R88D-1SN[]-ECT-51

*1. Refer to the OMRON website (http://www.ia.omron.com/) or consult your OMRON representative for the most recent applicable standards for each model.
Note: The above items reflect individual evaluation testing. The results may differ under compound conditions.

The detail of Machinery Directive is as follows:
The STO function via safety input signals: EN ISO 13849-1 (Cat3 PLe), EN 61508, EN 62061, EN 61800-5-2 (SIL3)
The safety function via FSoE communications: EN ISO 13849-1 (Cat.3 PLd), EN 61508 (SIL2), EN 62061 (SIL2), EN 61800-5-2

Disconnect all connections to the Servo Drive before attempting a megger test (insulation resistance measurement) on a Servo Drive. Not doing so may result in the Servo Drive failure.
Do not perform a dielectric strength test on the Servo Drive. Internal elements may be damaged.

*1. The values outside parentheses indicate the rated value, and the values inside parentheses 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. This is the maximum heating value in applicable Servomotors.
Refer to the table on the page 14 for the Heating Values of Applicable Servomotors.
*4. It is a hold time at momentary power interruption of the main circuit. However, if the main circuit power supply voltage falls below the rated voltage, even if it is a momentary power interruption within the hold time at momentary power interruption, a Main Power Supply Undervoltage (Error No. 13.00) may occur. In addition, use a DC power supply to fulfill the following conditions so that the power supply of the control circuit is held during momentary power interruption. Reinforced insulation or double insulation, and the output hold time of 10 ms or more.

*1. The values outside parentheses indicate the rated value, and the values inside parentheses 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. This is the maximum heating value in applicable Servomotors.
Refer to the table on the next page for the heating value of each applicable Servomotor.
*4. The first value is for single-phase input power and the second value is for 3-phase input power.
*5. It is a hold time at momentary power interruption of the main circuit. However, if the main circuit power supply voltage falls below the rated voltage, even if it is a momentary power interruption within the hold time at momentary power interruption, a Main Power Supply Undervoltage (Error No. 13.00) may occur. In addition, use a DC power supply to fulfill the following conditions so that the power supply of the control circuit is held during momentary power interruption. Reinforced insulation or double insulation, and the output hold time of 10 ms or more.

Use a neutral grounded 400 VAC 3-phase power supply for the 400 VAC input models.

*1. The values outside parentheses indicate the rated value, and the values inside parentheses 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. This is the maximum heating value in applicable Servomotors.
Refer to the table below for the heating value of each applicable Servomotor.
*4. It is a hold time at momentary power interruption of the main circuit. However, if the main circuit power supply voltage falls below the rated voltage, even if it is a momentary power interruption within the hold time at momentary power interruption, a Main Power Supply Undervoltage (Error No. 13.00) may occur. In addition, use a DC power supply to fulfill the following conditions so that the power supply of the control circuit is held during momentary power interruption. Reinforced insulation or double insulation, and the output hold time of 10 ms or more.

* The first value is for single-phase input power and the second value is for 3-phase input power.

Safety Servo Drives have two type STO functions. Use either of these functions according to configuration of safety devices.
• STO function by safety input signals
• STO function via FSoE communications
When you use just STO function by safety input signals, you do not need a setting related EtherCAT network.

The specifications of each safety function are as follows.

*1. Time from receiving of STO command to STO state (torque-off state)
*2. Time from motor velocity exceeding the monitoring limit to STO state (torque-off state)

Achievable safety levels for each safety function at maximum are shown as the below table:

*1. The method to activate STO when the motor stops is not supported. If you use an existing user program based on this method, you may need to change or modify the user program.
*2. The method of activating SLS when reaching the monitoring velocity is not supported. If you use an existing user program based on this method, you may need to change or modify it.
After Servo ON, the SLS function should be activated when the speed is stable.
Although SLS velocity limit can be set to less than 100 r/min, Safety Present Motor Velocity may be displayed 100 r/min larger than Present Motor Velocity. Therefore, at a monitoring velocity of less than 100 r/min, SLS Monitoring Limit Exceeded may occur even though the monitoring velocity is not actually exceeded. Set an appropriate monitoring speed after thoroughly checking the operation.
To use the SLS function, we recommend to use an OMRON motor power cable of 20 m or less. Using a motor power cable longer than 20 m may cause the following phenomena even during normal operation, resulting in a false detection of Monitoring Limit Exceeded or Safety Present Motor Velocity Error 2. Set an appropriate monitoring speed after thoroughly checking the operation. In addition, using a noise filter on the power supply line may stabilize the Safety Present Motor Velocity and reduce false detections. For information on noise filters, refer to the manual listed below.
a) Safety Present Motor Velocity, which is the velocity monitoring target of the SLS function, may exceed the actual velocity much more than 100 r/min.
b) Safety Velocity Detection. Status (4F1A-82 hex) may be disabled. Consult your OMRON sales representative for details.
*3. Using the SLS function when a vertical axis, etc., is subject to an unbalanced load may result in a false detection of Safety Present Motor Velocity Error 2 even during normal operation. For axes to which this applies, use the 1S Series with Safety Functionality R88D-1SAN[].

Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User's Manual (Cat. No. I696) for details.

To make devices enter into safe state, a combined control among a safety controller, a standard controller and a Servo Drive is required.
Typical roles of each device are shown as below.

A procedure for the control is described as follow:
1. A safety controller detects the following cases with a safety sensor and a safety switch.
　When workers entered exclusion zones
　When workers are about to touch hazardous sites of the device
　When workers come closely to the devices for the purpose of a check of devices/products, maintenance and supply of materials
2. A safety controller notifies a standard controller of the detected data.
3. A standard controller issues commands to decelerate and stop a Servomotor to a Servo Drive. At the same time, a safety controller issues commands to activate safety functions for use to a Servo Drive.
4. A Servo Drive receives and executes the commands from both controllers.

Thus, a safety controller and a standard controller must issue commands to a Servo Drive at an appropriate timing according to states of switches, sensors and devices, and then have the programs to issue the commands.
To secure the combined operation between a safety controller and a standard controller, design programs for each device with consideration of the following times. Without this consideration mentioned earlier, STO may be active and an Excessive Limit Value Error may occur.
• Time until safety functions starts the activations
　It refers to “Time until a safety controller issues command to activate safety functions + Delay time of safety functions”.
• Delay time of safety functions
　Time until STO becomes active or a Servo Drive starts monitoring after it receives commands of safety functions.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User's Manual (Cat. No. I696) for details.

This section describes a flow of control of each device with an example such as SLS function.

*1. The safety key selector switch and the safety controller detect that workers come closer to devices due to the reason such as maintenance, etc.
*2. The standard controller reads data from the safety controller and checks a switch to maintenance mode. In such case, it issues a command to decelerate a velocity of the Servomotor and gives the command to the Servo Drive.
*3. The safety controller issues/gives a command to activate SLS function to the Servo Drive.
*4. The Servo Drive controls the motor's deceleration, following the command from the standard controller. In addition, it activates SLS function after receiving the command to activate SLS from the safety controller.

*1. The amplitude may be increased by machine resonance. As a guideline, 80% of the specified value must not be exceeded.
*2. 24.5 m/s² for servomotors of 7.5 kW or more.
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.

Note: It is possible to use an absolute encoder as an incremental encoder.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User’s Manual (Cat.No.I696) for details.

For models with an oil seal, the following derating is used due to increase in friction torque.

For models with an oil seal, the following derating is used due to increase in friction torque.

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

*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. The momentary maximum torque is approximately 300% of the rated torque, except for some models.
*4. The momentary maximum torque is approximately 350% of the rated torque. Output at the momentary maximum torque shortens detection time of the overload protection function. Refer to Electronic Thermal Function in the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User’s Manual (Cat.No.I696) for details.
*5. This value is for models without options.
*6. 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.

*7. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User’s Manual (Cat.No.I696) to set an appropriate value for Brake Interlock Output (4610 hex).
*8. This is a non-excitation brake. It is released when excitation voltage is applied.
*9. This value is a reference value.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

The following graphs show the characteristics with a 3-m standard cable and a 100 VAC input.

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

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400 VAC input.

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

*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.
*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.

*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User’s Manual (Cat.No.I696) to set an appropriate value for Brake Interlock Output (4610 hex).
*6. This is a non-excitation brake. It is released when excitation voltage is applied.
*7. This value is a reference value.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

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

The following graphs show the characteristics with a 3-m standard cable and a 400 VAC input.

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

*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.
*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.

*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User’s Manual (Cat.No.I696) to set an appropriate value for Brake Interlock Output (4610 hex).
*6. This is a non-excitation brake. It is released when excitation voltage is applied.
*7. This value is a reference value.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

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

The following graphs show the characteristics with a 3-m standard cable and a 400 VAC input.

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

*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.
*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.

*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and SS1/SLS Safety Sub-Functions User’s Manual (Cat.No.I696) to set an appropriate value for Brake Interlock Output (4610 hex).
*6. This is a non-excitation brake. It is released when excitation voltage is applied.
*7. This value is a reference value.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

The following graphs show the characteristics with a 3-m standard cable and a single-phase 220-VAC or 3-phase 400-VAC input.

*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
　　　2. The protective structure rating of the Servomotor with the Decelerator is IP44.
　　　3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model number.
5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.

*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
　　　2. The protective structure rating of the Servomotor with the Decelerator is IP44.
　　　3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model number.
5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.

* The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
　　　2. The protective structure rating of the Servomotor with the Decelerator is IP44.
　　　3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model number.
5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.