gear ratio at the host
then it does not oper- controller.
ate after that. The motor power cable is wired Check the wiring of the motor Wire correctly.
incorrectly. power cable’s phases U, V, and
W.
The encoder cable is wired Check the encoder cable’s wir- Wire correctly.
incorrectly. ing.
The Servomotor There are inputs of small val- Check if there is an input in Set the velocity command to 0.
rotates without a com- ues in velocity control mode. velocity control mode. Alternatively, change the mode
mand. to position control mode.
The motor power cable is wired Check the wiring. Wire correctly.
incorrectly.
When the runaway The Servomotor power cable is Check the wiring. Wire correctly.
detection function is wired incorrectly, and condi-
enabled, the tions under which the runaway
Servomotor rotates detection function cannot work
without a command. are satisfied.

7 - 40 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Symptom Probable cause Check items Measures

The Servomotor The value set in Motor Rota- Check the value of Motor Change the value of Motor
rotates in the reverse tion Direction Selection Rotation Direction Selection. Rotation Direction Selection.
direction from the (3000-01 hex) is incorrect.
command.
The command given by the • The size of the absolute com- • Check the actual and target
host controller is incorrect. mand is set incorrect. values.
• The polarity of an incremen- • Check the rotation direction.
tal command is set incorrect.
The Servomotor power cable is Check the wiring. Wire correctly.
wired incorrectly.
When the runaway The value set in Motor Rota- Check the value of Motor Change the value of Motor
detection function is tion Direction Selection Rotation Direction Selection. Rotation Direction Selection.
enabled, the (3000-01 hex) is incorrect.
Servomotor rotates in The command given by the • The size of the absolute com- • Check the actual and target
the reverse direction
host controller is incorrect. mand is set incorrect. values.
from the command.
• The polarity of an incremen- • Check the rotation direction.
tal command is set incorrect.
The Servomotor power cable is Check the wiring. Wire correctly.
wired incorrectly.
The Servomotor power cable is
wired incorrectly, and condi-

7-5 Troubleshooting
tions under which the runaway
detection function cannot work
are satisfied.
The holding brake Power is supplied to the hold- Check to see if power is sup- • Check the Brake Interlock
does not work. ing brake. plied to the holding brake. Output (BKIR) signal and the
relay circuit.
• Check to see if the holding
brake is worn down.
Motor rotation is The motor power cable or Check the wiring of the motor Wire correctly. 7
unstable. encoder cable is wired incor- power cable’s phases U, V, W
rectly. and check the encoder cable’s

7-5-3 Troubleshooting Using the Operation State

wiring.
Low rigidity is causing vibration. Measure the vibration fre- Enable the damping control.
quency of the load. Set the damping filter fre-
quency.
The load’s moment of inertia Calculate the load inertia. • Check if manual tuning can
exceeds the Servo Drive’s achieve proper adjustment.
allowable value. • Increase the Servomotor
capacity.
Loose joint and/or large clear- Check the joint with the Remove the joint looseness
ance with the machine. machine. with the machine.
The load and gain do not Check the response waveforms Perform the tuning again to sta-
match. for speed and torque. bilize the rotation.

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 41

7 Troubleshooting

Symptom Probable cause Check items Measures

The Servomotor is The ambient temperature is too Check to see if the ambient • Lower the ambient tempera-
overheating. high. temperature around the Servo- ture around the Servomotor
motor is over 40°C. to 40°C or less. (Use a fan or
air conditioner.)
• Lower the load ratio.
The heat radiation condition for • Check to see if the specified • Improve the radiation condi-
the Servomotor is inappropri- radiation conditions are tions.
ate. observed. • Reduce the load.
• For a Servomotor with a • Improve ventilation.
brake, check the load ratio.
The Servomotor is overloaded. Check the torque with the Sys- • Decrease the acceleration
The Servomotor vibrates during mac Studio. and deceleration rates.
rotation. • Lower the speed and check
the load.
The machine position The coupling of the motor shaft Check to see if the coupling of • Tighten the coupling again.
is misaligned. and the machine is abnormal. the Servomotor and the • Replace the coupling with a
machine is misaligned. coupling that has no loose-
ness.
The host controller gave a Check the control ladder pro- Review the control in the host
deceleration stop command. gram in the host controller. controller.
The gain is wrong. --- Check if manual tuning can
achieve proper adjustment.
The load inertia is too large. • Check the load inertia. • Review the load inertia.
• Check the Servomotor rota- • Replace the Servomotor and
tion speed. Servo Drive with proper
ones.
The power supply was turned Check Encoder - Multi- Perform the operation within
ON while the encoder rotation Data. the multi-rotation range.
multi-rotation exceeded the
limit value.
The command value from the Check the control ladder pro- Review the control and settings
host controller is not correct. gram and settings in the host in the host controller.
controller.
The home position was shifted. • Check the home position of • Adjust the mechanical home
the absolute encoder. and home position of the
• Check whether homing is absolute encoder.
performed normally. • Change the setting or input
signals so that the correct
home position can be defined
during homing.
The set values of the Servo Check the settings of gear Adjust the set values so that
Drive do not match the ratio, gain, maximum torque, they match the machine.
machine. etc.
The Servomotor does The load inertia is too large. • Check the load inertia. • Review the load inertia.
not stop or is hard to • Check the Servomotor rota- • Replace the Servomotor and
stop even if the Servo tion speed. Servo Drive with proper
is turned OFF while ones.
the Servomotor is The dynamic brake is disabled. Check if the dynamic brake is • Enable the dynamic brake, if
rotating. disabled or broken. it is disabled.
• Replace the dynamic brake if
it is broken.

7 - 42 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Symptom Probable cause Check items Measures

The Servomotor or Vibration occurs due to Check to see if the Servomo- Retighten the mounting screws.
the load generates improper mechanical installa- tor’s mounting screws are
abnormal noise or tion. loose.
vibration. Check the load for eccentricity. Eliminate the eccentricity. It
results in torque fluctuation and
noise.
Check to see if the coupling Balance the rotation.
with the load is unbalanced.
Check to see if the decelerator Check the decelerator specifi-
is generating any abnormal cations. Check the decelerator
noise. for malfunctions.
Vibration occurs due to low Check to see if the vibration fre- If the frequency is 100 Hz or
mechanical rigidity. quency is 100 Hz or lower. lower, set the correct damping
frequency for the damping filter
to eliminate the vibration.
Vibration occurs due to Check to see if the resonance If the resonance frequency is
machine resonance. frequency is high or low. high, set the adaptive filter to
eliminate the resonance. Alter-
natively, measure the reso-
nance frequency and set 1st
Notch Filter and 2nd Notch Fil-
ter.

7-5 Troubleshooting
There is a problem with the Check for noise or vibration Check to see if the bearings are
bearings. around the bearings. mounted properly, and adjust
them if necessary.
The gain is too high. --- Use the Sysmac Studio to mea-
sure the response and adjust
the gain.
Velocity Command Filter Check the set value of Velocity Return the setting to the default
(3021 hex) is wrong. Command Filter. value of 0. Alternatively, set a
large value and operate the
7
Servomotor.

7-5-3 Troubleshooting Using the Operation State

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 43

7 Troubleshooting

Symptom Probable cause Check items Measures

The Servomotor or 1st Torque Command Filter Review the set value of the Set a small value for the torque
the load generates (3233 hex) or 2nd Torque torque command filter. command filter to eliminate the
abnormal noise or Command Filter (3234 hex) vibration.
vibration. does not match the load.
1st Position Control Gain Review the setting of the posi- Use the Sysmac Studio to mea-
(3213 hex) or 2nd Position tion control gain. sure the response and adjust
Control Gain (3214 hex) is too the gain.
large.
Proportional Gain and Inte- Review the set values of the
gral Gain in 1st Velocity Con- velocity control gain.
trol Gain (3223 hex) and 2nd
Velocity Control Gain (3224
hex) are balanced incorrectly.
Noise is entering into the con- Check the length of the control Shorten the control I/O signal
trol I/O signal cable because I/O signal cable. cable to 3 m or less.
the cable is longer than the
specified length.
Noise is entering into the cable Check to see if it is a shielded Use an encoder cable that
because the encoder cable twisted-pair cable with core meets specifications.
does not meet specifications. wires that are at least 0.12
mm2.
Noise is entering into the Check the length of the Shorten the encoder cable to
encoder cable because the encoder cable. less than 50 m.
cable is longer than the speci-
fied length.
Noise is entering into the signal Check the encoder cable for Correct the encoder cable’s
lines because the encoder damage. pathway.
cable is stuck or the sheath is
damaged.
Excessive noise on encoder Check to see if the encoder Install the encoder cable where
cable. cable is bound together with or it won’t be subjected to surges.
too close to high-current lines.
The FG’s potential is fluctuating Check for ground problems Ground the equipment prop-
due to devices near the Servo- (loss of ground or incomplete erly and prevent current from
motor, such as welding ground) at equipment such as flowing to the encoder FG.
machines. welding machines near the Ser-
vomotor.
Errors are caused by excessive There are problems with Reduce the mechanical vibra-
vibration or shock on the mechanical vibration or Servo- tion or correct the Servomotor’s
encoder. motor installation (such as the installation.
precision of the mounting sur-
face, attachment, or axial off-
set).
Overshooting at 1st Position Control Gain Review the setting of the posi- Use the Sysmac Studio to mea-
startup or when stop- (3213 hex) or 2nd Position tion control gain. sure the response and adjust
ping Control Gain (3214 hex) is too the gain.
large.
Proportional Gain and Inte- Review the set values of the
gral Gain in 1st Velocity Con- velocity control gain.
trol Gain (3223 hex) and 2nd
Velocity Control Gain (3224
hex) are balanced incorrectly.
The set inertia ratio differs from Review the set value of the Adjust the set value of the Iner-
the load. Inertia Ratio (3001-01 hex). tia Ratio.

7 - 44 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 7 Troubleshooting

Symptom Probable cause Check items Measures

Vibration is occurring Inductive noise is occurring. Check to see if the drive control Shorten the control signal lines.
at the same fre- signal lines are too long.
quency as the power Check to see if the control sig- • Separate control signal lines
supply. nal lines and power supply from power supply lines.
lines are bound together. • Use a low-impedance power
supply for control signals.
The command The input command value Check to see if the Internal limit Input the command value that
velocity or torque is exceeds the velocity limit value active bit of Statusword is does not exceed the velocity
not reached. or the torque limit value. active. limit value or the torque limit
value from the host controller.

7-5 Troubleshooting
7

7-5-3 Troubleshooting Using the Operation State

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 7 - 45

7 Troubleshooting

7 - 46 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Maintenance and Inspection
This section explains maintenance and inspection of the Servomotors and Servo
Drives.

8-1 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8-2 Servo Drive Lifetime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8-3 Servomotor Lifetime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 8-1
8 Maintenance and Inspection

8-1 Periodic Maintenance

Caution
After replacing the Servo Drive, transfer to the new Servo Drive
all data needed to resume operation, before restarting operation.
Equipment damage may result.

Do not repair the Servo Drive by disassembling it.

Electric shock or injury may result.

Servomotors and Servo Drives contain many components and will operate properly only when each of
the individual components is operating properly.
Some of the electrical and mechanical components require maintenance depending on application con-
ditions. Periodic inspection and replacement are necessary to ensure proper long-term operation of
Servomotors and Servo Drives. (Quoted from The Recommendation for Periodic Maintenance of a
General-purpose Inverter published by JEMA.)

The periodic maintenance cycle depends on the installation environment and application conditions of
the Servomotors and Servo Drives.
Recommended maintenance times are given below for Servomotors and Servo Drives. Use these for
reference in periodic maintenance.

8-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 8 Maintenance and Inspection

8-2 Servo Drive Lifetime

• The lifetime of Servo Drive depends on application conditions. When the ambient temperature is
40°C and the average output is 70% of the rated output, the design life expectancy is ten years.
• The use of the Servo Drive in a hot environment shortens its lifetime. We recommend that the ambi-
ent temperature and the power supply ON time be reduced as much as possible to lengthen the life-
time of the Servo Drive.
• The lifetimes for the different parts of Servo Drive are given below.

Name Lifetime
Inrush current prevention relay Approx. 36,500 operations (lifetime depends on application conditions.)
Brake interlock output relay Approx. 36,500 operations (lifetime depends on application conditions.)

8-2 Servo Drive Lifetime

8

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) 8-3
8 Maintenance and Inspection

8-3 Servomotor Lifetime

The lifetimes for the different motor parts are listed below.

Name Lifetime
Bearing 20,000 hours
Decelerator*1 20,000 hours
Oil seal*1 5,000 hours (models with oil seal)*1
Brake ON/OFF 1,000,000 times
*1. These parts are not included in the Incremental Encoder Type Servomotors.

The operating conditions are determined as follows.

• Operating ambient temperature: 40°C
• Within the range of allowable axial load
• Rated operation (rated torque and rated rotation speed)
• Installation as specified in this manual
• Operation is not repeated with the motor shaft rotation at an angle of 45° or less, which causes the
fretting.
Oil seal can be replaced for repair.
When the Servomotor is used for a belt hook such as timing pulley, the radial load during motor opera-
tion is generally two or more times the static load. Consult with the belt and pulley manufacturers to
adjust designs and system settings so that the motor allowable axial load is not exceeded even during
operation. If the Servomotor is used under a shaft load that exceeds the allowable limit, the motor shaft
can be broken and the bearings can be damaged.

Additional Information

If the Encoder Lifetime Warning occurs, we recommend you to replace the encoder within a few
weeks.

8-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Appendices
The appendices provide explanation for the profile that is used to control the Servo
Drive, lists of objects, and Sysmac error status codes.

A-1 Sysmac Error Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-1 Error List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A-1-2 Error Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-14

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A-1
 Appendices

A-1 Sysmac Error Status Codes

This section lists and describes the error event codes that you can see in Sysmac Studio.

A-1-1 Error List

The errors (events) that can occur in 1S-series AC Servo Drives with Built-in EtherCAT Communica-
tions are given on the following pages.
Event levels are given in the table as follows:
Min: Minor fault level
Obs: Observation
Info: Information
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for all of the event codes that may
occur in an NJ/NX-series Controller.

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

04B30000 Regeneration Cir- An error of the Regenera- • Power supply voltage is

cuit Error Detected tion Circuit was detected at insufficient at power ON, or
during Power ON*1 power ON. rising slowly.
• Power supply voltage fluctu-
ated at power ON.
• L1, L2, and L3 terminals are  P. A-15
not connected or discon-
nected.
• N1 and N2 terminals are
opened.
• Servo Drive failure.
05430000 ESC Error An error occurred in the • Error of the EtherCAT slave
EtherCAT slave communi- communications controller
cations controller. or false detection when the
AL status code is 0051 hex
 P. A-17
• Error access from the
non-OMRON EtherCAT
master when the AL status
code is 0050 hex
08390000 Power Module Error An error was detected in the • There is a short-circuit,
power module. ground fault, or contact fail-
ure on the U, V, or W motor
cable
• There is a short-circuit on
the wiring of External
Regeneration Resistor or  P. A-18
the resistance value is small
• The insulation resistance
failed between the U, V, or
W motor cable and the
motor ground wire
• Servo Drive failure

A-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

083B0000 Self-diagnosis Error An error was detected by • False detection due to a

the self-diagnosis of the data read error that was
 P. A-19
safety function. caused by excessive noise
• Hardware failure
083C0000 Main Circuit Tem- A temperature monitoring • Broken wiring of the therm-
perature Monitoring circuit failure was detected istor, temperature monitor-  P. A-19
Circuit Failure on the main circuit. ing circuit failure
083D0000 Fan Error The rotation speed of the • There is a foreign matter in
fan is 40% or less of the rat- the cooling fan and it blocks
 P. A-20
ing and the cooling perfor- the rotation
mance decreases. • Cooling fan failure
083F 0000 Regeneration Pro- The regeneration process- • The regeneration process-
cessing Error ing was stopped to protect ing is set inappropriately
the Regeneration Resistor. • The Regeneration Resistor
is selected inappropriately
• The Regeneration Resistor
is used for continuous
 P. A-21
regenerative braking
• The applied power supply
voltage is higher than the
specified value
• Regeneration Resistor fail-
ure

A-1 Sysmac Error Status Codes

08410000 Overvoltage Error The main circuit power sup- • The P-N voltage exceeded
ply voltage (P-N voltage) the specified value
exceeded the operation • The input voltage increased
guarantee range. • The Regeneration Resistor
wiring is broken  P. A-22
• The External Regeneration
Resistor is set or selected
inappropriately
• Servo Drive failure
08420000 Motor Overheat The encoder detected the • The temperature is high
Error temperature that exceeded around the motor
the protection level of motor. • The motor is overloaded  P. A-23 A
• Encoder failure A-1-1 Error List

08430000 1-rotation Counter The encoder detected a • There is excessive noise

Error one-rotation counter error. • Failure due to vibration,
 P. A-23
impact, condensation, for-
eign matter, etc.
08440000 Overspeed Error The encoder detected the • The motor was rotated by
overspeed. external forces
 P. A-24
• Encoder failure and false
detection
08450000 Encoder Memory The encoder detected a • False detection due to a
Error non-volatile memory error. data read error that was
 P. A-24
caused by excessive noise
• Non-volatile memory failure

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A-3
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

08460000 Absolute Position The encoder detected a • A detection error was

Detection Error multi-rotation counter error. detected in the multi-rota-
tion detection section of the  P. A-25
encoder
• There is excessive noise
08480000 Main Power Supply The main circuit power sup- • Incorrect wiring of the main
Undervoltage (insuf- ply voltage fell below the circuit power supply
ficient voltage operation guarantee range • The low power supply volt-
between P and N) during Servo ON. age is applied to the Servo
Drive
 P. A-26
• The long time was set in
Momentary Hold Time and
the voltage was decreased
momentarily
• Servo Drive failure
08490000 Overcurrent Error The current flowing to the • There is a short-circuit,
motor exceeded the protec- ground fault, or contact fail-
tion level. ure on the U, V, or W motor
cable
• There is a short-circuit on
the wiring of External
Regeneration Resistor
 P. A-27
• The insulation resistance
failed between the U, V, or
W motor cable and the
motor ground wire
• False detection due to the
noise
• Servo Drive failure
084A0000 Encoder Communi- The communications dis- • Noise into the encoder
cations Disconnec- connection was detected cable
tion Error between the encoder and • Contact failure of the signal
the Servo Drive. line, and disconnection of
 P. A-28
the encoder
• Power supply undervoltage
to the encoder
• Encoder failure
084B0000 Encoder Communi- Illegal data was received • Noise into the encoder
cations Error from the encoder the speci- cable
fied number of times. • Contact failure of the signal
line, and disconnection of  P. A-29
the encoder
• Power supply undervoltage
to the encoder
084D 0000 Non-volatile Memory An error occurred on the • False detection due to a
Hardware Error non-volatile memory. data read error that was
 P. A-30
caused by excessive noise
• Non-volatile memory failure

A-4 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

18230000 Absolute Encoder The encoder detected a • A temporary error occurred

Multi-rotation multi-rotation counter error. in the encoder multi-rotation
Counter Error detection function due to
 P. A-30
vibration, impact, or con-
densation
• Encoder failure
18380000 System Error A hardware error due to the • False detection due to a
self-diagnosis and a fatal data read error that was
software error were caused by excessive noise
detected.  P. A-31
• A fatal software error was
detected
• Hardware failure
183A0000 Non-volatile Memory An error of data saved in the • Power interruption or noise
Data Error non-volatile memory was occurred while parameters
detected. other than the safety were
saved
• Power interruption or noise
occurred while the motor  P. A-31
identity information was
saved
• Power interruption or noise
occurred while safety
parameters were saved

A-1 Sysmac Error Status Codes

246D0000 Motor The Servo Drive and motor • The Servo Drive and motor
 P. A-32
Non-conformity combination is not correct. combination is not correct
28080000 Main Circuit Power The phase loss of the main • Incorrect wiring, for exam-
Supply Phase Loss circuit power supply was ple the single-phase power
Error detected supply is input to a 3-phase
input type Servo Drive
• In the case where the sin-
gle-phase power supply is
input to a single- and
3-phase input type Servo  P. A-33
Drive, the phase loss detec-
tion is enabled. A
• The power supply voltage is
low or insufficient A-1-1 Error List

• Broken wiring of the main

circuit power supply input
• Servo Drive failure
280D0000 Runaway Detected*2 The motor rotated in the • There is incorrect wiring of
direction opposite to the the motor cable or a broken
command. cable.
• The motor rotated in the  P. A-34
direction opposite to the
command by external
forces.
357D0000 DC Setting Error A mistake was made in the • A mistake was made in the
 P. A-35
DC Mode operation setting. DC Mode operation setting

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A-5
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

357E0000 Synchronization When the DC mode was • The variable PDO mapping
Cycle Setting Error established, the cycle time is used, and the number of
was set to the inoperable objects is more than the
value. maximum number of
 P. A-35
mapped objects for the
cycle time
• The cycle time setting is
incorrect
357F0000 Mailbox Setting An incorrect mailbox setting • An incorrect mailbox set-
Error of Sync Manager was ting of Sync Manager was  P. A-36
detected. detected
35800000 RxPDO Setting An RxPDO setting error was • The RxPDO setting of Eth-
Error detected. erCAT master is incorrect  P. A-36
• Servo Drive failure
35810000 TxPDO Setting Error A TxPDO setting error was • The TxPDO setting of Eth-
detected. erCAT master is incorrect  P. A-37
• Servo Drive failure
35820000 RxPDO Mapping An incorrect RxPDO was • An incorrect RxPDO was
Error set. set, such as out of the
 P. A-37
allowable range of Index,
Subindex, or size
35830000 TxPDO Mapping An incorrect TxPDO was • An incorrect RxPDO was
Error set. set, such as out of the
 P. A-38
allowable range of Index,
Subindex, or size
35840000 PDO WDT Setting An incorrect PDO WDT set- • An incorrect PDO WDT set-
 P. A-38
Error ting was detected. ting was detected
35850000 Node Address The node address is • The node address is
Updated changed to a value of the ID changed from a set value in
 P. A-39
switches. Sysmac Studio to a value of
the ID switches
35860000 SM Event Mode Set- The unsupported SM Event • The unsupported SM Event
 P. A-39
ting Error Mode was set. Mode was set
38570000 Function Setting The function that was set • The electronic gear ratio
Error does not support the com- was not 1:1 when the com-
munications period. munications period was set
to 125 µs.
 P. A-40
• The Backlash Compensa-
tion was enabled when the
communications period was
set to 125 µs.
38780000 General Input Allo- More than one function • More than one function
cation Duplicate input is allocated to one input is allocated to one  P. A-41
Error general input. general input
38790000 General Output Allo- More than one function out- • More than one function out-
cation Duplicate put is allocated to one gen- put is allocated to one gen-  P. A-41
Error eral output. eral output
387B 0000 Pulse Output Setting The dividing numerator • The dividing numerator
Error exceeded the dividing exceeded the dividing
denominator when the denominator when the
Encoder Dividing Pulse Encoder Dividing Pulse  P. A-42
Output - Dividing Denomi- Output - Dividing Denomi-
nator was set to a value nator was set to a value
other than 0. other than 0

A-6 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

387C0000 Motor Replacement The connected motor is dif- • The motor was replaced
Detected ferent from the motor that • The Servo Drive was  P. A-42
was connected the last replaced
time.
387F 0000 Electronic Gear Set- The electronic gear ratio • The electronic gear ratio
ting Error exceeded the allowable exceeded the allowable  P. A-43
range. range
38800000 Servo Drive Over- The internal temperature of • The ambient temperature of
heat Servo Drive exceeded the the Servo Drive exceeded
 P. A-43
circuit protection level. the specified value
• Overload
38810000 Overload Error The Load Ratio of Servo • Operation was continued
Drive or motor (4150-81 for a long time with high
hex) exceeded 100%. load
• There is incorrect wiring of  P. A-44
the motor cable or a broken
cable
• Increase in friction
38820000 Regeneration Over- The Regeneration Load • The regeneration process-
load Error Ratio (4310-81 hex) ing is set inappropriately
exceeded the regeneration • The Regeneration Resistor
overload ratio. is selected inappropriately
• The Regeneration Resistor

A-1 Sysmac Error Status Codes

is used for continuous
 P. A-45
regenerative braking
• The applied power supply
voltage is higher than the
specified value
• Regeneration Resistor fail-
ure
38830000 Excessive Position The position deviation is • The motor operation does
Deviation Error greater than or equal to the not follow the command
 P. A-46
value set in the Following • The value of Following error
error window. window is small
38840000 Excessive Speed The speed deviation is • The motor operation does A
Deviation Error greater than or equal to the not follow the command
value set in the Excessive because a parameter value
A-1-1 Error List

Velocity Deviation Detection is inappropriate

Level. • The output axis of motor is
 P. A-47
limited on the operation by
external forces
• The value of the Excessive
Velocity Deviation Detection
Level is inappropriate
38850000 Excessive Speed The feedback motor speed • The velocity command
Error is greater than or equal to value is too large
the value set in the Exces- • Overshooting occurred  P. A-48
sive Speed Detection Level. • The motor was rotated by
external forces

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A-7
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

38860000 Following Error The following error value • The motor operation does
Counter Overflow exceeded the range from not follow the command
-2147483648 to • The motor is rotated or lim-  P. A-49
2147483647. ited on the operation by
external forces
38870000 Absolute Encoder The multi-rotation counter of • An inappropriate value was
Counter Overflow the encoder exceeded the set in the Encoder - Opera-
Error maximum number of rota- tion Selection when Using
tions. Absolute Encoder
(4510-01 hex)  P. A-49
• The multi-rotation number
of the encoder exceeded
the maximum number of
rotations
38880000 Safety Communica- Safety process data com- • The watchdog time was set
tions Setting Error munications were not estab- incorrectly
lished with the Safety CPU • The processing was not
Unit because of an incorrect completed within the watch-  P. A-50
communications setting. dog time because commu-
nications were not
established due to the noise
38890000 Safety Frame Error Safety process data com- • An incorrect frame was
munications were not estab- received in safety process
lished with the Safety CPU data communications  P. A-51
Unit because an incorrect • There is excessive noise
frame was received.
388A0000 Safety Parameter Safety process data com- • The set safety slave model
Error munications were not estab- is incorrect
lished with the Safety CPU  P. A-51
Unit because an incorrect
parameter was received.
388B0000 FSoE Slave Address Safety process data com- • The setting of the FSoE
Error munications were not estab- slave address in the safety
lished with the Safety CPU process data communica-  P. A-52
Unit because of an incorrect tions settings is different
FSoE slave address. from the setting in the Unit
48080000 FPGA WDT Error An FPGA error was • False detection due to a
detected. data read error that was
 P. A-52
caused by excessive noise
• Hardware failure
64E30000 Drive Prohibition Both the Positive Drive Pro- • An error occurred on the
Input Error hibition (POT) and the Neg- switch, wire, power supply,
ative Drive Prohibition Input and wiring that were con-
(NOT) turned ON. nected to the Positive Drive
Prohibition (POT) or Nega-
tive Drive Prohibition Input  P. A-53
(NOT)
• False detection occurred
because the control signal
power supply was turned
ON slowly

A-8 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

68200000 Drive Prohibition The operation was stopped • Incorrect or broken wiring of
Detected according to the user setting Positive Drive Prohibition
because the motor ran in Input (POT) or Negative
the prohibited direction Drive Prohibition Input  P. A-54
when the Drive Prohibition (NOT)
was enabled. • Incorrect setting of the Drive
Prohibition Input
68210000 Control Right Communications between • The USB cable or EtherCAT
Release Error the Sysmac Studio and cable was disconnected
Servo Drive were inter- during the connection with
rupted while a specific func- the Sysmac Studio
tion was used from the • There is excessive noise
Sysmac Studio.  P. A-55
• A command sent from the
Sysmac Studio was not
sent to the Servo Drive
because the computer was
in a busy state or the like
68220000 Error Stop Input The Error Stop Input • The Error Stop Input
(ESTP) is active. (ESTP) was input
 P. A-56
• The Error Stop Input
(ESTP) is incorrectly wired
68230000 Software Limit The Position actual value • Incorrect setting of Software
Exceeded detected the position that Position Limit

A-1 Sysmac Error Status Codes

exceeded the value set in • When the Software Position
the Software Position Limit, Limit - Stop Selection was
and stopped the operation set to Stop according to the  P. A-56
according to the user set- setting of Fault reaction
ting. option code, the position
exceeded the value set in
the Software Position Limit
78200000 Pulse Output Over- The speed, which exceeded • The dividing ratio setting is
speed Error the frequency that could be inappropriate for the actual
output by the Encoder usage condition  P. A-57
Dividing Pulse Output func-
tion, was detected.
A
78210000 Brake Interlock Error The Brake Interlock Output • The Brake Interlock Output
(BKIR) was output by the (BKIR) was output because
Timeout at Servo OFF. the motor rotation speed did
A-1-1 Error List

not decrease to or less than

the speed set in the Thresh-
old Speed at Servo OFF  P. A-57
within the time set in the
Timeout at Servo OFF
when Servo OFF was per-
formed during the motor
operation

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A-9
 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

78230000 Command Error A mistake was made in • When bit 9 (Remote) of the
using a command. Statusword was set to 1
(remote), and the Servo
Drive was in Operation
enabled state (Servo ON),
the Servo Drive received a
command to change the
communications state from
Operational to another state
(Init, Pre-Operational, or  P. A-58
Safe-Operational)
• A mode of operation other
than the hm mode was set
during the homing operation
• Modes of operation was set
to pp, pv or hm mode when
the communications period
was set to shorter than
250 μs
84B10000 EtherCAT State A communications state • A communications state
Change Error change command was change command was
received for which the cur- received for which the cur-  P. A-59
rent communications state rent communications state
could not be changed. could not be changed
84B20000 EtherCAT Illegal An undefined communica- • An undefined communica-
State Change Error tions state change com- tions state change com-  P. A-59
mand was received. mand was received
84B40000 Synchronization A signal for synchronous • Noise
Error communications could not • Error of the EtherCAT slave  P. A-60
be detected. communications controller
84B50000 Sync Manager WDT PDO communications were • An EtherCAT communica-
Error interrupted for the allow- tions cable is disconnected,
 P. A-60
able period or longer. loose, or broken
• Host controller error
84B60000 ESC Initialization The initialization of Ether- • Data was incorrectly over-
Error CAT slave communications written in the non-volatile
controller failed. memory of the EtherCAT
slave communications con-
 P. A-61
troller
• Failure of the EtherCAT
slave communications con-
troller
84B70000 SII Verification Error An error occurred in SII data • Data was incorrectly over-
of the EtherCAT slave com- written in the non-volatile
munications controller. memory of the EtherCAT
slave communications con-
 P. A-61
troller
• Failure of the EtherCAT
slave communications con-
troller or false detection

A - 10 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

84B90000 Synchronization Synchronization interrup- • Incorrect EtherCAT syn-

Interruption Error tion did not occur within the chronization setting of the
specified period. host controller
 P. A-62
• Failure of the EtherCAT
slave communications con-
troller or false detection
84BA0000 Bootstrap State The state transition to • The EtherCAT master
Transition Request unsupported Bootstrap was requested the transition of  P. A-62
Error requested. unsupported Bootstrap
88100000 Communications Communications were not • The power supply to the
Synchronization established consecutively host controller was inter-
Error because the synchroniza- rupted during PDO commu-
tion with the EtherCAT Mas- nications
ter could not be achieved. • An EtherCAT communica-  P. A-63
tions cable is disconnected,
loose, broken, or has a con-
tact failure
• Noise
88120000 Safety Communica- A communications timeout • A setting is not correct. The
tions Timeout occurred in safety process setting of the safety task
data communications with period of the Safety CPU
the Safety CPU Unit. Unit is too short
• There is excessive noise
 P. A-64

A-1 Sysmac Error Status Codes

• The Safety CPU Unit or
safety slave entered a sta-
tus where it could not con-
tinue safety process data
communications
98200000 Absolute Value The multi-rotation counter of • The multi-rotation counter
Cleared the absolute encoder was of the absolute encoder was  P. A-64
cleared. cleared
081C0000 Capacitor Lifetime The capacitor built into the • The operating time of the
Warning Servo Drive reached the capacitor in the Servo Drive  P. A-65
service life. exceeded the service life
081D0000 Inrush Current Pre- The inrush current preven- • The number of operating A
vention Relay Life- tion relay built into the times of the inrush current
time Warning Servo Drive reached the prevention relay in the  P. A-65
service life. Servo Drive exceeded the
A-1-1 Error List

service life
081F 0000 Brake Interlock Out- The brake interlock output • The number of operating
put Relay Lifetime (BKIR) relay built into the times of the brake interlock
 P. A-66
Warning Servo Drive reached the output in the Servo Drive
service life. exceeded the service life
083A 0000 Encoder Communi- Encoder communications • Noise into the encoder
cations Warning errors occurred in series cable
more frequently than the • Contact failure of the
specified value.  P. A-67
encoder cable
• Power supply undervoltage
to the encoder
08470000 Encoder Lifetime The encoder lifetime is • Temporary noise
 P. A-68
Warning close to the end. • The end of the encoder life

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 11

 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

084C 0000 Fan Rotation Warn- The rotation speed of the • There is a foreign matter in
ing fan is 80% or less of the rat- the cooling fan and it blocks
 P. A-68
ing and the cooling perfor- the rotation
mance decreases. • Cooling fan failure
084E 0000 Absolute Encoder The multi-rotation counter of • An inappropriate value was
Counter Overflow the encoder exceeded the set in the Encoder - Opera-
Warning value set in Encoder - tion Selection when Using
Absolute Encoder Absolute Encoder
 P. A-69
Counter Overflow Warn- (4510-01 hex)
ing Level (4510-02 hex). • The multi-rotation number
of the encoder exceeded
the warning level
18390000 Lifetime Information An error was detected in the • The lifetime information cor-
Corruption Warning saved lifetime information. ruption was detected when
 P. A-70
the power supply was
turned ON
34E00000 Data Setting Warn- The object set value is out • The object set value is out
 P. A-70
ing of the range. of the range
387A 0000 Overload Warning The Load Ratio of Servo • Operation was continued
Drive or motor (4150-81 for a long time with high
hex) exceeded the level set load.
in Overload - Warning • There is incorrect wiring of  P. A-71
Notification Level the motor cable or a broken
(4150-01 hex). cable
• Increase in friction
387D 0000 Regeneration Over- The Regeneration Load • The regeneration process-
load Warning Ratio (4150-81 hex) ing is set inappropriately
exceeded 85%. • The Regeneration Resistor
is selected inappropriately
• The Regeneration Resistor
is used for continuous
 P. A-72
regenerative braking
• The applied power supply
voltage is higher than the
specified value
• Regeneration Resistor fail-
ure
387E0000 Motor Vibration The motor vibration, which • The control parameter is set
Warning was higher than or equal to inappropriately
the level set in the Vibra- • The rigidity decreased due  P. A-73
tion Detection - Detection to mechanical looseness or
Level (3B70-01 hex), was wear
detected.

A - 12 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Level
Event code Refer-
Event name Description Assumed cause

Obs
Info
Min
(hex) ence

78220000 Command Warning A command could not be • The Switch ON command

executed. was received
• The Enable operation com-
mand was received
• An operation command in
the prohibition direction was
received after the immedi-
 P. A-74
ate stop by the Drive Prohi-
bition Input or Software
Position Limit
• Homing started
• The positioning start com-
mand was received in the
Profile position mode
84B00000 EtherCAT Communi- An EtherCAT communica- • An EtherCAT communica-
cations Warning tions error occurred more tions cable has a contact
than one time. failure, or is connected  P. A-75
incorrectly or broken
• Noise
90A00000 Unit Restarted Restart was performed. • Restart was performed  P. A-75
98210000 STO Detected The safety input OFF state • The cable is disconnected
was detected via the safety or broken
input signal or EtherCAT • The STO input was turned  P. A-76

A-1 Sysmac Error Status Codes

communications. OFF via EtherCAT commu-
nications
98220000 Memory All Cleared The Unit setting was • Clear All Memory was per-
 P. A-76
cleared. formed
98240000 Event Log Cleared The event log was cleared. • Clear Event Log was per-
 P. A-77
formed
*1. This error can occur in the unit version 1.2 or later.
*2. This error can occur in the unit version 1.1 or later.

A
A-1-1 Error List

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 13

 Appendices

A-1-2 Error Descriptions

This section describes errors.

Error Table
The items that are used to describe individual errors (events) are described in the following copy of an
error table.

Event name Gives the name of the error (event). Event code Gives the code of the error (event).
Description Gives a short description of the error (event).
Gives the source of the error Gives details on Tells when the
Detection
Source (event). Source details the source of error is
timing
the error. detected.
Tells the influ- Gives the recov- Tells which log
Error
Level ence on con- Recovery ery method.*2 Log category the error is
attributes
trol.*1 saved in.
Tells what will Provides special information on the operation that
happen to exe- results from the error (event).
Effects User program Operation
cution of the
user program.*3
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators Gives the status of the built-in EtherNet/IP port and built-in EtherCAT port indicators. Indicator status is
given only for errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.
System Variable Data type Name
-defined Lists the variable names, data types, and meanings for system-defined variables that provide direct error
variables notification, that are directly affected by the error, or that contain settings that cause the error.
Cause and Assumed cause Correction Prevention
correction Lists the possible causes, corrections, and preventive measures for the error (event).
Attached Provides the additional information that is displayed by the Sysmac Studio or an NS-series PT.
information
Precautions/ Provides precautions, restrictions, and supplemental information.
Remarks
*1. One of the following:
Minor fault: Minor fault level
Observation
Information
*2. One of the following:
Automatic recovery: Normal status is restored automatically when the cause of the error is removed.
Error reset: Normal status is restored when the error is reset after necessary measures are taken.
Cycle the power supply: Normal status is restored when the power supply is turned OFF and then back ON after neces-
sary measures are taken.
Replace the Servo Drive: Normal status is restored when the Servo Drive is replaced with a new one.
*3. “Continues.” indicates that execution of the user program will continue.

A - 14 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Error Descriptions

Regeneration Circuit Error Detected during Power 04B30000 hex*1

Event name Event code
ON
Meaning An error of the Regeneration Circuit was detected at power ON.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables

A-1 Sysmac Error Status Codes

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 15

 Appendices

Assumed cause Correction Prevention

• Power supply voltage is insuffi- Cut off the main circuit power sup- • If you are using the External
cient at power ON, or rising ply immediately and check Regeneration Resistor, make
slowly. whether charge lamp is turned sure that an appropriate resis-
• Power supply voltage fluctu- ON/OFF. tance value is set and that it is a
ated at power ON. resistor for the electric power.
• L1, L2, and L3 terminals are If the charge lamp is turned OFF, • Increase the power supply
not connected or discon- remove the wiring and make the capacity to improve the power
nected. following check. environment.
• N1 and N2 terminals are • Separate the Servo Drive and
• Check whether there is an
opened. cables from the noise source, or
abnormality in the appearence
install other devices separately
of the Servo Drive, and that the
with the power line of the Servo
wiring is properly done.
Drive so that the surge voltage
• Check that the resistance value
that is too large is not imposed.
and the power of the External
• Power rise time must be 500 ms
Regeneration Resistor is cor-
or shorter.
rect.
• Check that the wiring for the fol-
• Wait until the voltage between P
lowing terminals is properly
and N1 goes to less than 1 V to
done: L1, L2, L3, N1, N2, N3,
check the resistance value
B1, B2, B3, and P.
between P and N1. (If it is less
than 10 kΩ, replace the Servo
Cause and Drive.)
correction • Wait until the voltage get stable
to check the resistance value
between B2 and N1. (If it is less
than 100 kΩ, replace the Servo
Drive.)
• Check whether fluctuation in the
power supply voltage or power
supply occurs or not. (Make sure
that an instantaneous power
drop does not occur, and that
the power rise time is 500 ms or
shorter.)

If the charge lamp is turned ON,

check whether fluctuation in the
power supply voltage or power
supply occurs or not. (Make sure
that an instantaneous power drop
does not occur, and that the power
rise time is 500 ms or shorter.)
Servo Drive failure If this event occurs again after you None
performed all corrections shown
above, replace the Servo Drive.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 1402 hex
Remarks
*1. This error can occur in the unit version 1.2 or later.

A - 16 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name ESC Error Event code 0543 0000 hex

Meaning An error occurred in the EtherCAT slave communications controller.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Error of the EtherCAT slave com- If this event occurs repeatedly None
munications controller or false after you cycled the power supply,
detection when the AL status the EtherCAT slave communica-
Cause and code is 0051 hex tions controller is faulty. Replace
correction the Servo Drive.
Error access from the Please contact the manufacturer
non-OMRON EtherCAT master of EtherCAT master.
when the AL status code is 0050
hex
Attached None
information
Precautions/ AL status code: 0050 hex or 0051 hex, Error No.: 8804 hex

A-1 Sysmac Error Status Codes

Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 17

 Appendices

Event name Power Module Error Event code 08390000 hex

Description An error was detected in the power module.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
There is a short-circuit, ground Correct the connection of the U, V, Confirm that the motor cables are
fault, or contact failure on the U, or W motor cable. not broken and connect them cor-
V, or W motor cable rectly.
If there is a short-circuit on the wir- Wire the External Regeneration
There is a short-circuit on the wir-
ing of External Regeneration ing of External Regeneration Resistor correctly when using it.
Resistor or the resistance value Resistor, correct the wiring. Use the recommended External
is small Regeneration Resistor. If a resis-
tance value of the External Regen-
Cause and eration Resistor is small,
correction excessive current will flow into the
power module and cause a failure.
The insulation resistance failed Replace the motor. Confirm that the insulation resis-
between the U, V, or W motor tance is insulated between the U,
cable and the motor ground wire V, and W motor cable and the
motor ground wire before using the
motor.
Servo Drive failure If this event occurs again after you Do not perform Servo ON/OFF fre-
performed all corrections shown quently. Doing so may cause a
above, replace the Servo Drive. Servo Drive failure.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 1401 hex
Remarks

A - 18 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Self-diagnosis Error Event code 083B0000 hex

Description An error was detected by the self-diagnosis of the safety function.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
False detection due to a data If this event does not occur after If the normal operation can restart
read error that was caused by you cycled the power supply, use after you cycled the power supply,
Cause and excessive noise the product continuously. It is sup- consider noise countermeasures.
correction Hardware failure posed that a temporary error There may be excessive noise
occurred due to a read error. If this around the Servo Drive.
event occurs again, replace the
Servo Drive.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 3502 hex
Remarks

A-1 Sysmac Error Status Codes

Event name Main Circuit Temperature Monitoring Circuit Failure Event code 083C 0000 hex
Description A temperature monitoring circuit failure was detected on the main circuit.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name A
-defined None None None
variables
Assumed cause Correction Prevention
A-1-2 Error Descriptions

Cause and Broken wiring of the thermistor, If this event occurs repeatedly None
correction temperature monitoring circuit after you cycled the power supply,
failure replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 5800 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 19

 Appendices

Event name Fan Error Event code 083D0000 hex

Description The rotation speed of the fan is 40% or less of the rating and the cooling performance decreases.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
nattributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
There is a foreign matter in the Check whether there is a foreign Do not use the fan in an area sur-
cooling fan and it blocks the rota- matter in the fan. If you find a for- rounded by excessive foreign mat-
Cause and
tion eign matter, remove it. ter. Also, do not allow foreign
correction
Cooling fan failure If there is no improvement after objects to enter.
you performed the correction
above, replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 5900 hex
Remarks

A - 20 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Regeneration Processing Error Event code 083F 0000 hex
Description The regeneration processing was stopped to protect the Regeneration Resistor.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The regeneration processing is Check the regeneration process- Check the items given for correc-
set inappropriately ing setting, and set the same value tions in advance and take counter-
as the resistance value of the measures as required.
Regeneration Resistor in use.
The Regeneration Resistor is Check the operation pattern by the
selected inappropriately velocity monitor. Check the load
ratio of Regeneration Resistor, and
perform the following corrections
accordingly.
• Increase the deceleration time
and stopping time.

A-1 Sysmac Error Status Codes

• Decrease the command velocity
Cause and
to the motor.
correction
• Use an External Regeneration
Resistor.
• Increase the capacity of the
Servo Drive and the motor.
The Regeneration Resistor is The Regeneration Resistor can- Do not use the Regeneration
used for continuous regenera- not be used for continuous regen- Resistor for continuous regenera-
tive braking erative braking. tive braking.
The applied power supply volt- Apply the specified power supply Review the power supply voltage
age is higher than the specified voltage. to be the specified value before
value use.
Regeneration Resistor failure Check whether the Regeneration Confirm that the Regeneration
A
Resistor is faulty, and use one Resistor is not faulty before use.
without failures.
A-1-2 Error Descriptions

Attached None
information
Precautions/ AL status code: -, Error No.: 1802 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 21

 Appendices

Event name Overvoltage Error Event code 08410000 hex

Meaning The main circuit power supply voltage (P-N voltage) exceeded the operation guarantee range.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The P-N voltage exceeded the Input the correct voltage. Input the correct voltage.
specified value
The input voltage increased Use appropriately external devices Use appropriately external devices
such as UPS. such as UPS.
The Regeneration Resistor wir- If a resistance value of the external Check a resistance value of the
ing is broken resistor is infinite between the ter- external resistor.
minal B1 and B2 of the Servo
Drive, the wiring is broken.
Replace the external resistor.
Cause and
The External Regeneration Confirm the necessary regenera- Select an External Regeneration
correction
Resistor is set or selected inap- tion processing capacity, and con- Resistor after calculating the nec-
propriately nect an appropriate External essary regeneration processing
Regeneration Resistor. Also, set capacity because it varies with
the parameters of the External operation patterns or the like. Also,
Regeneration Resistor to the resis- set the parameter correctly when
tance value of the External Regen- using the External Regeneration
eration Resistor in use. Resistor.
Servo Drive failure If this event occurs again after you None
performed all corrections shown
above, replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 1200 hex
Remarks

A - 22 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Motor Overheat Error Event code 0842 0000 hex
Description The encoder detected the temperature that exceeded the protection level of motor.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The temperature is high around Adjust the temperature around the Adjust the ambient temperature to
the motor motor to be within the range of the be within the range of the operat-
operating temperature. ing temperature before using the
Cause and motor.
correction The motor is overloaded Adjust the motor load ratio to be Adjust the operation before use, so
within the specified range. that the motor load ratio does not
become high for a long time.
Encoder failure Replace the motor if this event None
occurs repeatedly.
Attached None
information
Precautions/ AL status code: -, Error No.: 1501 hex

A-1 Sysmac Error Status Codes

Remarks

Event name 1-rotation Counter Error Event code 0843 0000 hex
Description The encoder detected a one-rotation counter error.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF

Indicators
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT A
--- --- ---
System Variable Data type Name A-1-2 Error Descriptions

-defined None None None

variables
Assumed cause Correction Prevention
There is excessive noise Take noise countermeasures. If Take noise countermeasures.
Cause and Failure due to vibration, impact, this event occurs after you per- Do not use the product in an area
correction condensation, foreign matter, etc. formed noise countermeasures, surrounded by excessive foreign
the motor is faulty. Replace the matter. Also, do not allow foreign
motor. matter to enter.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 4400 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 23

 Appendices

Event name Overspeed Error Event code 08440000 hex

Meaning The encoder detected the overspeed.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The motor is rotated by external Take countermeasures so that the Take countermeasures so that the
forces motor is not subjected to external motor is not rotated by external
Cause and forces if the motor is rotated by forces.
correction external forces.
Encoder failure and false detec- If this event occurs repeatedly, the None
tion encoder is faulty. Replace the
motor.
Attached None
information
Precautions/ AL status code: -, Error No.: 4700 hex
Remarks

Event name Encoder Memory Error Event code 08450000 hex

Description The encoder detected a non-volatile memory error.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
False detection due to a data If this event occurs after you None
Cause and
read error that was caused by cycled the power supply, the
correction
excessive noise encoder is faulty. Replace the
Non-volatile memory failure motor.
Attached None
information
Precautions/ AL status code: -, Error No.: 4301 hex
Remarks

A - 24 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Absolute Position Detection Error Event code 0846 0000 hex
Description The encoder detected a multi-rotation counter error.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
A detection error was detected in Perform the Absolute Encoder None
the multi-rotation detection sec- Setup after cycling the power sup-
Cause and tion of the encoder ply, and update the multi-rotation
correction number.
There is excessive noise Take noise countermeasures. Take noise countermeasures.
Replace the motor if this event
occurs repeatedly.
Attached None
information
Precautions/ AL status code: -, Error No.: 4501 hex
Remarks

A-1 Sysmac Error Status Codes

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 25

 Appendices

Main Power Supply Undervoltage (insufficient volt- 08480000 hex

Event name Event code
age between P and N)
Meaning The main circuit power supply voltage fell below the operation guarantee range during Servo ON.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Incorrect wiring of the main cir-
If the power supply cables are not Check the wiring of the main circuit
cuit power supply wired to the main circuit power power supply before use.
supply terminals (L1 , L2 , L3),
connect them.
The low power supply voltage is Increase the power supply capac- Apply the voltage appropriate for
applied to the Servo Drive ity if it is small. Measure the the Servo Drive.
applied power supply voltage, and
apply the voltage according to the
Cause and specification.
correction
The long time was set in Momen- Remove the cause that momentar- Set an appropriate value in the
tary Hold Time and the voltage ily decreased the voltage. Momentary Hold Time.
was decreased momentarily Set a short time in the Momentary
Hold Time so as not to detect this
error due to a momentary
decrease in voltage.
Servo Drive failure If this event occurs again after you None
performed all corrections shown
above, replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 1300 hex
Remarks

A - 26 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Overcurrent Error Event code 0849 0000 hex

Meaning The current flowing to the motor exceeded the protection level.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
There is a short-circuit, ground Correct the connection of the U, V, Confirm that the motor cables are
fault, or contact failure on the U, or W motor cable. not broken and connect them cor-
V, or W motor cable rectly.
There is a short-circuit on the wir- Correct the wiring of External Wire the External Regeneration
ing of External Regeneration Regeneration Resistor. Resistor correctly when using it.
Resistor
The insulation resistance failed Replace the motor. Confirm that the insulation resis-
Cause and between the U, V, or W motor tance is insulated between the U,
correction cable and the motor ground wire V, and W motor cable and the
motor ground wire before connect-
ing and using the motor.
False detection due to the noise Take noise countermeasures. Take noise countermeasures

A-1 Sysmac Error Status Codes

because excessive noise may
cause false detection.
Servo Drive failure If this event occurs again after you Do not perform Servo ON/OFF fre-
performed all corrections shown quently. Doing so may cause a
above, replace the Servo Drive. Servo Drive failure.
Attached None
information
Precautions/ AL status code: -, Error No.: 1400 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 27

 Appendices

Event name Encoder Communications Disconnection Error Event code 084A0000 hex
Description The communications disconnection was detected between the encoder and the Servo Drive.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Noise into the encoder cable • Separate the motor cable and • Separate the motor cable and
the encoder cable if they are the encoder cable if they are
bundled together. bundled together.
• Connect the shield to FG. • Connect the shield to FG.
• Check that the motor ground • Check that the motor ground
wire is connected to FG. wire is connected to FG.
Cause and Contact failure of the signal line, Replace the encoder cable if it is Confirm that the encoder is not
correction and disconnection of the encoder broken. Firmly connect the broken before use, and connect
encoder connector to the Servo the encoder connector to the
Drive. Servo Drive securely.
Power supply undervoltage to Use the recommended encoder Use the recommended encoder
the encoder cable. cable.
Encoder failure If this event occurs again after you None
performed all corrections shown
above, replace the motor.
Attached None
information
Precautions/ AL status code: -, Error No.: 2100 hex
Remarks

A - 28 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Encoder Communications Error Event code 084B0000 hex

Description Illegal data was received from the encoder the specified number of times.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Noise into the encoder cable • Separate the motor cable and • Separate the motor cable and
the encoder cable if they are the encoder cable if they are
bundled together. bundled together.
• Connect the shield to FG. • Connect the shield to FG.
• Check that the motor ground • Confirm that the motor ground
Cause and
wire is connected to FG. wire is connected to FG.
correction
Contact failure of the signal line, Replace the encoder cable if it is Confirm that the encoder is not
and disconnection of the encoder broken. Firmly connect the broken before use, and connect
encoder connector to the Servo the encoder connector to the
Drive. Servo Drive securely.
Power supply undervoltage to Use the recommended encoder Use the recommended encoder
the encoder cable. cable.

A-1 Sysmac Error Status Codes

Attached None
information
Precautions/ AL status code: -, Error No.: 2101 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 29

 Appendices

Event name Non-volatile Memory Hardware Error Event code 084D0000 hex
Description An error occurred on the non-volatile memory.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
False detection due to a data After you cycled the power supply, None
Cause and read error that was caused by if this error occurs continuously
correction excessive noise although the error is reset, the
Non-volatile memory failure non-volatile memory is faulty.
Replace the Servo Drive.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 3700 hex
Remarks

Event name Absolute Encoder Multi-rotation Counter Error Event code 18230000 hex
Meaning The encoder detected a multi-rotation counter error.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
A temporary error occurred in the Use the product continuously if this Do not use the product in an envi-
Cause and encoder multi-rotation detection event does not occur after improv- ronment where the temperature
correction function due to vibration, impact, ing the operating environment. and vibration resistance exceed
or condensation Replace the motor if this event the specified level.
Encoder failure occurs again.
Attached None
information
Precautions/ AL status code: -, Error No.: 4500 hex
Remarks

A - 30 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name System Error Event code 1838 0000 hex

Description A hardware error due to the self-diagnosis and a fatal software error were detected.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
False detection due to a data If this event does not occur after If the normal operation can restart
read error that was caused by you cycled the power supply, use after you cycled the power supply,
excessive noise the product continuously. It is sup- consider noise countermeasures.
Cause and
A fatal software error was posed that a temporary error There may be excessive noise
correction
detected occurred due to a read error. around the Servo Drive.
Hardware failure If this event occurs again, a fatal
error exists. Replace the Servo
Drive.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 3501 hex
Remarks

A-1 Sysmac Error Status Codes

Event name Non-volatile Memory Data Error Event code 183A0000 hex
Description An error of data saved in the non-volatile memory was detected.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name A
-defined None None None
variables
A-1-2 Error Descriptions

Assumed cause Correction Prevention

Power interruption or noise Save data after setting the param- Do not interrupt the power while
occurred while parameters other eter again, and cycle the power the parameter is saved.
than the safety were saved supply.
Cause and Power interruption or noise Execute the Motor Setup, and
correction occurred while the motor identity cycle the power supply.
information was saved
Power interruption or noise Clear the FSoE slave address,
occurred while safety parameters execute FSoE Enable Reset, and
were saved cycle the power supply.
Attached Information 1: Cause Details
Attached 1: Data corruption of parameters other than the safety
information 2: Data corruption of the motor identity information
3: Data corruption of the safety parameters
Precautions/ AL status code: -, Error No.: 3600 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 31

 Appendices

Event name Motor Non-conformity Event code 246D0000 hex

Description The Servo Drive and motor combination is not correct.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and
The Servo Drive and motor com- Replace the motor with one that Use a motor that matches the
correction
bination is not correct matches the Servo Drive. Servo Drive.
Attached Information 1: Cause Details
Attached 1: Error at a time when the capacity of the connected Servomotor does not conform to the capacity of Servo
information Drive.
2: The Servomotor with different operating voltage is connected.
Precautions/ AL status code: -, Error No.: 9501 hex
Remarks

A - 32 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Main Circuit Power Supply Phase Loss Error Event code 2808 0000 hex
Description The phase loss of the main circuit power supply was detected.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Incorrect wiring, for example the Confirm the Servo Drive specifica- Confirm the Servo Drive specifica-
single-phase power supply is tions, and perform the correct wir- tions, and perform the correct wir-
input to a 3-phase input type ing. ing.
Servo Drive
In the case where the sin- Set Main Circuit Power Supply - Disable the phase loss detection
gle-phase power supply is input Phase Loss Detection Enable when you input the single-phase
to a single- and 3-phase input (4320-02 hex) to 0 (disabled). power supply to a single- and
type Servo Drive, the phase loss 3-phase input type Servo Drive.
Cause and
detection is enabled.
correction
The power supply voltage is low Improve power supply conditions Improve power supply conditions
or insufficient by increasing the power supply by increasing the power supply
capacity or the like. capacity or the like.

A-1 Sysmac Error Status Codes

Broken wiring of the main circuit Replace the main circuit power Confirm that the main circuit power
power supply input supply input cable. supply input cable is not broken
before use.
Servo Drive failure If this event occurs again after you None
performed all corrections shown
above, replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 1301 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 33

 Appendices

Event name Runaway Detected Event code 280D0000 hex*1

Description The motor rotated in the direction opposite to the command.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
There is incorrect wiring of the Connect the motor cable as shown Connect the motor cable as shown
motor cable or a broken cable. in the wiring diagram. If the cable in the wiring diagram. Connect the
is broken, replace it. motor cable and encoder
Or, connect the motor cable and cable/external encoder cable that
encoder cable that are used are used together to the same
Cause and motor.
together to the same motor.
correction
The motor rotated in the direction Take countermeasures so that the Take countermeasures so that the
opposite to the command by motor is not subjected to external motor is not rotated by external
external forces. forces. forces.
Set Runaway Detection - Enable
(3B71-01 hex) to 0 (disabled)
when the motor runs as intended.
Attached None
information
Precautions/ AL status code: -, Error No.: 2000 hex
Remarks
*1. This error can occur in the unit version 1.1 or later.

A - 34 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name DC Setting Error Event code 357D 0000 hex

Description A mistake was made in the DC Mode operation setting.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
A mistake was made in the DC Check the DC Mode setting, and Configure the setting of communi-
Cause and
Mode operation setting then download it to the EtherCAT cations to slaves in the EtherCAT
correction
master again. master in accordance with ESI
data.
Attached None
information
Precautions/ AL status code: 0030 hex, Error No.: 9003 hex
Remarks

Event name Synchronization Cycle Setting Error Event code 357E0000 hex
Description When the DC mode was established, the cycle time was set to the inoperable value.

A-1 Sysmac Error Status Codes

EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention A
The variable PDO mapping is Set the number of objects to a Confirm the maximum number of
used, and the number of objects value smaller than the maximum mapped objects and the limit on
A-1-2 Error Descriptions

Cause and is more than the maximum num- number of mapped objects for the the number of objects before using
correction ber of mapped objects for the cycle time. the variable PDO mapping.
cycle time
The cycle time setting is incorrect Correct the cycle time setting. Confirm the EtherCAT slave speci-
fications, and set the cycle time.
Attached None
information
Precautions/ AL status code: 0035 hex, Error No.: 9004 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 35

 Appendices

Event name Mailbox Setting Error Event code 357F0000 hex

Description An incorrect mailbox setting of Sync Manager was detected.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An incorrect mailbox setting of Check the mailbox setting, and Configure the setting of communi-
Cause and
Sync Manager was detected then download it to the EtherCAT cations to slaves in the EtherCAT
correction
master again. master in accordance with ESI
data.
Attached None
information
Precautions/ AL status code: 0016 hex, Error No.: 9000 hex
Remarks

Event name RxPDO Setting Error Event code 35800000 hex

Meaning An RxPDO setting error was detected.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The RxPDO setting of EtherCAT Correct the RxPDO setting accord- Configure the setting of communi-
master is incorrect ing to the definition of ESI of Servo cations to slaves in the EtherCAT
Drive, and then download it to the master in accordance with ESI
Cause and
EtherCAT master again. data.
correction
Servo Drive failure If this event occurs repeatedly None
after the download to the Ether-
CAT master, the Servo Drive is
faulty. Replace the Servo Drive.
Attached None
information
Precautions/ AL status code: 001D hex, Error No.: 9005 hex
Remarks

A - 36 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name TxPDO Setting Error Event code 3581 0000 hex
Meaning A TxPDO setting error was detected.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The TxPDO setting of EtherCAT Correct the TxPDO setting accord- Configure the setting of communi-
master is incorrect ing to the definition of ESI of Servo cations to slaves in the EtherCAT
Drive, and then download it to the master in accordance with ESI
Cause and
EtherCAT master again. data.
correction
Servo Drive failure If this event occurs repeatedly None
after the download to the Ether-
CAT master, the Servo Drive is
faulty. Replace the Servo Drive.
Attached None
information
Precautions/ AL status code: 001E hex, Error No.: 9006 hex
Remarks

A-1 Sysmac Error Status Codes

Event name RxPDO Mapping Error Event code 3582 0000 hex
Meaning An incorrect RxPDO was set.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- --- A
System Variable Data type Name
-defined None None None
A-1-2 Error Descriptions

variables
Assumed cause Correction Prevention
An incorrect RxPDO was set, Correct the RxPDO setting, and Confirm the specifications of ETG
Cause and such as out of the allowable then download it to the EtherCAT or FSoE, and configure the setting
correction range of Index, Subindex, or size master again. of communications to slaves in the
EtherCAT master in accordance
with ESI data.
Attached None
information
Precautions/ AL status code: 0025 hex, Error No.: 9007 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 37

 Appendices

Event name TxPDO Mapping Error Event code 35830000 hex

Meaning An incorrect TxPDO was set.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An incorrect TxPDO was set, Correct the TxPDO setting, and Confirm the specifications of ETG
Cause and such as out of the allowable then download it to the EtherCAT or FSoE, and configure the setting
correction range of Index, Subindex, or size master again. of communications to slaves in the
EtherCAT master in accordance
with ESI data.
Attached None
information
Precautions/ AL status code: 0024 hex, Error No.: 9008 hex
Remarks

Event name PDO WDT Setting Error Event code 35840000 hex
Meaning An incorrect PDO WDT setting was detected.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An incorrect PDO WDT setting Check the PDO WDT setting, and Configure the setting of communi-
Cause and
was detected then download it to the EtherCAT cations to slaves in the EtherCAT
correction
master again. master in accordance with ESI
data.
Attached None
information
Precautions/ AL status code: 001F hex, Error No.: 9001 hex
Remarks

A - 38 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Node Address Updated Event code 3585 0000 hex
Description The node address is changed to a value of the ID switches.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and The node address is changed Check the node address value. ---
correction from a set value in Sysmac Stu- Set a correct value if it is wrong.
dio to a value of the ID switches
Attached None
information
Precautions/ AL status code: 0061 hex, Error No.: 9009 hex
Remarks

Event name SM Event Mode Setting Error Event code 3586 0000 hex
Meaning The unsupported SM Event Mode was set.

A-1 Sysmac Error Status Codes

EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing EtherCAT
timing
communications
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention A
The unsupported SM Event Check the synchronization set- Configure the setting of communi-
Cause and
Mode was set ting, and then download it to the cations to slaves in the EtherCAT
correction
A-1-2 Error Descriptions

EtherCAT master again. master in accordance with ESI

data.
Attached None
information
Precautions/ AL status code: 0028 hex, Error No.: 9002 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 39

 Appendices

Event name Function Setting Error Event code 38570000 hex

Meaning The function that was set does not support the communications period.
EtherCAT Master Function Slave When
Module Detection establishing
Source Source details
timing EtherCAT
communications
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
ON --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The electronic gear ratio was not Correct the electronic gear ratio to Check the Servo Drive
1:1 when the communications 1:1, or set the communications specifications to avoid the amused
Cause and period was set to 125 µs. period to longer than 125 µs. causes of this event, and use the
correction The Backlash Compensation Disable the Backlash Servo Drive correctly.
was enabled when the Compensation, or set the
communications period was set communications period to longer
to 125 µs. than 125 µs.
Attached information 1: Condition that was met
Attached
1: The electronic gear ratio was not 1:1
information
2: The Backlash Compensation was enabled
Precautions/ AL status code: - Error No.: 9400 hex
Remarks

A - 40 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name General Input Allocation Duplicate Error Event code 3878 0000 hex
Description More than one function input is allocated to one general input.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and More than one function input is Correct the duplicate general input Confirm that there is no duplicate
correction allocated to one general input allocation. allocation when setting a function
input.
Attached Information 1: Cause Details
1: General Input 1 (IN1) Allocation Duplicate Error
2: General Input 2 (IN2) Allocation Duplicate Error
3: General Input 3 (IN3) Allocation Duplicate Error
Attached
4: General Input 4 (IN4) Allocation Duplicate Error
information
5: General Input 5 (IN5) Allocation Duplicate Error
6: General Input 6 (IN6) Allocation Duplicate Error

A-1 Sysmac Error Status Codes

7: General Input 7 (IN7) Allocation Duplicate Error
8: General Input 8 (IN8) Allocation Duplicate Error
Precautions/ AL status code: -, Error No.: 3300 hex
Remarks

Event name General Output Allocation Duplicate Error Event code 3879 0000 hex
Description More than one function output is allocated to one general output.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
A
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
A-1-2 Error Descriptions

Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and More than one function output is Correct the duplicate general out- Confirm that there is no duplicate
correction allocated to one general output put allocation. allocation when setting a function
output.
Attached information 1: Cause details
1: General Output 1 (OUT1) Allocation Duplicate Error
Attached
2: General Output 2 (OUT2) Allocation Duplicate Error
information
3: General Output 3 (OUT3) Allocation Duplicate Error
4: General Output 4 (OUT4) Allocation Duplicate Error
Precautions/ AL status code: -, Error No.: 3309 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 41

 Appendices

Event name Pulse Output Setting Error Event code 387B0000 hex
The dividing numerator exceeded the dividing denominator when the Encoder Dividing Pulse Output -
Description
Dividing Denominator was set to a value other than 0.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The dividing numerator Correct the setting of Encoder Set the Encoder Dividing Pulse
exceeded the dividing denomina- Dividing Pulse Output - Dividing Output - Dividing Numerator to a
Cause and
tor when the Encoder Dividing Denominator and Dividing Numer- value smaller than the Dividing
correction
Pulse Output - Dividing ator. Denominator.
Denominator was set to a value
other than 0
Attached None
information
Precautions/ AL status code: -, Error No.: 2800 hex
Remarks

Event name Motor Replacement Detected Event code 387C0000 hex

Description The connected motor is different from the motor that was connected the last time.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The motor was replaced Perform the Motor Setup and After replacing the motor, perform
Absolute Encoder Setup. the Motor Setup and Absolute
Cause and
Encoder Setup before use.
correction
The Servo Drive was replaced Perform the Motor Setup. After replacing the Servo Drive,
perform the Motor Setup before
use.
Attached None
information
Precautions/ AL status code: -, Error No.: 9505 hex
Remarks

A - 42 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Electronic Gear Setting Error Event code 387F 0000 hex
Description The electronic gear ratio exceeded the allowable range.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and The electronic gear ratio Correct the electronic gear ratio to Set the electronic gear ratio to the
correction exceeded the allowable range the range from 1/2,000 to 2,000 range from 1/2,000 to 2,000 times.
times.
Attached None
information
Precautions/ AL status code: -, Error No.: 9300 hex
Remarks

Event name Servo Drive Overheat Event code 3880 0000 hex
Meaning The internal temperature of Servo Drive exceeded the circuit protection level.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details

A-1 Sysmac Error Status Codes

ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The ambient temperature of the Improve the ambient temperature Check the ambient temperature of A
Servo Drive exceeded the speci- and the cooling conditions of the the Servo Drive and set up the
fied value Servo Drive. necessary cooling conditions.
Cause and
A-1-2 Error Descriptions

Overload Increase the setting of the acceler- Increase the setting of the acceler-
correction
ation/deceleration time or stop- ation/deceleration time or stop-
ping time to lighten the load. Or, ping time as much as possible to
increase the capacities of the lighten the load.
Servo Drive and the motor.
Attached None
information
Precautions/ AL status code: -, Error No.: 1500 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 43

 Appendices

Event name Overload Error Event code 38810000 hex

Meaning The Load Ratio of Servo Drive or motor (4105-81 hex) exceeded 100%.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Operation was continued for a Perform the following corrections Check the items given for correc-
long time with high load accordingly. tions in advance and take counter-
• Increase the set value of the measures as required.
acceleration/deceleration time
and the stop time.
• Lighten the load.
• Adjust the gain or inertia ratio.
• If torque waveforms oscillate
excessively, adjust the system
by the tuning so that the oscilla-
tion does not occur.

Cause and • Set the appropriate brake timing.

correction • Increase the capacities of the
Servo Drive and the motor.
There is incorrect wiring of the • Connect the motor cable as Connect the motor cable as shown
motor cable or a broken cable shown in the wiring diagram. If in the wiring diagram. Connect the
the cable is broken, replace it. motor cable and encoder
Or, connect the motor cable and cable/external encoder cable that
encoder cable that are used are used together to the same
together to the same motor. motor.
• Measure the voltage at the
brake terminal. If the brake is
applied, release it.
Increase in friction Check machine conditions and Take countermeasures so that
remove the cause of the friction. machine distortion is not gener-
ated.
Attached Information 1: Cause Details
Attached
1: The Servo Drive is overloaded
information
2: The Servomotor is overloaded
Precautions/ AL status code: -, Error No.: 1600 hex
Remarks

A - 44 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Regeneration Overload Error Event code 3882 0000 hex
Meaning The Regeneration Load Ratio (4310-81 hex) exceeded the regeneration overload ratio.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The regeneration processing is Check the regeneration process- Check the items given for correc-
set inappropriately ing setting, and set the same value tions in advance and take counter-
as the resistance value of the measures as required.
Regeneration Resistor in use.
The Regeneration Resistor is Check the operation pattern by the
selected inappropriately velocity monitor. Check the load
ratio of Regeneration Resistor, and
perform the following corrections
accordingly.
• Increase the deceleration time
and stopping time.
• Decrease the command velocity

A-1 Sysmac Error Status Codes

Cause and
to the motor.
correction
• Use an External Regeneration
Resistor.
• Increase the capacities of the
Servo Drive and the motor.
The Regeneration Resistor is The Regeneration Resistor can- Do not use the Regeneration
used for continuous regenera- not be used for continuous regen- Resistor for continuous regenera-
tive braking erative braking. tive braking.
The applied power supply volt- Apply the specified power supply Review the power supply voltage
age is higher than the specified voltage. to be the specified value before
value use.
Regeneration Resistor failure Check whether the Regeneration Confirm that the Regeneration
A
Resistor is faulty, and use one Resistor is not faulty before use.
without failures.
A-1-2 Error Descriptions

Attached None
information
Precautions/ AL status code: -, Error No.: 1800 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 45

 Appendices

Event name Excessive Position Deviation Error Event code 38830000 hex
Meaning The position deviation is greater than or equal to the value set in the Following error window.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The motor operation does not fol- Identify and remove a cause that Adjust the gain and limit values
low the command limits the motor operation. appropriately before use.
During the acceleration/decelera- Set the operation pattern appropri-
tion, the command may not be fol- ately according to the connected
Cause and lowed depending on operation load.
correction patterns. In that case, adjust the
gain, increase the accelera-
tion/deceleration time or the like.
The value of Following error win- Increase the setting of the Follow- Increase the setting of the Follow-
dow is small ing error window to an acceptable ing error window to an acceptable
range. range.
Attached None
information
Precautions/ AL status code: -, Error No.: 2400 hex
Remarks

A - 46 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Excessive Speed Deviation Error Event code 3884 0000 hex
The speed deviation is greater than or equal to the value set in the Excessive Velocity Deviation Detection
Meaning
Level.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The motor operation does not fol- Adjust the gain to improve the fol- Adjust the gain to improve the fol-
low the command because a lowing ability. Or, increase the lowing ability. Or, increase the
parameter value is inappropriate acceleration/deceleration time for acceleration/deceleration time for
the internal position command the internal position command
velocity. velocity.
The output axis of motor is lim- Take countermeasures so that the Take countermeasures so that the
Cause and
ited on the operation by external output axis is not limited on the output axis is not limited on the
correction
forces operation by external forces. operation by external forces.
The value of the Excessive Increase the setting of the Exces- Increase the setting of the Exces-
Velocity Deviation Detection sive Velocity Deviation Detection sive Velocity Deviation Detection
Level is inappropriate Level to an acceptable range. Dis- Level to an acceptable range. Dis-

A-1 Sysmac Error Status Codes

able the Excessive Velocity Devia- able the Excessive Velocity Devia-
tion Detection if it is unnecessary tion Detection if it is unnecessary
to monitor the velocity deviation. to monitor the velocity deviation.
Attached None
information
Precautions/ AL status code: -, Error No.: 2401 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 47

 Appendices

Event name Excessive Speed Error Event code 38850000 hex

Meaning The feedback motor speed is greater than or equal to the value set in the Excessive Speed Detection Level.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The velocity command value is Do not give the excessive velocity Set the velocity command value
too large command. Check whether the within the range in which the feed-
electronic gear ratio is set cor- back motor velocity does not
rectly. exceed the excess velocity detec-
Cause and
tion level.
correction
Overshooting occurred If overshooting occurred due to Do not increase the gain too much.
faulty gain adjustment, adjust the
gain.
The motor is rotated by external Check whether the motor is Check whether the motor is
forces rotated by external forces. rotated by external forces.
Attached None
information
Precautions/ AL status code: -, Error No.: 2600 hex
Remarks

A - 48 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Following Error Counter Overflow Event code 3886 0000 hex
Meaning The following error value exceeded the range from -2147483648 to 2147483647.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The motor operation does not fol- Identify and remove a cause that Adjust the gain and limit values
low the command limits the motor operation. During appropriately before use.
the acceleration/deceleration, the Set the operation pattern appropri-
command may not be followed ately according to the connected
Cause and depending on operation patterns. load.
correction In that case, change the operation
pattern by increasing the accelera-
tion/deceleration time or the like.
The Servomotor is rotated or lim- Take countermeasures so that the Take countermeasures so that the
ited on the operation by external motor is not subjected to external motor operation is not interfered by
forces forces. external forces.
Attached None

A-1 Sysmac Error Status Codes

information
Precautions/ AL status code: -, Error No.: 2903 hex
Remarks

Event name Absolute Encoder Counter Overflow Error Event code 3887 0000 hex
Meaning The multi-rotation counter of the encoder exceeded the maximum number of rotations.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
A
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
A-1-2 Error Descriptions

System Variable Data type Name

-defined None None None
variables
Assumed cause Correction Prevention
An inappropriate value was set in Set the appropriate value in the Set the appropriate value in the
the Encoder – Operation Selec- Encoder - Operation Selection Encoder - Operation Selection
tion when Using Absolute when Using Absolute Encoder when Using Absolute Encoder
Cause and
Encoder (4510-01 hex) (4510-01 hex). (4510-01 hex).
correction
The multi-rotation number of the Set the travel distance so that the Set the travel distance so that the
encoder exceeded the maximum multi-rotation number does not multi-rotation number does not
number of rotations exceed the maximum number of exceed the maximum number of
rotations. rotations.
Attached None
information
Precautions/ AL status code: -, Error No.: 4100 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 49

 Appendices

Event name Safety Communications Setting Error Event code 38880000 hex
Safety process data communications were not established with the Safety CPU Unit because of an incor-
Meaning
rect communications setting.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing FSoE com-
timing
munications
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The watchdog time was set If the watchdog time of the safety Set the watchdog time in consider-
incorrectly process data communications set- ation of the actual configuration
ting is set to a value inappropriate and surrounding environment.
for the communications cycle or
the configuration, correct it, and
Cause and
transfer the setting to the Safety
correction
CPU Unit.
The processing was not com- If there is no improvement after
pleted within the watchdog time you performed noise countermea-
because communications were sures, set the longer watchdog
not established due to the noise time, and transfer the setting to the
Safety CPU Unit.
Attached None
information
Precautions/ AL status code: -, Error No.: 7001 hex
Remarks

A - 50 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Safety Frame Error Event code 3889 0000 hex
Safety process data communications were not established with the Safety CPU Unit because an incorrect
Meaning
frame was received.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing FSoE com-
timing
munications
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An incorrect frame was received The Servo Drive model does not Set the system configuration and
in safety process data communi- match the safety slave model that setup according to the corrections
Cause and cations is sent from the safety master. that are given on the left.
correction Check the connection configura-
tion and configure it correctly.
There is excessive noise Take noise countermeasures. Take noise countermeasures if
excessive noise caused the error.
Attached None
information
Precautions/ AL status code: -, Error No.: 7003 hex

A-1 Sysmac Error Status Codes

Remarks

Event name Safety Parameter Error Event code 388A0000 hex

Safety process data communications were not established with the Safety CPU Unit because an incorrect
Description
parameter was received.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing FSoE com-
timing
munications
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
A
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
A-1-2 Error Descriptions

System Variable Data type Name

-defined None None None
variables
Assumed cause Correction Prevention
The set safety slave model is Check whether the connected Set the correct safety slave model
Cause and
incorrect safety slave model matches the that matches the actual connection
correction
safety slave model that is set from configuration.
the Sysmac Studio, and correct it.
Attached None
information
Precautions/ AL status code: -, Error No.: 7000 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 51

 Appendices

Event name FSoE Slave Address Error Event code 388B0000 hex
Safety process data communications were not established with the Safety CPU Unit because of an incor-
Description
rect FSoE slave address.
EtherCAT Master Function Mod- Slave When establish-
Detection
Source ule Source details ing FSoE com-
timing
munications
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The setting of the FSoE slave Perform the FSoE Slave Address If you use a Servo Drive for which
address in the safety process Clear for the Servo Drive. safety process data communica-
Cause and
data communications settings is tions were previously established
correction
different from the setting in the in another system, perform the
Unit FSoE Slave Address Clear before
you use the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 7002 hex
Remarks

Event name FPGA WDT Error Event code 48080000 hex

Description An FPGA error was detected.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
False detection due to a data If this event does not occur after If the normal operation can restart
read error that was caused by you cycled the power supply, use after you cycled the power supply,
Cause and excessive noise the product continuously. It is sup- consider noise countermeasures.
correction Hardware failure posed that a temporary error There may be excessive noise
occurred due to a read error. If this around the Servo Drive.
event occurs again, the hardware
is faulty. Replace the Servo Drive.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 3500 hex
Remarks

A - 52 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Drive Prohibition Input Error Event code 64E30000 hex
Description Both the Positive Drive Prohibition (POT) and the Negative Drive Prohibition Input (NOT) turned ON.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An error occurred on the switch, Check and correct an error on the Confirm that there are not discon-
wire, power supply, and wiring switch, wire, power supply, and nection and incorrect logic setting,
that were connected to the Posi- wiring that were connected to the and use the Drive Prohibition
tive Drive Prohibition (POT) or Positive Drive Prohibition Input or Input.
Cause and
Negative Drive Prohibition Input Negative Drive Prohibition Input.
correction
(NOT)
False detection occurred Check whether the control signal Adjust the timing at which the con-
because the control signal power power supply (12 to 24 VDC) is trol signal power supply is turned
supply was turned ON slowly turned ON slowly, and adjust the ON so that the signal can be input
timing if it is slow. correctly.
Attached None
information

A-1 Sysmac Error Status Codes

Precautions/ AL status code: -, Error No.: 3800 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 53

 Appendices

Event name Drive Prohibition Detected Event code 68200000 hex

The operation was stopped according to the user setting because the motor ran in the prohibited direction
Description
when the Drive Prohibition was enabled.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Incorrect or broken wiring of Pos- Correct the wiring if the Positive Confirm that the Positive Drive
itive Drive Prohibition Input Drive Prohibition Input (POT) or Prohibition Input (POT) and Nega-
(POT) or Negative Drive Prohibi- Negative Drive Prohibition Input tive Drive Prohibition Input (NOT)
Cause and tion Input (NOT) (NOT) is wired incorrectly. If the are wired correctly. Confirm that
correction cable is broken, replace it. the cable is not broken before use.
Incorrect setting of the Drive Pro- Review the setting of the drive pro- Configure the setting of the drive
hibition Input hibition input port and set it cor- prohibition input port to be appro-
rectly. priate for the actual connection
condition.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: 3801 hex
Remarks

A - 54 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Control Right Release Error Event code 6821 0000 hex
Communications between the Sysmac Studio and Servo Drive were interrupted while a specific function
Description
was used from the Sysmac Studio.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The USB cable or EtherCAT Connect the USB cable or Ether- Do not disconnect the cable during
cable was disconnected during CAT cable between the Servo the operation of Sysmac Studio.
the connection with the Sysmac Drive and the computer that con-
Studio trols the Servo Drive if it is discon-
nected.
Cause and
There is excessive noise Take noise countermeasures for Use the recommended USB cable
correction
the USB cable or EtherCAT cable. or EtherCAT cable.
A command sent from the Sys- Finish other applications to reduce Do not use the Sysmac Studio with
mac Studio was not sent to the the processing load of the com- more than one application active
Servo Drive because the com- puter. so that the computer does not go
puter was in a busy state or the into a busy state.

A-1 Sysmac Error Status Codes

like
Attached None
information
Precautions/ AL status code: -, Error No.: 6200 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 55

 Appendices

Event name Error Stop Input Event code 68220000 hex

Meaning The Error Stop Input (ESTP) is active.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The Error Stop Input (ESTP) was Remove the cause of Error Stop A preventative measure is not
Cause and input Input (ESTP). required because the purpose is to
correction detect an error.
The Error Stop Input (ESTP) is Correct the wiring if the Error Stop Confirm that the Error Stop Input
incorrectly wired Input (ESTP) is incorrectly wired. (ESTP) is correctly wired.
Attached None
information
Precautions/ AL status code: -, Error No.: 8700 hex
Remarks

Event name Software Limit Exceeded Event code 68230000 hex

The Position actual value detected the position that exceeded the value set in the Software Position Limit,
Description
and stopped the operation according to the user setting.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Incorrect setting of Software Correct the setting of Software Confirm that the setting of Soft-
Position Limit Position Limit. ware Position Limit is correct.
When the Software Position Limit Set the command value to be Set the command value to be
Cause and
- Stop Selection was set to Stop within the range of Software Posi- within the range of Software Posi-
correction
according to the setting of Fault tion Limit. tion Limit.
reaction option code, the position
exceeded the value set in the
Software Position Limit
Attached None
information
Precautions/ AL status code: -, Error No.: 3401 hex
Remarks

A - 56 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Pulse Output Overspeed Error Event code 7820 0000 hex
The speed, which exceeded the frequency that could be output by the Encoder Dividing Pulse Output func-
Description
tion, was detected.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The dividing ratio setting is inap- Correct the setting of Encoder Set the Encoder Dividing Pulse
propriate for the actual usage Dividing Pulse Output - Dividing Output - Dividing Denominator
Cause and
condition Denominator and Dividing Numer- and Dividing Numerator to a
correction
ator. value appropriate for the maximum
speed that is detected during oper-
ation.
Attached None
information
Precautions/ AL status code: -, Error No.: 2800 hex
Remarks

A-1 Sysmac Error Status Codes

Event name Brake Interlock Error Event code 7821 0000 hex
Description The Brake Interlock Output (BKIR) was output by the Timeout at Servo OFF.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name A
-defined None None None
variables
Assumed cause Correction Prevention
A-1-2 Error Descriptions

The Brake Interlock Output Increase the setting of the Timeout Confirm the corrections that are
(BKIR) was output because the at Servo OFF according to actual given on the left before use.
motor rotation speed did not operation conditions.
decrease to or less than the
Cause and
speed set in the Threshold
correction
Speed at Servo OFF within the
time set in the Timeout at Servo
OFF when Servo OFF was per-
formed during the motor opera-
tion
Attached None
information
Precautions/ AL status code: -, Error No.: 9700 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 57

 Appendices

Event name Command Error Event code 78230000 hex

Meaning A mistake was made in using a command.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
When bit 9 (Remote) of the Sta- Check the Servo Drive specifica- Check the Servo Drive specifica-
tusword was set to 1 (remote), tions and use the command cor- tions and use the command cor-
and the Servo Drive was in Oper- rectly. rectly.
ation enabled state (Servo ON),
the Servo Drive received a com-
mand to change the communica-
tions state from Operational to
Cause and
another state (Init, Pre-Opera-
correction
tional, or Safe-Operational)
A mode of operation other than
the hm mode was set during the
homing operation
Modes of operation was set to
pp, pv or hm mode when the
communications period was set
to shorter than 250 μs
Attached None
information
Precautions/ AL status code: -, Error No.: 9101 hex
Remarks

A - 58 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name EtherCAT State Change Error Event code 84B10000 hex
A communications state change command was received for which the current communications state could
Description
not be changed.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
A communications state change Check the command specifications Check the command specifications
Cause and
command was received for which for communications state transi- for communications state transi-
correction
the current communications state tions in the host controller and cor- tions in the host controller and pro-
could not be changed rect host controller processing. gram host controller processing.
Attached None
information
Precautions/ AL status code: 0011 hex, Error No.: 8301 hex
Remarks

Event name EtherCAT Illegal State Change Error Event code 84B20000 hex

A-1 Sysmac Error Status Codes

Description An undefined communications state change command was received.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables A
Assumed cause Correction Prevention
An undefined communications Check the command specifications Check the command specifications
Cause and
state change command was for communications state transi- for communications state transi-
A-1-2 Error Descriptions

correction
received tions in the host controller and cor- tions in the host controller and pro-
rect host controller processing. gram host controller processing.
Attached None
information
Precautions/ AL status code: 0012 hex, Error No.: 8302 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 59

 Appendices

Event name Synchronization Error Event code 84B4 0000 hex

Description A signal for synchronous communications could not be detected.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)*1
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Noise Take noise countermeasures if Take noise countermeasures if
excessive noise affects the Ether- excessive noise affects the Ether-
Cause and
CAT communications cable. CAT communications cable.
correction
Error of the EtherCAT slave com- If this event occurs again after you None
munications controller cycled the power supply, replace
the Servo Drive.
Attached None
information
Precautions/ AL status code: 002C hex, Error No.: 8304 hex
Remarks
*1. “Error reset (after cycling slave power)” is specified for the unit version 1.0.

Event name Sync Manager WDT Error Event code 84B5 0000 hex
Description PDO communications were interrupted for the allowable period or longer.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An EtherCAT communications Connect the EtherCAT communi- Connect the EtherCAT communi-
cable is disconnected, loose, or cations cable securely. cations cable securely.
Cause and broken
correction Host controller error Check the operation of the host None
controller. Take appropriate
countermeasures if there is a prob-
lem.
Attached None
information
Precautions/ AL status code: 001B hex, Error No.: 8305 hex
Remarks

A - 60 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name ESC Initialization Error Event code 84B60000 hex

Description The initialization of EtherCAT slave communications controller failed.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Data was incorrectly overwritten If this event does not occur after None
in the non-volatile memory of the you cycled the power supply, use
Cause and EtherCAT slave communications the product continuously. It is sup-
correction controller posed that a temporary error
Failure of the EtherCAT slave occurred due to a read error. If this
communications controller event occurs again, replace the
Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: 8801 hex
Remarks

A-1 Sysmac Error Status Codes

Event name SII Verification Error Event code 84B70000 hex
Description An error occurred in SII data of the EtherCAT slave communications controller.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name A
-defined None None None
variables A-1-2 Error Descriptions

Assumed cause Correction Prevention

Data was incorrectly overwritten If this event does not occur after None
in the non-volatile memory of the you cycled the power supply, use
Cause and EtherCAT slave communications the product continuously. It is sup-
correction controller posed that a temporary error
Failure of the EtherCAT slave occurred due to a read error. If this
communications controller or event occurs again, replace the
false detection Servo Drive.
Attached None
information
Precautions/ AL status code: 0014 hex, Error No.: 8803 hex
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 61

 Appendices

Event name Synchronization Interruption Error Event code 84B9 0000 hex
Description Synchronization interruption did not occur within the specified period.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Incorrect EtherCAT synchroniza- Set the synchronization setting of Confirm the synchronization speci-
tion setting of the host controller the host controller according to the fications for the EtherCAT slave,
synchronization specifications for and configure the synchronization
the EtherCAT slave. setting from the host controller cor-
rectly.
Cause and Failure of the EtherCAT slave If this event does not occur after None
correction communications controller or you cycled the power supply, use
false detection the product continuously. It is sup-
posed that a temporary error
occurred due to a read error. If this
event occurs again, the Servo
Drive is faulty. Replace the Servo
Drive.
Attached None
information
Precautions/ AL status code: 002D hex, Error No.: 8802 hex
Remarks

Event name Bootstrap State Transition Request Error Event code 84BA0000 hex
Description The state transition to unsupported Bootstrap was requested.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Minor fault Error reset System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The EtherCAT master requested Check the EtherCAT master set- Check the EtherCAT master set-
Cause and
the transition of unsupported ting so that the EtherCAT master ting so that the EtherCAT master
correction
Bootstrap does not request the transition to does not request the transition to
Bootstrap. Bootstrap.
Attached None
information
Precautions/ AL status code: 0013 hex, Error No.: 8306 hex
Remarks

A - 62 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Communications Synchronization Error Event code 8810 0000 hex
Communications were not established consecutively because the synchronization with the EtherCAT Mas-
Meaning
ter could not be achieved.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The power supply to the host Reset the error in the host control- If you turn OFF the power supply
controller was interrupted during ler. This event reports an error that to the host controller, also turn
PDO communications was detected when the power sup- OFF the power supply to the Servo
ply to the host controller was inter- Drive.
rupted. It does not indicate that an
Cause and
error currently exists.
correction
An EtherCAT communications Connect the EtherCAT communi- Connect the EtherCAT communi-
cable is disconnected, loose, cations cable securely. If the cable cations cable securely.
broken, or has a contact failure is broken, replace it.
Noise Take noise countermeasures if Take noise countermeasures if
excessive noise affects the Ether- excessive noise affects the Ether-

A-1 Sysmac Error Status Codes

CAT communications cable. CAT communications cable.
Attached None
information
Precautions/ AL status code: 0034 hex, Error No.: 8303 hex
Remarks

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 63

 Appendices

Event name Safety Communications Timeout Event code 88120000 hex

Meaning A communications timeout occurred in safety process data communications with the Safety CPU Unit.
EtherCAT Master Function Mod- Slave When establish-
ule ing FSoE com-
Detection
Source Source details munications/dur
timing
ing FSoE com-
munications
Minor fault Error reset System log
Error
Level Recovery (after resetting Log category
attributes
slave errors)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
A setting is not correct. The set- Increase the safety task period of Set the system configuration and
ting of the safety task period of the Safety CPU Unit and then setup according to the corrections
the Safety CPU Unit is too short transfer the settings to the Safety that are given on the left.
CPU Unit.
Cause and
There is excessive noise Take noise countermeasures. Take noise countermeasures if
correction
excessive noise caused the error.
The Safety CPU Unit or safety Check the status of the Safety Refer to troubleshooting informa-
slave entered a status where it CPU Unit or safety slave. tion for the Safety CPU Unit or
could not continue safety pro- safety slave.
cess data communications
Attached None
information
Precautions/ AL status code: -, Error No.: 7004 hex
Remarks

Event name Absolute Value Cleared Event code 98200000 hex

Meaning The multi-rotation counter of the absolute encoder was cleared.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Minor fault Error reset System log
Error
Level Recovery (after cycling Log category
attributes
slave power)
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and The multi-rotation counter of the This operation is performed for A preventative measure is not
correction absolute encoder was cleared safety and is not an error. required because this is a safety
measure.
Attached None
information
Precautions/ AL status code: -, Error No.: 2701 hex
Remarks

A - 64 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Capacitor Lifetime Warning Event code 081C 0000 hex
Meaning The capacitor built into the Servo Drive reached the service life of the manufacturer’s guarantee.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The operating time of the capaci- Send the Servo Drive for repair or None
Cause and tor in the Servo Drive exceeded replace the Servo Drive with a new
correction the service life one. It is necessary to replace the
component that reached the ser-
vice life.
Attached None
information
Precautions/ AL status code: -, Error No.: A701 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A-1 Sysmac Error Status Codes

Event name Inrush Current Prevention Relay Lifetime Warning Event code 081D 0000 hex
The inrush current prevention relay built into the Servo Drive reached the service life of the manufacturer's
Description
guarantee.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None A
variables
Assumed cause Correction Prevention
The number of operating times of Send the Servo Drive for repair or None
A-1-2 Error Descriptions

Cause and the inrush current prevention replace the Servo Drive with a new
correction relay in the Servo Drive one. It is necessary to replace the
exceeded the service life component that reached the ser-
vice life.
Attached None
information
Precautions/ AL status code: -, Error No.: A702 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 65

 Appendices

Event name Brake Interlock Output Relay Lifetime Warning Event code 081F0000 hex
The brake interlock output (BKIR) relay built into the Servo Drive reached the service life of the manufac-
Description
turer's guarantee.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The number of operating times of Send the Servo Drive for repair or None
Cause and the brake interlock output in the replace the Servo Drive with a new
correction Servo Drive exceeded the ser- one. It is necessary to replace the
vice life component that reached the ser-
vice life.
Attached None
information
Precautions/ AL status code: -, Error No.: A704 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A - 66 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Encoder Communications Warning Event code 083A0000 hex

Description Encoder communications errors occurred in series more frequently than the specified value.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Noise into the encoder cable • Separate the motor cable and • Separate the motor cable and
the encoder cable if they are the encoder cable if they are
bundled together. bundled together.
• Connect the shield to FG. • Connect the shield to FG.
• Check that the motor ground • Confirm that the motor ground
wire is connected to FG. wire is connected to FG.
Cause and
correction Contact failure of the encoder Check whether the connector is Confirm that the connector is con-
cable disconnected. Connect the con- nected. Use the recommended
nector securely if it is disconnected cable and periodically check that
or loose. Check that the encoder the encoder cable is not broken.
cable is not broken. Replace the
encoder cable if it is broken.
Power supply undervoltage to Use the recommended encoder Use the recommended encoder

A-1 Sysmac Error Status Codes

the encoder cable. cable.
Attached Attached information 1: System information
information
Precautions/ AL status code: -, Error No.: A400 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 67

 Appendices

Event name Encoder Lifetime Warning Event code 08470000 hex

Description The encoder lifetime is close to the end.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and Temporary noise If this event occurs repeatedly, the None
correction The end of the encoder life lifetime is close to the end.
Replace the motor.
Attached None
information
Precautions/ AL status code: -, Error No.: A706 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

Event name Fan Rotation Warning Event code 084C0000 hex

Description The rotation speed of the fan is 80% or less of the rating and the cooling performance decreases.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
There is a foreign matter in the Check whether there is a foreign Do not use the fan in an area sur-
cooling fan and it blocks the rota- matter in the fan. If you find a for- rounded by excessive foreign mat-
Cause and
tion eign matter, remove it. ter. Also, do not allow foreign
correction
Cooling fan failure If there is no improvement after matter to enter.
you performed the correction
above, replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: A300 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A - 68 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Absolute Encoder Counter Overflow Warning Event code 084E0000 hex
The multi-rotation counter of the encoder exceeded the value set in Encoder - Absolute Encoder Counter
Description
Overflow Warning Level (4510-02 hex).
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An inappropriate value was set in Set an appropriate value in the Set an appropriate value in the
the Encoder – Operation Selec- Encoder - Operation Selection Encoder - Operation Selection
tion when Using Absolute when Using Absolute Encoder when Using Absolute Encoder
Encoder (4510-01 hex) (4510-01 hex). (4510-01 hex).
Cause and
The multi-rotation number of the Set the travel distance so that the Set the travel distance so that the
correction
encoder exceeded the warning multi-rotation number does not multi-rotation number does not
level exceed the value set in the exceed the value set in the
Encoder - Absolute Encoder Encoder - Absolute Encoder
Counter Overflow Warning Counter Overflow Warning
Level (4510-02 hex). Level (4510-02 hex).
Attached None
information

A-1 Sysmac Error Status Codes

Precautions/ AL status code: -, Error No.: AB00 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 69

 Appendices

Event name Lifetime Information Corruption Warning Event code 18390000 hex
Description An error was detected in the saved lifetime information.
EtherCAT Master Function Mod- Slave Detection At power ON
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The lifetime information corrup- Perform the Lifetime Information None
tion was detected when the Clear. Note that the lifetime may
power supply was turned ON not be detected correctly after the
Cause and
clear operation because the value
correction
of lifetime information is cleared. If
this event occurs repeatedly, the
area to save lifetime information is
faulty. Replace the Servo Drive.
Attached None
information
Precautions/ AL status code: -, Error No.: A705 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

Event name Data Setting Warning Event code 34E0 0000 hex
Description The object set value is out of the range.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Cause and
The object set value is out of the Correct the object setting to be Correct the object setting to be
correction
range within the specified range. within the specified range.
Attached None
information
Precautions/ AL status code: -, Error No.: B000 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A - 70 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Overload Warning Event code 387A0000 hex

The Load Ratio of Servo Drive or motor (4150-81 hex) exceeded the level set in the Overload - Warning
Description
Notification Level (4150-01 hex).
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
Operation was continued for a Perform the following corrections Check the items given for correc-
long time with high load. accordingly. tions in advance and take counter-
• Increase the set value of the measures as required.
acceleration/deceleration time
and the stop time.
• Lighten the load.
• Adjust the gain or inertia ratio.
• If torque waveforms oscillate
excessively, adjust the system
by the tuning so that the oscilla-
tion does not occur.

A-1 Sysmac Error Status Codes

Cause and • Set the appropriate brake timing.
correction • Increase the capacities of the
Servo Drive and the motor.
There is incorrect wiring of the • Connect the motor cable as Connect the motor cable as shown
motor cable or a broken cable shown in the wiring diagram. If in the wiring diagram. Connect the
the cable is broken, replace it. motor cable and encoder
Or, connect the motor cable and cable/external encoder cable that
encoder cable that are used are used together to the same
together to the same motor. motor.
• Measure the voltage at the
brake terminal. If the brake is
applied, release it. A
Increase in friction Check machine conditions and Take countermeasures so that
remove the cause of the friction. machine distortion is not gener-
ated.
A-1-2 Error Descriptions

Attached Information 1: Cause Details

Attached
1: The Servo Drive is overloaded
information
2: The Servomotor is overloaded
Precautions/ AL status code: -, Error No.: A000 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 71

 Appendices

Event name Regeneration Overload Warning Event code 387D0000 hex

Description The Regeneration Load Ratio (4310-81 hex) exceeded 85% of the regeneration overload ratio.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The regeneration processing is Check the regeneration process- Check the items given for correc-
set inappropriately ing setting, and set the same value tions in advance and take counter-
as the resistance value of the measures as required.
Regeneration Resistor in use.
The Regeneration Resistor is Check the operation pattern by the
selected inappropriately velocity monitor. Check the load
ratio of Regeneration Resistor, and
perform the following corrections
accordingly.
• Increase the deceleration time
and stopping time.
• Decrease the command velocity
Cause and
to the motor.
correction
• Use an External Regeneration
Resistor.
• Increase the capacities of the
Servo Drive and the motor.
The Regeneration Resistor is The Regeneration Resistor can- Do not use the Regeneration
used for continuous regenera- not be used for continuous regen- Resistor for continuous regenera-
tive braking erative braking. tive braking.
The applied power supply volt- Apply the power supply voltage to Review the power supply voltage
age is higher than the specified be the specified value. to be the specified value before
value use.
Regeneration Resistor failure Check whether the Regeneration Confirm that the Regeneration
Resistor is faulty, and use one Resistor is not faulty before use.
without failures.
Attached None
information
Precautions/ AL status code: -, Error No.: A100 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A - 72 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Motor Vibration Warning Event code 387E0000 hex

The motor vibration, which was higher than or equal to the level set in the Vibration Detection - Detection
Description
Level (3B70-01 hex), was detected.
EtherCAT Master Function Mod- Slave Detection During Servo
Source Source details
ule timing ON
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The control parameter is set Set the control parameters such as Set and use the appropriate con-
inappropriately inertia ratio, gain, and filter to trol parameter.
appropriate values by gain tuning
Cause and or manually.
correction The rigidity decreased due to Check whether the mechanical Secure the mechanical system
mechanical looseness or wear system is not loose and secure it firmly without the looseness.
firmly. If the rigidity of mechanical
system is changed, adjust the con-
trol parameter again.
Attached None
information
Precautions/ AL status code: -, Error No.: A600 hex

A-1 Sysmac Error Status Codes

Remarks
*1. You can change the level to minor fault by using Warning Level Change 1 Selection (4020-05 hex).

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 73

 Appendices

Event name Command Warning Event code 78220000 hex

Meaning A command could not be executed.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The Switch on command was Send the Switch on command with Use the Servo Drive after confirm-
received the main circuit power supply ON. ing the corrections that are given
The Enable operation command Send the Enable operation com- on the left.
was received mand under the following condi-
tions.
• In supported operation mode
• The motor rotation speed is 30
r/min or less.
• In the free-run mode, the inter-
polation time period is the inte-
gral multiple of the
communications cycle.
Cause and
correction An operation command in the Check status of the Drive Prohibi-
prohibition direction was received tion Input and Software Position
after the immediate stop by the Limit by the Digital inputs, Sta-
Drive Prohibition Input or Soft- tusword, and Software Position
ware Position Limit Limit. Then, do not issue the com-
mand in the drive prohibition direc-
tion.
Homing started Set a supported number of the
Homing method for homing.
Start homing at the timing of when
homing is not performed.
The positioning start command Set a supported value for bit 5 and
was received in the Profile posi- 6 in the Controlword.
tion mode
Attached None
information
Precautions/ AL status code: -, Error No.: B100 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 3 Selection (4020-07 hex).

A - 74 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name EtherCAT Communications Warning Event code 84B00000 hex

Description An EtherCAT communications error occurred more than one time.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Observation*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
An EtherCAT communications Connect the EtherCAT communi- Confirm that the EtherCAT com-
cable has a contact failure, or is cations cable securely. If the cable munications cable is not broken,
Cause and connected incorrectly or broken is broken, replace it. and connect is securely before
correction use.
Noise Take noise countermeasures so Take noise countermeasures so
that the noise does not affect the that the noise does not affect the
EtherCAT communications cable. EtherCAT communications cable.
Attached None
information
Precautions/ AL status code: -, Error No.: B200 hex
Remarks
*1. You can change the level to minor fault by using Warning Level Change 3 Selection (4020-07 hex).

A-1 Sysmac Error Status Codes

Event name Unit Restarted Event code 90A00000 hex
Description Restart was performed.
EtherCAT Master Function Mod- Slave Detection Operation by
Source Source details
ule timing user
Error Information --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name A
-defined None None None
variables
Cause and Assumed cause Correction Prevention
A-1-2 Error Descriptions

correction Restart was performed --- ---

Attached None
information
Precautions/ AL status code: 8000 hex, Error No.: -
Remarks

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 75

 Appendices

Event name STO Detected Event code 98210000 hex

Description The safety input OFF state was detected via the safety input signal or EtherCAT communications.
EtherCAT Master Function Mod- Slave Detection Continuously
Source Source details
ule timing
Error Information*1 --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Power drive circuit is OFF
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Assumed cause Correction Prevention
The cable is disconnected or bro- Reconnect the input wiring for Connect the input wiring for safety
ken safety inputs 1 and 2. If the cable inputs 1 and 2 securely.
Cause and is broken, replace it.
correction The STO input was turned OFF Remove the cause that turned Improve the surrounding environ-
via EtherCAT communications OFF the safety input signal of the ment based on the cause that
Safety Input Unit. turned OFF the safety input signal
of the Safety Input Unit.
Attached None
information
Precautions/ AL status code: -, Error No.: C000 hex
Remarks
*1. You can change the level to minor fault by using Information Level Change Selection (4030-01 hex).

Event name Memory All Cleared Event code 98220000 hex

Meaning The Unit setting was cleared.
EtherCAT Master Function Mod- Slave Detection Operation by
Source Source details
ule timing user
Error Information --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Cause and Assumed cause Correction Prevention
correction Clear All Memory was performed --- ---
Attached None
information
Precautions/ AL status code: -, Error No.: -
Remarks

A - 76 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 Appendices

Event name Event Log Cleared Event code 9824 0000 hex
Meaning The event log was cleared.
EtherCAT Master Function Mod- Slave Detection Operation by
Source Source details
ule timing user
Error Information --- System log
Level Recovery Log category
attributes
Effects User program Continues. Operation Not affected.
EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
Indicators
--- --- ---
System Variable Data type Name
-defined None None None
variables
Cause and Assumed cause Correction Prevention
correction Clear Event Log was performed --- ---
Attached None
information
Precautions/ AL status code: -, Error No.: -
Remarks

A-1 Sysmac Error Status Codes

A
A-1-2 Error Descriptions

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) A - 77

 Appendices

A - 78 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)

 I

Index

AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619) I-1
 Index

Index
Numerics W

7-segment LED Display .................................................. 6-5 Warning List ................................................................... 7-8

Absolute encoder ........................................................... 2-4

Accessories ..................................................................... 23
AL Status Code List ...................................................... 7-35

Checking the Error Occurrence ...................................... 7-2

Control Circuit Connector (CND) .................................... 3-5

Encoder ........................................................................ 3-11

Encoder Connector (CN2) .............................................. 3-8
Error List ...................................................... 7-10, 7-14, A-2
Event code .....................................................................A-2

Information ................................................................... 7-13

LED ................................................................................ 6-5

Main Circuit Connector (CNA) ........................................ 3-4

Main Circuit Connector A (CNA) .................................... 3-5
Main Circuit Connector B (CNB) .................................... 3-5
Motor Connector (CNC) .......................................... 3-4, 3-6

Servo Drive
Characteristics .......................................................... 3-2
How to Read Model Numbers .................................. 2-4
Replacing .................................................................. 7-4
Servo Drive and Servomotor Combination Tables .... 2-6
Servomotor
Characteristics ........................................................ 3-12
General Specifications ............................................ 3-10
Installation Conditions ............................................... 4-2
Model Tables ............................................................ 2-5
Replacing .................................................................. 7-4
Servo Drive and Servomotor Combination Tables .... 2-6
Servomotor model number ....................................... 2-4
Sysmac Studio ..................................................1-2, 2-2, 6-8

I-2 AC Servomotors/Servo Drives 1S-series Incremental Encoder Type User’s Manual (I619)
OMRON Corporation Industrial Automation Company Authorized Distributor:
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No. 438A Alexandra Road # 05-05/08 (Lobby 2),
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Tel: (65) 6835-3011/Fax: (65) 6835-2711 Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 Cat. No. I619-E1-01 0418