Omron G5 R88D-KE Series User Manual Download Page 280

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5 Basic Control Mode

5 - 12

OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual

5-2-4

Parameter Block Diagram for Speed Control Mode

Pn101: Speed Gain

Pn102:

Integral Time Constant

Pn106: Speed Gain 2

Pn107:

Integral Time Constant 2

Pn004: Inertia Ratio 1

Pn612: Filter Selection

Pn613: Inertia Ratio 2

Pn104

: Torque Filter 1

Pn109

: Torque Filter 2

Pn521: Torque Limit Selection

Pn013: No. 1 Torque Limit

Pn522: No. 2 Torque Limit

Pn103: Speed Feedback Filter Time Constant

Pn108: Speed Feedback Filter Time Constant 2

Pn610: Function Expansion Setting

Encoder

Motor

Main

power

supply

–

Pn312:

Acceleration time

Pn313:

Deceleration time

Pn314: S-curve

Pn011: 1 Rotation

Pn012: Reverse

Numerator /Denominato

Pn503: Denominato

Encoder

Pulse Output

Pulse Regeneration

Acceleration/Deceleration

Pn300:

Internal or external switching

Pn301: Direction Spacified

Speed Command Selection

Pn112: Gain

Pn113: Filter

Torque

Feed-forward

Pn623: Gain

Pn624: Filter

Disturbance

Observer

Pn607: Offset Value

Pn608:

Forward Direction

Pn609:

Reverse Direction

Friction

Compensation

Pn114: Setting 2

Pn120: Mode

Pn121: Delay Time

Pn122: Level

Pn123: Hysteresis

Gain Switching

Pn200:

Adaptive Filter Selection

Pn201: Frequency 1

Pn204: Frequency 2

Pn207: Frequency 3

Pn210: Frequency 4

Pn202: Notch 1 Width

Pn205: Notch 2 Width

Pn208: Notch 3 Width

Pn211: Notch 4 Width

Pn203: Notch 1 Depth

Pn206: Notch 2 Depth

Pn209: Notch 3 Depth

Pn212: Notch 4 Depth

Notch Filter

Speed Control

Torque Limit

Pn611: Response Setting

Current control

Torque Filter

Speed Detection Filter

Speed Detection

Speed Control Command

Motor Speed

Torque Command

Feedback Pulse Accumulation

Internally Set Speed

Pn201: Speed 1

Pn202: Speed 2

Pn204: Speed 3

Pn205: Speed 4

Pn207: Speed 5

Pn208: Speed 6

Pn210: Speed 7

Pn211: Speed 8

Summary of Contents for G5 R88D-KE Series

Page 1: ...AC SERVOMOTORS SERVO DRIVES G5 series Pulse train Input Type User s Manual I584 E1 02 R88D KE AC Servomotors R88M KP AC Servo Drives...

Page 2: ...are noted on the pages concerned and then securely add any required pages from this Notification to the rear of the manual Applicable Manuals This Notification applies to the following manuals AC SER...

Page 3: ...2 Page 2 53 For 1 000 r min Servomotors 900 W to 3 kW Current Contents Corrected Contents...

Page 4: ...ssumed 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 subjec...

Page 5: ...knowledge of electrical systems an electrical engineer or the equivalent Personnel in charge of introducing the FA equipment Personnel in charge of designing the FA systems Personnel in charge of man...

Page 6: ...HAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL I...

Page 7: ...possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference o...

Page 8: ...e consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufac...

Page 9: ...e Precautions on what to do and what not to do to ensure safe usage of the product Precautions for Correct Use Precautions for Correct Use Precautions on what to do and what not to do to ensure proper...

Page 10: ...sonnel is prohibited Electric shock or injury may result Before carrying out wiring or inspection turn OFF the main circuit power and wait for at least 15 minutes Electric shock may result Do not dama...

Page 11: ...efore wiring them Electric shock may result The Servo Drive radiator Regeneration Resistor Servomotor etc may become hot while the power is supplied or remain hot for a while even after the power supp...

Page 12: ...Servo Drive do not hold it by the cables or Servomotor shaft Injury or failure may result Do not overload the Servo Drive or Servomotor Follow the instructions on the product label Injury or failure m...

Page 13: ...may result Use crimp terminals to wire screw type terminal blocks Do not connect bare stranded wires directly to terminals blocks Fire may result Only use the power supply voltage specified in this Us...

Page 14: ...y and then reset the error alarm and restart the operation Injury may result Do not use the built in brake of the Servomotor for normal braking operation Failure may result Do not operate the Servomot...

Page 15: ...e transfer to the new Servo Drive all data needed to resume operation before restarting operation Equipment damage may result Never repair the Servo Drive by disassembling it Electric shock or injury...

Page 16: ...vided on this label When disposing of the battery insulate it using tape and dispose of it by following the applicable ordinances of your local government Dispose of the Servo Drive as industrial wast...

Page 17: ...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 purcha...

Page 18: ...evision Code Revision Date Revised Content 01 April 2012 Original production 02 August 2012 Front cover Corrected model numbers Pages 2 16 and 2 17 Corrected specifications and deleted rows in middle...

Page 19: ...conforming to EMC directives and regenerative energy calculation methods for the Servo Drives Servomotors and Decelerators It also explains the performance of External Regeneration Resistors Section...

Page 20: ...Servomotors and Servo Drives User s Manual 1 Set Function Expansion Setting Pn610 Set whether to enable or disable the disturbance observer in bit 1 0 Disabled 1 Enabled Set the operating conditions...

Page 21: ...Precautions on what to do and what not to do to ensure safe usage of the product Precautions for Correct Use Precautions for Correct Use Precautions on what to do and what not to do to ensure proper o...

Page 22: ...Manual Structure 18 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual...

Page 23: ...s Manual 1 10 2 A 3 4 A 5 6 7 8 9 1 10 2 A 3 4 5 6 7 8 9 Features and System Configuration Troubleshooting and Maintenance Models and External Dimensions Specifications System Design Basic Control Mod...

Page 24: ...Configuration 1 3 1 3 Names and Functions 1 4 1 3 1 Servo Drive Part Names 1 4 1 3 2 Servo Drive Functions 1 5 1 4 System Block Diagram 1 6 1 5 Applicable Standards 1 10 1 5 1 EC Directives 1 10 1 5 2...

Page 25: ...erload Characteristics Graphs 3 35 3 3 Servomotor Specifications 3 36 3 3 1 General Specifications 3 36 3 3 2 Characteristics 3 37 3 3 3 Encoder Specifications 3 53 3 4 Decelerator Specifications 3 54...

Page 26: ...for Speed Control Mode 5 12 5 3 Switching Control 5 13 5 3 1 Outline of the Function 5 13 5 3 2 Parameters Requiring Settings 5 13 5 3 3 Related Functions 5 14 Section 6 Applied Functions 6 1 Damping...

Page 27: ...on Example 6 45 6 14 Inertia Ratio Switching Function 6 46 6 14 1 Outline of the Function 6 46 6 14 2 Parameters Requiring Settings 6 46 6 14 3 Operating Procedure 6 46 6 15 Feed forward Function 6 47...

Page 28: ...t Procedure 9 3 9 2 Realtime Autotuning 9 4 9 2 1 Setting Realtime Autotuning 9 5 9 2 2 Setting Machine Rigidity 9 5 9 3 Manual Tuning 9 11 9 3 1 Basic Settings 9 11 Section 10 Troubleshooting and Mai...

Page 29: ...utline of OMNUC G5 series Servo Drives Pulse train Input Type 1 2 1 1 2 Features of OMNUC G5 series Servo Drives Pulse train Input Type 1 2 1 2 System Configuration 1 3 1 3 Names and Functions 1 4 1 3...

Page 30: ...rive realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load The OMNUC G5 series Servo Drives Pulse train Input Type have the following features You...

Page 31: ...Type Position Control Unit Pulse train output Type Programmable Controller SYSMAC CJ CS Position Control Unit CJ1W NC113 213 413 CJ1W NC133 233 433 CJ1W NC214 414 CJ1W NC234 434 CS1W NC113 213 413 CS...

Page 32: ...rt Names Display Operation area USB connector CN7 Control I O connector CN1 Encoder connector CN2 Analog monitor connector CN5 Main circuit power supply terminals L1 L2 and L3 Control circuit power su...

Page 33: ...itor the parameter settings and drive status Lights when the main circuit power supply is turned ON Used for command input signals and I O signals Connector for the encoder installed in the Servomotor...

Page 34: ...a Gate drive SW power supply main circuit control Internal control power supply GR L2C L1C L3 L2 L1 FUSE FUSE FUSE CN A 15 V G1 5 V 2 5 V 1 5 V 12 V E5V G2 3 3 V Overcurrent detection Current detectio...

Page 35: ...5 V 1 5 V 12 V E5V G2 3 3 V GR CN2 CN5 CN7 B1 B2 B3 CN B U V W USB CN1 Internal Regeneration Resistor Axial flow fan Display and setting circuit area Gate drive SW power supply main circuit control I...

Page 36: ...3 V GR CN2 CN5 CN7 B1 B2 B3 NC CN C CN B USB CN1 Internal Regeneration Resistor U V W Axial flow fan Display and setting circuit area Gate drive SW power supply main circuit control Internal control...

Page 37: ...1 5 V 12 V E5V G2 3 3 V GR CN2 CN5 CN7 B1 B2 B3 NC U V W USB CN1 Internal Regeneration Resistor Display and setting circuit area Gate drive SW power supply main circuit control Internal control power...

Page 38: ...miconductor manufacturing equipment Note 1 It does not apply to Servo Drives with 24 VDC specifications for the control power input 2 Always perform evaluation testing for SEMI F47 compliance in the a...

Page 39: ...15 Arcminutes max 2 7 2 3 Model Tables 2 8 2 3 1 Servo Drive Model Table 2 8 2 3 2 Servomotor Model Tables 2 8 2 3 3 Servo Drive and Servomotor Combination Tables 2 11 2 3 4 Decelerator Model Tables 2...

Page 40: ...J2 High speed type Position Control NC Unit CJ1W NC214 414 CJ1W NC234 434 Standard type Programmable Controller SYSMAC CJ1 CS1 Position Control NC Unit CJ1W NC 3 CS1W NC 3 C200HW NC 3 CP1H CP1L CJ2M C...

Page 41: ...UC G5 series Pulse train Input Type AC Servomotor R88D KP OMNUC G5 series Pulse train Input Type AC Servomotor R88M KE Motor power signals Feedback Signals Power Cables Without Brake R88A CA S With Br...

Page 42: ...The Servo Drive model number tells the Servo Drive type applicable Servomotor capacity power supply voltage etc 2 2 1 Servo Drive R88D KP01H OMNUC G5 series Servo Drive Drive Type P Pulse train input...

Page 43: ...motor Servomotor Capacity R88M KE10030H BOS2 OMNUC G5 series Servomotor Rated Rotation Speed Motor Type E Economy type 050 100 200 400 750 900 1K0 1K5 2K0 3K0 4K0 5K0 10 1 000 r min 20 2 000 r min 30...

Page 44: ...400 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW Backlash 3 Arcminutes max Gear Ratio 05 1 5 09 1 9 only for flange number 11A 11 1 11 except for flange number 65A 20 1 20 only for flange number 65A...

Page 45: ...lerator Backlash 15 Arcminutes max 2 2 4 Decelerator Backlash 15 Arcminutes max R88G VRSF09B100CJ Decelerator for G5 Series Servomotor Applicable Servomotor Capacity 050 100 200 400 750 50 W 100 W 200...

Page 46: ...KP20H 3 kW R88D KP30H 5 kW R88D KP50H 2 3 2 Servomotor Model Tables 3 000 r min Servomotors Specifications Model With incremental encoder Straight shaft without key Straight shaft with key and tap 20...

Page 47: ...5 kW R88M KE1K530H B R88M KE1K530H BS2 2 kW R88M KE2K030H B R88M KE2K030H BS2 3 kW R88M KE3K030H B R88M KE3K030H BS2 4 kW R88M KE4K030H B R88M KE4K030H BS2 5 kW R88M KE5K030H B R88M KE5K030H BS2 2 00...

Page 48: ...Model With incremental encoder Straight shaft without key Straight shaft with key and tap 200 V 900 W R88M KE90010H R88M KE90010H S2 2 kW R88M KE2K010H R88M KE2K010H S2 3 kW R88M KE3K010H R88M KE3K010...

Page 49: ...n Servomotors and Servo Drives Voltage Servomotor Servo Drive Rated output With incremental encoder Single phase 3 phase 200 V 50 W 1 R88M KE05030H R88D KP01H 100 W R88M KE10030H R88D KP01H 200 W R88M...

Page 50: ...0 W 1 5 R88G HPG11B05100B 1 9 R88G HPG11B09050B 1 21 R88G HPG14A21100B 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 100 W 1 5 R88G HPG11B05100B 1 11 R88G HPG14A11100B 1 21 R88G HPG14A21100B 1 33 R88G...

Page 51: ...pecifications Model Servomotor capacity Gear ratio 1 kW 1 5 R88G HPG32A052K0B 1 11 R88G HPG32A112K0B 1 21 R88G HPG32A211K5B 1 33 R88G HPG50A332K0B 1 45 R88G HPG50A451K5B 1 5 kW 1 5 R88G HPG32A052K0B 1...

Page 52: ...PG32A053K0B 1 11 R88G HPG32A112K0SB 1 21 R88G HPG32A211K0SB 1 33 R88G HPG50A332K0SB 1 45 R88G HPG50A451K0SB 1 5 kW 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB 1 21 R88G HPG50A213K0B 1 33 R88G HPG50A...

Page 53: ...88G HPG50A33900TB 2 kW 1 5 R88G HPG32A052K0TB 1 11 R88G HPG50A112K0TB 1 21 R88G HPG50A212K0TB 1 25 R88G HPG65A255K0SB 3 kW 1 5 R88G HPG50A055K0SB 1 11 R88G HPG50A115K0SB 1 20 R88G HPG65A205K0SB 1 25 R...

Page 54: ...r min Servomotors of 50 to 750 W 3 m R88A CAGA003S 5 m R88A CAGA005S 10 m R88A CAGA010S 15 m R88A CAGA015S 20 m R88A CAGA020S For 3 000 r min Servomotors of 1 to 2 kW For 2 000 r min Servomotors of 1...

Page 55: ...les Global Flexible Cable Specifications Model For motor without brake For motor with brake 200 V For 3 000 r min Servomotors of 50 to 750 W 3 m R88A CAGA003SR 5 m R88A CAGA005SR 10 m R88A CAGA010SR 1...

Page 56: ...R88A CNU11C Encoder Connector CN2 R88A CNW01R Power Cable Connector for 750 W max R88A CNG01A Brake Cable Connector for 750 W max R88A CNG01B Servo Relay Units for CN1 Specifications Model Servo Relay...

Page 57: ...13 XW2B 20J6 1B 0 5 m XW2Z 050J A6 1 m XW2Z 100J A6 For CS1W NC213 NC413 C200HW NC213 NC413 XW2B 20J6 2B 0 5 m XW2Z 050J A7 1 m XW2Z 100J A7 For CS1W NC133 XW2B 20J6 1B 0 5 m XW2Z 050J A10 1 m XW2Z 10...

Page 58: ...ition Control Unit for open collector output 2 axes CJ1W NC214 NC414 1 m XW2Z 100J G5 3 m XW2Z 300J G5 General purpose Control Cables with connector on one end 1 m R88A CPG001S 2 m R88A CPG002S Connec...

Page 59: ...KP02H For single phase input 3G3AX DL2004 R88D KP04H For single phase input 3G3AX DL2007 R88D KP08H KP10H For single phase input 3G3AX DL2015 R88D KP15H For single phase input 3G3AX DL2022 R88D KP01H...

Page 60: ...put Type AC Servomotors and Servo Drives User s Manual 2 4 External and Mounting Dimensions Wall Mounting 2 4 1 Servo Drive Dimensions Single phase 3 phase 200 VAC R88D KP01H KP02H 100 to 200 W 130 70...

Page 61: ...es User s Manual 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Front Mounting Using Front Mounting Brackets Rectangular hole 170 158 70 40 7 180 170 150 5 2 R26 7 5 2 2 5 130 19...

Page 62: ...Mounting Using Front Mounting Brackets Single phase 3 phase 200 VAC R88D KP04H 400 W 55 150 130 150 43 6 55 140 70 2 M4 External Dimensions Mounting dimensions Rectangular hole 55 47 7 5 2 180 170 15...

Page 63: ...mensions Wall Mounting Front Mounting Using Front Mounting Brackets Single phase 3 phase 200 VAC R88D KP08H 750 W 170 4 65 150 150 140 50 7 5 65 70 2 M4 External Dimensions Mounting dimensions Rectang...

Page 64: ...nting Brackets Single phase 3 phase 200 VAC R88D KP10H KP15H 900 W to 1 5 kW 150 170 4 2 M4 140 150 70 8 5 86 70 86 External Dimensions Mounting dimensions Rectangular hole 170 158 40 12 2 5 R2 6 R2 6...

Page 65: ...Drives User s Manual 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Wall Mounting 3 phase 200 VAC R88D KP20H 2 kW 86 85 50 17 5 42 5 5 2 5 2 5 2 R2 6 R2 6 198 188 168 17 5 50 5 2...

Page 66: ...es User s Manual Front Mounting Using Front Mounting Brackets 86 85 50 17 5 42 5 5 2 5 2 198 188 168 17 5 50 5 2 5 2 42 5 5 2 5 2 R2 6 R2 6 R2 6 R2 6 193 5 30 7 2 5 2 5 70 External Dimensions Rectangu...

Page 67: ...Drives User s Manual 2 4 External and Mounting Dimensions 2 2 4 1 Servo Drive Dimensions Wall Mounting 3 phase 200 VAC R88D KP30H KP50H 3 to 5 kW R2 6 R2 6 5 2 R2 6 R2 6 5 2 212 3 130 100 15 65 5 2 5...

Page 68: ...Drives User s Manual Front Mounting Using Front Mounting Brackets R2 6 R2 6 5 2 R2 6 R2 6 5 2 130 100 15 65 5 2 5 2 220 240 250 5 2 5 2 65 100 15 212 40 7 2 5 2 5 70 External Dimensions Rectangular h...

Page 69: ...e indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 2 4 2 Servomotor Dimensions 3 000 r mi...

Page 70: ...re indicated with O at the end of the model number The motor dimensions do not change Model Dimensions mm LL LM S R88M KE20030 79 5 57 11 R88M KE40030 99 76 5 14 Model Dimensions mm LL LM S R88M KE200...

Page 71: ...th Brake R88M KE75030H B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O a...

Page 72: ...d with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model Dimensions mm LL LM KB1 KB2 R88M KE1K030 1...

Page 73: ...ft Models with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model D...

Page 74: ...or dimensions do not change 2 000 r min Servomotors 200 V Model Dimensions mm LL LR LM S KB1 KB2 R88M KE1K020 139 55 94 22 60 119 R88M KE1K520 156 5 55 111 5 22 77 5 136 5 R88M KE2K020 174 55 129 22 9...

Page 75: ...odels with a key and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model Dimen...

Page 76: ...icated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change 1 000 r min Servomotors 200 V Model Dimensi...

Page 77: ...and tap are indicated with S2 at the end of the model number Models with an oil seal are indicated with O at the end of the model number The motor dimensions do not change Model Dimensions mm LL LM K...

Page 78: ...HPG20A11400B R88G HPG20A21400B R88G HPG32A33400B R88G HPG32A45400B R88M KE75030H T R88G HPG20A05750B R88G HPG20A11750B R88G HPG32A21750B R88G HPG32A33750B R88G HPG32A45750B R88M KE1K030 R88G HPG32A052...

Page 79: ...SB R88G HPG50A213K0B for both with R88M KE3K030 R88G HPG50A332K0SB R88M KE3K020 R88G HPG32A054K0B for both with R88M KE4K030 R88G HPG50A115K0B for both with R88M KE5K030 R88G HPG50A213K0SB R88G HPG65A...

Page 80: ...5 29 27 2 2 15 1 21 R88G HPG14A21100B 1 64 0 58 60 60 70 46 56 55 5 40 37 2 5 21 1 33 R88G HPG14A33050B 1 64 0 58 60 60 70 46 56 55 5 40 37 2 5 21 1 45 R88G HPG14A45050B 1 64 0 58 60 60 70 46 56 55 5...

Page 81: ...25 5 5 3 M4 8 R88G HPG14A45050B 1 45 5 8 20 3 4 M4 x 9 M3 15 3 3 1 8 M3 6 R88G HPG11B05100B 1 5 100 W 8 16 28 5 5 M4 x 10 M3 25 5 5 3 M4 8 R88G HPG14A11100B 1 11 8 16 28 5 5 M4 x 10 M3 25 5 5 3 M4 8...

Page 82: ...G HPG14A05400B 1 64 58 60 60 70 70 56 55 5 40 37 2 5 21 1 11 R88G HPG20A11400B 2 71 80 90 89 105 70 85 84 59 53 7 5 27 1 21 R88G HPG20A21400B 2 71 80 90 89 105 70 85 84 59 53 7 5 27 1 33 R88G HPG32A33...

Page 83: ...36 8 7 4 M6 12 R88G HPG20A21400B 1 21 13 40 82 11 M4 x 10 M4 70 12 8 5 M10 20 R88G HPG32A33400B 1 33 13 40 82 11 M4 x 10 M4 70 12 8 5 M10 20 R88G HPG32A45400B 1 45 10 25 42 9 M5 x 12 M4 36 8 7 4 M6 12...

Page 84: ...1 11 R88G HPG32A112K0B 2 110 133 120 135 135 115 115 114 84 98 12 5 35 1 21 R88G HPG32A211K5B 2 110 133 120 135 135 115 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0B 2 123 156 170 170 190 115 165 163...

Page 85: ...50 82 14 M8 x 10 M6 70 14 9 5 5 M10 20 R88G HPG50A332K0B 1 33 16 50 82 14 M8 x 10 M6 70 14 9 5 5 M10 20 R88G HPG50A451K5B 1 45 13 40 82 11 M8 x 10 M6 70 12 8 5 M10 20 R88G HPG32A052K0B 1 5 2 kW 13 40...

Page 86: ...rresponding Servomotor 4 For Servomotors with a key remove the key before use Outline drawing 1 Model Outline drawing Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 kW 1 5 R88G HPG32A053K0B 1 107...

Page 87: ...L 13 40 82 11 M8 x 18 M6 70 12 8 5 M10 20 R88G HPG32A053K0B 1 5 1 kW 13 40 82 11 M8 x 18 M6 70 12 8 5 M10 20 R88G HPG32A112K0SB 1 11 13 40 82 11 M8 x 18 M6 70 12 8 5 M10 20 R88G HPG32A211K0SB 1 21 16...

Page 88: ...0 130 135 145 115 114 84 98 12 5 35 1 21 R88G HPG50A213K0B 2 123 156 170 170 190 145 165 163 122 103 12 53 1 33 R88G HPG50A332K0SB 2 123 156 170 170 190 145 165 163 122 103 12 53 3 kW 1 5 R88G HPG32A0...

Page 89: ...8G HPG50A332K0SB 1 33 13 40 82 11 M8 x 25 M6 70 12 8 5 M10 20 R88G HPG32A054K0B 1 5 3 kW 16 50 82 14 M8 x 25 M6 70 14 9 5 5 M10 20 R88G HPG50A115K0B 1 11 16 50 82 14 M8 x 25 M6 70 14 9 5 5 M10 20 R88G...

Page 90: ...20 130 135 145 115 114 84 98 12 5 35 1 21 R88G HPG50A21900TB 1 149 156 170 130 190 145 165 163 122 103 12 53 1 33 R88G HPG50A33900TB 1 149 156 170 130 190 145 165 163 122 103 12 53 2 kW 1 5 R88G HPG32...

Page 91: ...0 20 R88G HPG50A21900TB 1 21 16 50 82 14 M8 x 25 M6 70 14 9 5 5 M10 20 R88G HPG50A33900TB 1 33 13 40 82 11 M12 x 25 M6 70 12 8 5 M10 20 R88G HPG32A052K0TB 1 5 2 kW 16 50 82 14 M12 x 25 M6 70 14 9 5 5...

Page 92: ...45 10 3 6 1 9 R88G VRSF09B100CJ 67 5 32 40 52 46 60 50 45 10 3 6 1 15 R88G VRSF15B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 1 25 R88G VRSF25B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 200 W 1 5 R88G VRSF05B...

Page 93: ...F09B100CJ 1 9 12 20 M4 M5 M3 12 16 4 4 2 5 R88G VRSF15B100CJ 1 15 12 20 M4 M5 M3 12 16 4 4 2 5 R88G VRSF25B100CJ 1 25 12 20 M4 M5 M4 12 16 4 4 2 5 R88G VRSF05B200CJ 1 5 200 W 19 30 M4 M6 M4 20 22 6 6...

Page 94: ...Manual 2 4 5 External Regeneration Resistor Dimensions R88A RR08050S RR080100S R88A RR22047S RR22047S1 R88A RR50020S 20 1 2 104 122 130 43 5 28 4 2 6 Thermal switch output 500 3 0 75 mm 2 1 5 0 3 mm 2...

Page 95: ...ut Type AC Servomotors and Servo Drives User s Manual 2 4 External and Mounting Dimensions 2 2 4 6 Reactor Dimensions 2 4 6 Reactor Dimensions 3G3AX DL2002 3G3AX DL2004 Ground terminal M4 66 56 72 90...

Page 96: ...ensions 2 58 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual 3G3AX DL2007 3G3AX DL2015 Ground terminal M4 66 56 72 90 4 5 2 8 2 M4 98 105 Ground terminal M4 66 56...

Page 97: ...actor Dimensions 3G3AX DL2022 3G3AX AL2025 AL2055 Model Dimensions mm A C D E H H1 X Y K W 3G3AX AL2025 130 82 60 40 150 92 50 67 M4 9 5 3G3AX AL2055 140 98 60 40 150 92 50 75 M4 9 5 Ground terminal M...

Page 98: ...Servomotors and Servo Drives User s Manual 3G3AX AL2110 Model Dimensions mm A C D H H1 X Y K W 3G3AX AL2110 160 103 70 170 106 60 80 5 3 12 Ground terminal M6 Terminal hole 6 K W Terminal width H H1...

Page 99: ...8A TK03K 2 M4 countersunk 5 2 5 2 5 11 0 2 33 40 5 2 15 10 17 9 5 R1 max R2 R2 2 R1 2 C 5 2 M4 countersunk 24 2 5 2 5 11 0 2 9 5 17 7 40 10 15 R1 m ax R 2 R2 5 2 2 C 5 Bottom Top 2 M4 countersunk 24 1...

Page 100: ...rain Input Type AC Servomotors and Servo Drives User s Manual R88A TK04K 2 M4 countersunk 60 15 2 5 10 2 5 5 2 10 40 0 2 36 0 2 9 5 17 19 5 2 4 R1 R2 R1 max R2 2 C 5 2 M4 countersunk 5 2 5 10 2 5 15 6...

Page 101: ...ns CN7 3 34 3 2 Overload Characteristics Electronic Thermal Function 3 35 3 2 1 Overload Characteristics Graphs 3 35 3 3 Servomotor Specifications 3 36 3 3 1 General Specifications 3 36 3 3 2 Characte...

Page 102: ...ating conditions some Servo Drive parts will require maintenance For details refer to 10 5 Periodic Maintenance on page 10 21 3 1 1 General Specifications Item Specifications Operating ambient tempera...

Page 103: ...1 4 1 2 4 A 1 6 6 3 6 A 1 9 1 5 2 A 1 14 2 8 1 A 1 Heat value 2 14 3 13 7 W 1 23 19 W 1 33 24 W 1 30 35 5 W 1 57 49 W 1 104 93 W 1 Control circuit Power supply voltage Single phase 200 to 240 VAC 170...

Page 104: ...ply voltage Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz Heat value 1 10 W 13 W 13 W Weight Approx 2 7 kg Approx 4 8 kg Approx 4 8 kg Maximum applicable motor capacity 2 kW 3 kW 5 kW Applicable...

Page 105: ...ter Overflow The number of accumulated pulses in the error counter exceeded the value set in Error Counter Overflow Level Pn014 Overspeed The Servomotor rotation speed exceeded the maximum allowable s...

Page 106: ...0 to 264 VAC 50 60 Hz Note Single phase power supply must be connected to L1 and L3 L2 L3 L1C Control circuit power supply input R88D KP H Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L2C Symbo...

Page 107: ...n circuit power supply input R88D KP H 2 kW 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz Note Single phase power supply must be connected to L1 and L3 L2 L3 L1C Control circuit power supply input R8...

Page 108: ...y External Regeneration Resistors between B1 and NC R88D KP30H R88D KP50H Symbol Name Function L1 Main circuit power supply input R88D KP H 3 to 5 kW 3 phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2...

Page 109: ...e Interlock Servo Ready Completed Output Alarm Output Positioning Completion Output BKIRCOM 11 10 READY READYCOM ALMCOM 35 34 ALM 37 36 INPCOM INP 39 38 32 TVSEL 31 RESET 30 ECRST 28 GESEL1 27 GSEL 26...

Page 110: ...his is the signal ground 15 17 7 24VIN 12 to 24 VDC Power Supply Input The forward input terminal for an external power supply 12 to 24 VDC for sequence input 8 9 26 to 33 SI1 to SI10 Sequence Input S...

Page 111: ...switches the control mode of the Servo Drive It is enabled when Control Mode Selection Pn001 is set to 3 IPG 33 Pulse Prohibition Input This signal is for position command pulse prohibition input It...

Page 112: ...ol Name Function and interface Control mode Position Speed 21 A Encoder Phase A Output These encoder signals are output according to the values set in Encoder Dividing Numerator Pn011 These are for li...

Page 113: ...otor rotation speed is equal to or less than the value set in the Zero Speed Detection Pn434 ZSPCOM VCMP Speed Conformity Output Signal This output signal turns ON when the command speed matches the m...

Page 114: ...SI2 POT SO1 BKIR SI4 GSEL SI6 RUN SI8 RESET 1 1 1 1 1 1 1 1 1 2 2 2 2 2 SO2 READY 24 V Open Collector Input for Command Pulse Reverse Pulses Feed Pulses or 90 Phase Difference Signal Phase A Forward P...

Page 115: ...10 m or shorter For line driver and photocoupler connections position command pulses of up to 500 kpps can be used CW 3 CW 4 CCW 5 CCW 6 Precautions for Correct Use Precautions for Correct Use The wir...

Page 116: ...W 6 When an external power supply is used at 200 kpps or lower CW 3 CW 4 CCW 5 CCW 6 Select an appropriate Current Limit Resistor R for Vcc Precautions for Correct Use Precautions for Correct Use The...

Page 117: ...is reversed when Command Pulse Rotation Direction Switching Selection Pn006 is set to 1 2 The precondition for H is that the photocoupler indicator is ON General purpose Input 3 1 6 Control Input Deta...

Page 118: ...cy Line driver 500 kpps Open collector 200 kpps Direction signal Feed pulse Forward rotation command Reverse rotation command t1 t1 t2 t2 t2 t1 t1 T At 500 kpps t1 0 1 s t2 1 0 s 1 0 s T 2 0 s T x 100...

Page 119: ...ns of these signals are dependent on the values set in Command Pulse Rotation Direction Switching Selection Pn006 and Command Pulse Mode Selection Pn007 Note The rotation direction is reversed when Co...

Page 120: ...t frequency Line driver 4 Mpps 90 Phase Difference Signal Maximum input frequency Line driver 4 Mpps t1 t1 t2 t2 t2 t1 t1 T t1 20 ns t2 500 ns 250 ns T 500 ns T x 100 50 Direction signal Feed pulse Fo...

Page 121: ...prohibition input is ON Precautions for Correct Use Precautions for Correct Use With the default settings both signals are disabled i e drive prohibition input is disabled For any system that requires...

Page 122: ...e 100 s or longer the duration of status signal input must be 1 ms or longer The counter may not be reset if the signal is shorter than this duration Pin 32 Control Mode Switching TVSEL This is the de...

Page 123: ...tching 2 GESEL2 This is the default allocation The logic and allocation of input terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 Function These t...

Page 124: ...nput terminals CN1 pin 1 to 8 9 26 to 33 can be changed using Input Signal Selection 1 to 10 Pn400 to Pn409 Function The internally set speed function performs the speed control according to the inter...

Page 125: ...rection for the speed command When Speed Command Direction Selection Pn301 is set to 1 enabled the rotation direction setting for the internal command speed is disabled Zero Speed Designation VZERO Pn...

Page 126: ...s input the Servomotor stops according to the value set in Stop Selection for Alarm Detection Pn510 No allocation Inertia Ratio Switching Input JSEL This is the default allocation The logic and alloca...

Page 127: ...se B Phase Z Output line driver AM26C31 or equivalent FG 0 V R 120 to 180 R R R FG 0 V 0 V 5 V Phase A Phase B Phase Z Applicable line receiver AM26C32 or equivalent SGGND Z 19 25 FG Shell Servo Drive...

Page 128: ...put etc are established before any protective function starts working You can increase this time with Pn618 Power Supply ON Initialization Time 3 1 8 Control Output Details Control Output Sequence Con...

Page 129: ...ts the external brake timing signal according to the values set in the Brake Timing when Stopped Pn437 and Brake Timing during Operation Pn438 Pin 35 Servo Ready Completed Output READY Pin 34 Servo Re...

Page 130: ...the default allocation The allocation of output terminals CN1 pin 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 Function The output signal turns ON when the...

Page 131: ...n 10 11 34 35 38 and 39 can be changed using Output Signal Selection 1 to 4 Pn410 to Pn413 Function This signal turns ON when the condition set in the Warning Output Selection 1 Pn440 Warning Output S...

Page 132: ...signal turns ON when a speed command is input in the speed control mode Connectors for CN2 6 Pins Speed Command Status Output V CMD 3 1 9 Encoder Connector Specifications CN2 Pin No Symbol Name Funct...

Page 133: ...n speed 1 V 500 r min The item and the unit can be changed using Pn416 and Pn417 The output method can be changed using Pn421 2 AM2 Analog monitor output 2 Outputs the analog signal for the monitor De...

Page 134: ...ng and parameter saving and loading Precautions for Correct Use Precautions for Correct Use Use a commercially available USB cable that is shielded equipped with a ferrite core for noise immunity and...

Page 135: ...se of the overload and then wait at least 1 minute for the motor temperature to drop before turning ON the power again If the alarm reset operation is repeated at short intervals the motor windings ma...

Page 136: ...0 to 750 W 1 to 5 kW 900 W to 3 kW Operating ambient temperature and humidity 0 to 40 C 20 to 85 with no condensation Storage ambient temperature and humidity 20 to 65 C 20 to 85 with no condensation...

Page 137: ...0 4 0 051 x 10 4 0 14 x 10 4 0 26 x 10 4 With brake kg m2 0 027 x 10 4 0 054 x 10 4 0 16 x 10 4 0 28 x 10 4 Applicable load inertia 30 times the rotor inertia max 2 Torque constant 1 N m A 0 10 10 0 2...

Page 138: ...Current consumption at 20 C A 0 3 0 3 0 36 0 36 Static friction torque N m 0 29 min 0 29 min 1 27 min 1 27 min Attraction time 5 ms 35 max 35 max 50 max 50 max Release time 5 ms 20 max 20 max 15 max 1...

Page 139: ...x 10 4 2 03 x 10 4 2 84 x 10 4 With brake kg m2 0 97 x 10 4 2 35 x 10 4 3 17 x 10 4 Applicable load inertia 20 times the rotor inertia max 2 15 times the rotor inertia max 2 Torque constant 1 N m A 0...

Page 140: ...C 5 24 VDC 10 Power consumption at 20 C W 10 19 19 Current consumption at 20 C A 0 42 0 81 10 0 81 10 Static friction torque N m 2 45 min 7 8 min 7 8 min Attraction time 5 ms 70 max 50 max 50 max Rele...

Page 141: ...m2 3 68 x 10 4 6 50 x 10 4 12 9 x 10 4 17 4 x 10 4 With brake kg m2 4 01 x 10 4 7 85 x 10 4 14 2 x 10 4 18 6 x 10 4 Applicable load inertia 15 times the rotor inertia max 2 Torque constant 1 N m A 0...

Page 142: ...ures The allowable radial loads are applied as shown in the following diagram 4 This is a non excitation brake It is released when excitation voltage is applied 5 The operation time is the value refer...

Page 143: ...500 1 2 Power supply voltage dropped by 10 Momentary operation range Continuous operation range Torque N m 0 1000 2000 3000 4000 5000 Speed r min 4 0 2 0 1 3 3800 3400 3 8 1 3 0 32 3 8 3800 1 7 1 3 3...

Page 144: ...Ambient temperature C 100 0 10 20 30 40 95 50 95 Continuous torque ambient temperature Rated torque ratio Ambient temperature C 0 10 20 30 40 100 75 70 With brake Without brake 50 75 70 Continuous to...

Page 145: ...Rotor inertia Without brake kg m2 4 60 x 10 4 6 70 x 10 4 8 72 x 10 4 With brake kg m2 5 90 x 10 4 7 99 x 10 4 10 0 x 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N...

Page 146: ...DC 10 Power consumption at 20 C W 14 19 19 Current consumption at 20 C A 0 59 10 0 79 10 0 79 10 Static friction torque N m 4 9 min 13 7 min 13 7 min Attraction time 5 ms 80 max 100 max 100 max Releas...

Page 147: ...t brake kg m2 12 9 x 10 4 37 6 x 10 4 48 0 x 10 4 With brake kg m2 14 2 x 10 4 38 6 x 10 4 48 8 x 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 0 59 0 70 0 70 P...

Page 148: ...hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram 4 This is a non excitation brake It is released when excitation voltage is applied 5 The...

Page 149: ...020H 3 kW R88M KE4K020H 4 kW R88M KE5K020H 5 kW R88M KE5K020H 5 kW N m 0 1000 2000 5 10 15 14 3 4 77 4 77 14 3 2200 3000 r min Power supply voltage dropped by 10 6 0 4 0 2000 3 2 Momentary operation r...

Page 150: ...kg m2 6 70 x 10 4 30 3 x 10 4 48 4 x 10 4 With brake kg m2 7 99 x 10 4 31 4 x 10 4 49 2 x 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 0 86 0 88 0 96 Power rat...

Page 151: ...ermined for a limit of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram 4 This is a non excitation brake It is released when excit...

Page 152: ...temperature Generally when the temperature drops in a mechanical system the friction torque and the load torque increase For that reason overloading may occur at low temperatures In particular in syst...

Page 153: ...Encoder Specifications 3 3 3 Encoder Specifications Incremental Encoder Specifications Item Specifications Encoder system Optical encoder 20 bits Number of output pulses Phases A and B 262 144 pulses...

Page 154: ...1 21 R88G HPG14A21100B 143 2 18 65 286 6 55 5 00 x 10 6 340 1 358 1 0 1 33 R88G HPG14A33050B 91 3 75 71 182 11 2 4 40 x 10 6 389 1 555 1 0 1 45 R88G HPG14A45050B 67 5 11 71 134 15 3 4 40 x 10 6 427 1...

Page 155: ...6 6 20 x 10 5 1 565 6 240 7 5 1 45 R88G HPG32A45400B 67 47 4 81 134 138 5 6 10 x 10 5 1 718 6 848 7 5 750 W 1 5 R88G HPG20A05750B 600 9 96 83 1 000 29 5 6 80 x 10 5 520 1 832 2 9 1 11 R88G HPG20A1175...

Page 156: ...1 80 1 000 57 2 3 90 x 10 4 889 3 542 7 4 1 11 R88G HPG32A112K0B 273 45 6 87 454 136 9 3 40 x 10 4 1 126 4 488 7 9 1 21 R88G HPG32A211K5B 143 90 2 90 238 270 3 3 00 x 10 4 1 367 5 448 7 9 1 33 R88G H...

Page 157: ...0 20 3 85 600 60 8 3 90 x 10 4 889 3 542 7 3 1 11 R88G HPG32A112K0SB 182 47 2 90 273 141 6 3 40 x 10 4 1 126 4 488 7 8 1 21 R88G HPG32A211K0SB 95 92 2 92 143 276 3 2 90 x 10 4 1 367 5 448 7 8 1 33 R88...

Page 158: ...kg 2 kW 1 5 R88G HPG32A053K0B 400 43 5 91 600 130 6 3 80 x 10 4 889 3 542 7 3 1 11 R88G HPG32A112K0SB 182 97 7 93 273 293 6 3 40 x 10 4 1 126 4 488 7 8 1 21 R88G HPG50A213K0B 95 186 5 93 143 560 5 5...

Page 159: ...r inertia Allowable radial load Allowable thrust load Weight r min N m r min N m kg m2 N N kg 900 W 1 5 R88G HPG32A05900TB 200 39 9 93 400 89 7 3 80 x 10 4 889 3 542 7 9 1 11 R88G HPG32A11900TB 90 88...

Page 160: ...0 55 1 15 R88G VRSF15B100CJ 200 1 68 70 333 5 04 3 50 x 10 6 588 294 0 70 1 25 R88G VRSF25B100CJ 120 2 80 70 200 8 40 3 25 x 10 6 686 343 0 70 100 W 1 5 R88G VRSF05B100CJ 600 1 20 75 1 000 3 56 4 00...

Page 161: ...ation speed Rated torque Efficiency Momentary maximum rotation speed Momentary maximum torque Decelerator inertia Allowable radial load Allowable thrust load Weight r min N m r min N m kg m2 N N kg 40...

Page 162: ...ing radius is used under the conditions below Precautions for Correct Use Precautions for Correct Use Because the life expectancy data on resistance to bending is intended for reference only use the c...

Page 163: ...between 003 and 020 1 represents a number between 003 and 020 Encoder Cables Model Minimum bending radius R R88A CRGB CR 1 45 mm R88A CRGC NR 1 45 mm Power Cables without Brake Model Minimum bending...

Page 164: ...kg R88A CRGB005C 5 m Approx 0 3 kg R88A CRGB010C 10 m Approx 0 6 kg R88A CRGB015C 15 m Approx 0 9 kg R88A CRGB020C 20 m Approx 1 2 kg Servo Drive side Servomotor side R88D KP R88M KE L 6 5 Symbol No...

Page 165: ...05N 5 m Approx 0 4 kg R88A CRGC010N 10 m Approx 0 7 kg R88A CRGC015N 15 m Approx 1 0 kg R88A CRGC020N 20 m Approx 1 5 kg L 6 5 Servo Drive side Servomotor side R88D KP R88M KE Symbol No Servo Drive si...

Page 166: ...kg R88A CRGB010CR 10 m Approx 0 8 kg R88A CRGB015CR 15 m Approx 1 1 kg R88A CRGB020CR 20 m Approx 1 5 kg L 7 5 Servo Drive side Servomotor side R88D KP R88M KE Symbol No Servo Drive side E5V 1 E0V 2...

Page 167: ...ia Approx 0 4 kg R88A CRGC005NR 5 m Approx 0 5 kg R88A CRGC010NR 10 m Approx 0 9 kg R88A CRGC015NR 15 m Approx 1 3 kg R88A CRGC020NR 20 m Approx 1 6 kg L 7 5 Servo Drive side Servomotor side R88D KP R...

Page 168: ...er Cable Specifications Power Cables without Brake Global Non Flexible Cable R88A CAGA S Model Length L Outer diameter of sheath Weight R88A CAGA003S 3 m 6 2 dia Approx 0 2 kg R88A CAGA005S 5 m Approx...

Page 169: ...Flexible Cable R88A CAGB S Model Length L Outer diameter of sheath Weight R88A CAGB003S 3 m 10 4 dia Approx 0 7 kg R88A CAGB005S 5 m Approx 1 0 kg R88A CAGB010S 10 m Approx 2 0 kg R88A CAGB015S 15 m A...

Page 170: ...th L Outer diameter of sheath Weight R88A CAGD003S 3 m 14 7 dia Approx 1 3 kg R88A CAGD005S 5 m Approx 2 1 kg R88A CAGD010S 10 m Approx 4 0 kg R88A CAGD015S 15 m Approx 6 0 kg R88A CAGD020S 20 m Appro...

Page 171: ...Outer diameter of sheath Weight R88A CAGA003SR 3 m 6 9 dia Approx 0 2 kg R88A CAGA005SR 5 m Approx 0 3 kg R88A CAGA010SR 10 m Approx 0 7 kg R88A CAGA015SR 15 m Approx 1 0 kg R88A CAGA020SR 20 m Appro...

Page 172: ...exible Cable R88A CAGB SR Model Length L Outer diameter of sheath Minimum bending radius R 1 Weight R88A CAGB003SR 3 m 12 7 dia 90 mm Approx 0 8 kg R88A CAGB005SR 5 m Approx 1 3 kg R88A CAGB010SR 10 m...

Page 173: ...iring Power Cables without Brake Global Flexible Cable R88A CAGD SR Model Length L Outer diameter of sheath Minimum bending radius R 1 Weight R88A CAGD003SR 3 m 15 6 dia 100 mm Approx 1 4 kg R88A CAGD...

Page 174: ...m 10 4 dia 5 4 dia Approx 0 8 kg R88A CAGB005B 5 m Approx 1 3 kg R88A CAGB010B 10 m Approx 2 4 kg R88A CAGB015B 15 m Approx 3 5 kg R88A CAGB020B 20 m Approx 4 6 kg L 70 10 4 70 5 4 L Servo Drive side...

Page 175: ...r diameter of sheath Weight R88A CAGD003B 3 m 14 7 dia 5 4 dia Approx 1 5 kg R88A CAGD005B 5 m Approx 2 4 kg R88A CAGD010B 10 m Approx 4 5 kg R88A CAGD015B 15 m Approx 6 7 kg R88A CAGD020B 20 m Approx...

Page 176: ...imum bending radius R 1 Weight R88A CAGB003BR 3 m 12 7 dia 6 1 dia Power cable part 90 mm Brake cable part 45 mm Approx 0 9 kg R88A CAGB005BR 5 m Approx 1 5 kg R88A CAGB010BR 10 m Approx 2 8 kg R88A C...

Page 177: ...odel Length L Outer diameter of sheath Minimum bending radius R 1 Weight R88A CAGD003BR 3 m 15 6 dia 6 1 dia Power cable part 100 mm Brake cable part 45 mm Approx 1 6 kg R88A CAGD005BR 5 m Approx 2 5...

Page 178: ...Weight R88A CAGA003B 3 m 5 4 dia Approx 0 1 kg R88A CAGA005B 5 m Approx 0 2 kg R88A CAGA010B 10 m Approx 0 4 kg R88A CAGA015B 15 m Approx 0 6 kg R88A CAGA020B 20 m Approx 0 8 kg 5 4 70 40 L Servo Driv...

Page 179: ...l Length L Outer diameter of sheath Weight R88A CAGA003BR 3 m 6 1 dia Approx 0 1 kg R88A CAGA005BR 5 m Approx 0 2 kg R88A CAGA010BR 10 m Approx 0 4 kg R88A CAGA015BR 15 m Approx 0 7 kg R88A CAGA020BR...

Page 180: ...r is soldered External Dimensions These connectors are used for encoder cables Use them when preparing an encoder cable by yourself For wiring methods refer to Encoder Cable Specifications on page 3 6...

Page 181: ...vomotor side Use the following cable Applicable wire AWG22 max Insulating cover outer diameter 1 75 mm dia max Panel mounting hole Connector housing model 172160 1 Tyco Electronics AMP KK Contact sock...

Page 182: ...R88A CNG01A Connector housing model 172159 1 Tyco Electronics AMP KK Contact socket model 170366 1 Tyco Electronics AMP KK The applicable panel thickness is 0 8 to 2 0 mm Brake Cable Connector R88A CN...

Page 183: ...cations 3 3 5 5 Analog Monitor Cable Specifications Connection configuration and external dimensions 3 5 5 Analog Monitor Cable Specifications Analog Monitor Cable R88A CMK001S No 1 2 3 4 5 6 AM1 AM2...

Page 184: ...iver Output 2 Axes Cables for Open Collector Output 2 Axes Connection configuration and external dimensions Cables for 1 Axis Cables for 2 Axes 3 5 6 Control Cable Specifications Specified Cables for...

Page 185: ...7 39 38 35 34 37 36 20 13 Shell 25 24 24 V Power Supply for Output 24 V GND for Output Input Common Forward Direction Pulse Output Forward Direction Pulse Output Reverse Direction Pulse Output Reverse...

Page 186: ...put Alarm Input SEN Output 2 Signal Ground General purpose Input Alarm Input SEN Output 2 Signal Ground 24 V Power Supply for Output 24 V GND for Output Input Common Encoder Phase A Encoder Phase A En...

Page 187: ...Completion Input General purpose Input Alarm Input SEN Output 2 Signal Ground General purpose Input Alarm Input SEN Output 2 Signal Ground 24 V Power Supply for Output 24 V GND for Output Input Common...

Page 188: ...Output General purpose Output Alarm Reset Output Torque Limit Output Positioning Completion Input General purpose Input Alarm Input SEN Output 2 Signal Ground General purpose Input Alarm Input SEN Out...

Page 189: ...ich does not have a specified cable wire and prepare an appropriate connector for the controller to be connected If connecting the Servo Drive with a controller which does not have a specified cable y...

Page 190: ...ink Red 3 SI7 5 White Red 1 CCW SIGN FB 31 Yellow Black 3 SI8 6 White Black 1 CCW SIGN FB 32 Gray Black 4 SI9 7 Yellow Red 1 24VIN 33 Orange Red 4 SI10 8 Pink Red 1 SI1 34 White Red 4 S02 9 Pink Black...

Page 191: ...I O connector CN1 All of the pins in the control I O connector CN1 can be converted to terminals on the terminal block Cable types Connection configuration and external dimensions Connector Terminal...

Page 192: ...ink Red 1 Pink Black 1 Green Red 1 Green Black 1 Orange Red 1 Gray Red 1 Gray Black 1 Blue Red 2 Blue Black 2 Pink Red 2 Pink Black 2 Green Red 2 Green Black 2 Orange Red 2 Orange Black 2 Gray Red 2 G...

Page 193: ...or Terminal Block Cable Model XW2Z J B24 to convert the Servo Drive s control I O connector CN1 to the terminal block XW2B 50G4 M3 Screw Terminal Block External Dimensions Use 0 3 to 1 25 mm2 wire AWG...

Page 194: ...d crimp terminals to a terminal block tighten them to a torque of 0 59 N m Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 to 16 0 3 to 1 25 mm2 2 3 5 AWG16 to 14 1 25 to 2 0...

Page 195: ...g wires and crimp terminals to a terminal block tighten them to a torque of 0 7 N m Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 to 16 0 3 to 1 25 mm2 Fork terminals 1 25Y...

Page 196: ...SYSMAC Select a correct relay unit and cable according to the model of your Position Control Unit Below are the specifications of the Servo Relay Unit for connecting the following OMRON Position Cont...

Page 197: ...or connecting the following OMRON Position Control Unit models External Dimensions The pitch of terminals is 7 62 mm XW2B 40J6 2B CJ1W NC213 NC233 NC413 NC433 CS1W NC213 NC233 NC413 NC433 C200HW NC213...

Page 198: ...imensions The pitch of terminals is 7 62 mm XW2B 20J6 3B CQM1 CPU43 V1 0V 20 0 39 19 FG 24 VDC X1 XB 24 VDC Y1 YB 24 VDC X1 Y1 24V X axis RUN X axis ALM X axis BKIR X axis RESET X axis ALMCOM Y axis A...

Page 199: ...ed counter 2 Input this output signal to CQM1 input unit 3 The XB contact is used to turn ON OFF the electromagnetic brake Note 1 Phase Z is an open collector output 2 Do not connect wires to unused t...

Page 200: ...ammable Controller models External Dimensions The pitch of terminals is 7 62 mm XW2B 20J6 8A CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 for 1 axis CJ2M CPU11 CPU12 CPU13 CPU14 CPU15 for 1 axis 0 1 2 3 4 5 6 7...

Page 201: ...W A541 08 CCW A541 09 Pulse output 1 Therefore in ladder programming use the actual input as CW and CCW limit input signals to output the following flag Example 2 The XB contact is used to turn ON OFF...

Page 202: ...of terminals is 7 62 mm XW2B 40J6 9A CJ2M CPU31 CPU32 CPU33 CPU34 CPU35 for 2 axes CJ2M CPU11 CPU12 CPU13 CPU14 CPU15 for 2 axes 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2...

Page 203: ...se the actual input as CW and CCW limit input signals to output the following flag Example 2 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 3 The connection to MING input ter...

Page 204: ...cifications of the Servo Relay Unit for connecting the following OMRON controller model External Dimensions XW2B 80J7 12A FQM1 MMP22 160 100 90 41 7 15 9 30 7 X axis Servo Drive Servo Drive phase B se...

Page 205: ...12A Flexible Motion Controller FQM1 Motion control module FQM1 MMP22 Servo Relay Unit cable XW2Z J B26 OMNUC G5 Series Pulse train Input Type Servomotor R88M KE OMNUC G5 Series Pulse train Input Type...

Page 206: ...Common 0 V 4 IN10 Common 0 V 4 IN11 Common 0 V 4 IN5 Common 0 V 4 IN6 Common 0 V 4 IN7 Common 0 V 4 Latch Signal 1 Common 0 V 5 Latch Signal 2 Common 0 V 5 Servo 1 INP Servo 2 INP Signal Signal 5 V 1...

Page 207: ...N ECRST INP ALM 1 2 74 76 47 67 34 36 7 27 FQM1 side signal For Servo 1 For Servo 2 54 56 69 70 14 16 29 30 OUT0 OUT2 OUT4 OUT6 BKIR 68 28 71 31 IN6 IN10 IN4 IN5 IN8 IN9 60 61 62 63 64 65 66 67 69 70...

Page 208: ...10350 52A0 008 Sumitomo 3M 3 6 2 Servo Drive Relay Unit Cable Specifications Servo Drive Cables XW2Z J B25 Model Length L Outer diameter of sheath Weight XW2Z 100J B25 1 m 8 1 dia Approx 0 1 kg XW2Z 2...

Page 209: ...50 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Servo Drive Cables XW2Z J B26 Model Length L Outer diameter of sheath Weight XW2Z 100J B26 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B26...

Page 210: ...itomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Servo Drive Cables XW2Z J B31 Model Length L Outer diameter of sheath Weight XW2Z 100J B31 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B31 2 m Approx 0...

Page 211: ...tion configuration and external dimensions Wiring 3 6 3 Position Control Unit Relay Unit Cable Specifications Position Control Unit Cables XW2Z J A6 Model Length L Outer diameter of sheath Weight XW2Z...

Page 212: ...Cables XW2Z J A7 Model Length L Outer diameter of sheath Weight XW2Z 050J A7 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A7 1 m Approx 0 2 kg 48 L 6 47 83 t 11 Position Control Unit side CS1W NC213 CS1W N...

Page 213: ...s Connection configuration and external dimensions Wiring Position Control Unit Cables XW2Z J A10 Model Length L Outer diameter of sheath Weight XW2Z 050J A10 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A1...

Page 214: ...el Length L Outer diameter of sheath Weight XW2Z 050J A11 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A11 1 m Approx 0 2 kg 48 L 6 47 83 t 11 1000 CS1W NC233 CS1W NC433 XW2B 40J6 1B Position Control Unit s...

Page 215: ...able types Connection configuration and external dimensions Wiring Position Control Unit Cables XW2Z J A14 Model Length L Outer diameter of sheath Weight XW2Z 050J A14 50 cm 10 0 dia Approx 0 1 kg XW2...

Page 216: ...Z J A15 Model Length L Outer diameter of sheath Weight XW2Z 050J A15 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A15 1 m Approx 0 2 kg L 6 t 11 500 48 CJ1W NC213 CJ1W NC413 XW2B 40J6 2B 40J6 2B C J1 W N C...

Page 217: ...n configuration and external dimensions Wiring Position Control Unit Cables XW2Z J A18 Model Length L Outer diameter of sheath Weight XW2Z 050J A18 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A18 1 m Appro...

Page 218: ...r diameter of sheath Weight XW2Z 050J A19 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A19 1 m Approx 0 2 kg L 6 t 11 500 48 1000 C J1 W N C 2 3 3 N C 4 3 3 40J6 2B CJ1W NC233 CJ1W NC433 XW2B 40J6 2B Positi...

Page 219: ...configuration and external dimensions Wiring Position Control Unit Cables XW2Z J A33 Model Length L Outer diameter of sheath Weight XW2Z 050J A33 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A33 1 m Approx...

Page 220: ...n and external dimensions Wiring Position Control Unit Cables XW2Z J A28 Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A28 1 m Approx 0 2 kg XW2Z...

Page 221: ...Connection configuration and external dimensions Wiring Position Control Unit Cables XW2Z J A30 Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A30...

Page 222: ...1 A max 30 VDC 0 1 A max minimum current 1 mA R88A RR080100S Model Resistance value Nominal capacity Regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output s...

Page 223: ...witch output specifications R88A RR22047S1 47 220 W 70 W Aluminum 350 x 350 Thickness 3 0 Operating temperature 150 C 5 C NC contact Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max mini...

Page 224: ...02 1 6 A 21 4 mH Approx 0 8 kg DC reactor R88D KP02H For single phase input 3G3AX DL2004 3 2 A 10 7 mH Approx 1 0 kg R88D KP04H For single phase input 3G3AX DL2007 6 1 A 6 75 mH Approx 1 3 kg R88D KP0...

Page 225: ...n Conditions 4 2 4 1 2 Servomotor Installation Conditions 4 3 4 1 3 Decelerator Installation Conditions 4 6 4 2 Wiring 4 10 4 2 1 Peripheral Equipment Connection Examples 4 10 4 2 2 Main Circuit and M...

Page 226: ...ally Operating Environment Conditions The environment in which drives are operated must meet the following conditions Drives may malfunction if operated under any other conditions Operating ambient te...

Page 227: ...e Place a cover over the drive or take other preventative measures to prevent foreign objects such as drill filings from getting into the drive during installation Be sure to remove the cover after in...

Page 228: ...iate 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 pa...

Page 229: ...his guideline may result in damaging the Servomotor due to a temperature rise Refer to 3 3 Servomotor Specifications on page 3 36 for the radiator plate specifications The temperature rise depends on...

Page 230: ...ally tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 4 Fix the Servomotor and the flange of the decelerator with bolts Bolt tightening torque for alum...

Page 231: ...at and that there are no burrs on the tap sections and then fix the mounting flanges with bolts Bolt tightening torque on the mounting flange for aluminum Note Uninstalling the key on a Servomotor wit...

Page 232: ...ide not to fall over as shown in the following figures When the decelerator cannot be put up vertically tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a til...

Page 233: ...o the decelerator Slipping does not occur If the system configuration requires a non OMRON decelerator to be used in combination with an OMNUC G5 series Pulse train Input Type Servomotor select the de...

Page 234: ...CN2 Ground to 100 or less Encoder cables Power cables 24 VDC XB 3 2 CN1 CN1 B1 B3 B2 4 Regeneration Resistor 5 CNB CNB CNA CNA OFF X ON X 1MC X Main circuit power supply 1MC 1 Recommended products are...

Page 235: ...5 series Pulse train Input Type AC Servomotor W V U B E M CN2 Encoder cables Power cables 24 VDC 3 2 CN1 CN1 B1 B3 B2 4 Regeneration Resistor Reactor CNB CNB CNA CNA Ground to 100 or less X XB X 1MC S...

Page 236: ...N2 Encoder cables Power cables 24 VDC 3 2 CN1 CN1 1 Recommended products are listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay by OMRON...

Page 237: ...B E M CN2 Encoder cables Power cables 24 VDC 3 2 CN1 CN1 1 Recommended products are listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V For example MY2 relay b...

Page 238: ...ply input R88D KP H Single phase 200 to 240 VAC 170 to 264 VAC 50 60 Hz L2C Symbol Name Function B1 External Regeneration Resistor connection terminals 50 to 400 W Do not short B1 and B2 Doing so may...

Page 239: ...00 to 230 VAC 170 to 253 VAC 50 60 Hz L2 L3 L1C Control circuit power supply input R88D KP H Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2C Symbol Name Function U Motor connection terminals R...

Page 240: ...l circuit power supply input R88D KP H Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz L2C B1 External Regeneration Resistor connection terminals Normally B2 and B3 are shorted Do not short B1 and...

Page 241: ...L1C and L2C Wire size AWG 18 Screw size Tightening torque N m Motor connection terminals U V W and FG 2 3 Rated current A 1 2 1 6 2 6 4 1 5 9 Wire size AWG 14 to 18 AWG 14 Screw size Tightening torqu...

Page 242: ...zes and Allowable Current Reference AWG size Nominal cross sectional area mm2 Configuration wires mm2 Conductive resistance km Allowable current A for ambient temperature 30 C 40 C 50 C 20 0 5 19 0 18...

Page 243: ...he slot open using the lever that comes with the Servo Drive Figure A Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the driver on the terminal block and press down firml...

Page 244: ...raided shielded cables must be used for encoder cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive must have clamp cores instal...

Page 245: ...VAC 50 A Schaffner EMC Inc FS5559 60 34 3 phase 200 VAC 60 A FS5559 80 34 3 phase 200 VAC 80 A SD Servo Drive OMRON 1 SM Servomotor OMRON 1 FC1 Clamp core TDK ZCAT3035 1330 FC2 Clamp core Konno Indus...

Page 246: ...Noise filter for power supply input Drive Noise filter for power supply input Phase of power supply Model Model Rated current Leakage current 60 Hz max Manufacturer Single phase R88D KP 01H SUP EK5 E...

Page 247: ...EK5 ER 6 3SUP HQ10 ER 6 3SUP HU30 ER 6 3SUP HL50 ER 6B 105 115 5 5 43 70 52 10 95 Ground terminal M4 Attachment screw for cover M3 Cover Unit M4 50 0 60 0 12 0 10 0 11 6 13 0 75 0 7 0 2 0 88 0 100 2...

Page 248: ...h welded joints at the top bottom and sides so that the surfaces are electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them elect...

Page 249: ...uctive gasket between the door and the case Refer to the diagrams Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting...

Page 250: ...reaker with a rated current greater than the total effective load current of all the motors when multiple Servo Drives are used The rated current of the power supply input for each motor is provided i...

Page 251: ...armature of the motor and the cables High frequency and surge resistant leakage breakers can prevent operation with high frequency leakage current because they do not detect high frequency current Whe...

Page 252: ...Note 1 Refer to the manufacturers catalog for operating details 2 The surge immunity is for a standard impulse current of 8 20 s If pulses are wide either decrease the current or change to a larger ca...

Page 253: ...d for 50 100 W The maximum number of windings is 2 turns 4 Also used on the Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise...

Page 254: ...ons unit mm A B C D1 D2 Core thickness E F RJ8035 35A 170 150 23 80 53 24 R3 5 7 RJ8095 95A 200 180 34 130 107 35 R3 5 7 2 M5 3 M4 95 26 78 80 12 5 72 50 7 39 5 3G3AX ZCL2 3G3AX ZCL1 51 5 25 5 17 5 5...

Page 255: ...4 3 2 Selecting Connection Components Impedance Characteristics 10 100 10 000 1 000 100 10 1 0 1 Frequency kHz Frequency kHz Impedance Impedance 1 1 000 3G3AX ZCL2 3G3AX ZCL1 10 000 1 000 100 10 1 Im...

Page 256: ...o Drives User s Manual 10 000 1 000 100 10 1 0 1 0 01 Impedance 10 000 100 10 1 0 1 0 01 0 001 0 0001 1 10 100 1 000 10 000 100 000 1 000 100 10 1 0 1 0 01 Impedance 10 100 1 1 000 10 100 1 1 000 RJ80...

Page 257: ...s approximately twice the rated current Surge Suppressors Type Feature Recommended product Diodes Diodes are used for relatively small loads such as relays when the reset time is not a critical issue...

Page 258: ...ers for encoder cables use clamp cores The following table shows the recommended clamp cores Do not place the encoder cable with the following cables in the same duct Control cables for brakes solenoi...

Page 259: ...ct the ground wires Connecting the ground wires may cause I O signal errors Separate the power supply for the pulse command and error counter reset input lines from the control power supply as far apa...

Page 260: ...or Model Rated current Inductance Reactor type R88D KP01H For single phase input 3G3AX DL2002 1 6 A 21 4 mH DC reactor R88D KP02H For single phase input 3G3AX DL2004 3 2 A 10 7 mH R88D KP04H For singl...

Page 261: ...inuous output current The following table shows the noise filters that are recommended for motor output lines Note 1 Motor output lines cannot use the same noise filters for power supplies 2 General n...

Page 262: ...al 3G3AX NF003 NF004 NF005 NF006 Model Dimensions mm A B C E F H J N O P 3G3AX NF003 160 145 130 80 112 120 M4 154 3G3AX NF004 200 180 160 100 162 150 120 M5 M5 210 3G3AX NF005 220 200 180 100 182 170...

Page 263: ...f motor winding resistance and PWM the actual regenerative energy will be approximately 90 of the values derived from these equations For Servo Drive models with internal capacitors used for absorbing...

Page 264: ...on capacity The capacity depends on the model For details refer to the next section For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive...

Page 265: ...r Regeneration process capacity improves Reduce the operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time Regenerative...

Page 266: ...e Nominal capacity The amount of regeneration absorption for 120 temperature rise Heatradiation condition Thermal switch output specifications R88A RR08050S 50 80 W 20 W Aluminum 350 x 350 Thickness 3...

Page 267: ...hermal switch Normally B2 and B3 are shorted If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor betwee...

Page 268: ...e objects that tend to catch fire nearby To prevent people from touching them install a cover that enables heat dissipation Regeneration absorption capacity 1 20 W 40 W 70 W 140 W Model R88A RR08050S...

Page 269: ...ring Settings 5 3 5 1 3 Related Functions 5 5 5 1 4 Parameter Block Diagram for Position Control Mode 5 6 5 2 Internally Set Speed Control 5 7 5 2 1 Outline of the Function 5 7 5 2 2 Parameters Requir...

Page 270: ...the Function AC Servo Drive OMNUC G5 series Pulse train Input Type AC Servomotor OMNUC G5 series Pulse train Input Type Controller Pulse train Output Type Pulse train CW CW CCW CCW 3 4 5 6 CWLD CWLD C...

Page 271: ...for the command pulse input P 7 4 Pn007 Command Pulse Mode Selection Set the count method for the command pulse input P 7 5 Pn009 Electronic Gear Ratio Numerator 1 Set the numerator of the electronic...

Page 272: ...90 phase difference 2 phase pulse Phase A and Phase B PULS SIGN 1 Forward direction pulse train Reverse direction pulse train PULS SIGN 3 Pulse train Sign PULS SIGN Symbol Maximum allowable input fre...

Page 273: ...pulse output resolution using the numbers of output pulses per rotation for phase A and phase B respectively P 7 8 Pn012 Encoder Output Direction Switching Selection Set the combination of the phase...

Page 274: ...in Pn111 Filter Pn100 Loop Gain Pn105 Loop Gain 2 Pulse train Electronic Gear Settings Damping Control Pn011 1 Rotation Pn012 Reverse Numerator Denominator Pn503 Denominator Encoder Pulse Output A B Z...

Page 275: ...20 000 to 20 000 r min Be sure to set the speeds within the allowable range of rotation speed of the motor P 7 27 Pn305 No 2 Internally Set Speed Pn306 No 3 Internally Set Speed Pn307 No 4 Internally...

Page 276: ...ters Pn312 Pn313 and Pn314 respectively Internally Set Speed Selection No VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF Disabled Pn304 1 ON OFF Disabled Pn305 2 OFF ON Disabled Pn306 3 ON ON Disabled Pn307 No...

Page 277: ...leration Time so that the speed changes gradually and avoid a sudden change The internal speed command controls the motor speed according to the internal speed command value set in the parameter The i...

Page 278: ...Soft Start Deceleration Time Pn313 Soft Start Acceleration Time ms Vc 1 000 x Pn312 x 1 ms Soft Start Deceleration Time ms Vc 1 000 x Pn313 x 1 ms Speed Command Acceleration Deceleration Setting Funct...

Page 279: ...Selection Set the zero speed designation selection P 7 29 Pn316 Position Lock Level Setting Set the threshold for transition to the position control servo lock mode P 7 30 Pn435 Speed Conformity Dete...

Page 280: ...leration Deceleration Pn300 Internal or external switching Pn301 Direction Spacified Speed Command Selection Pn112 Gain Pn113 Filter Torque Feed forward Pn623 Gain Pn624 Filter Disturbance Observer Pn...

Page 281: ...the Servomotor may change suddenly depending on the control mode setting 5 3 1 Outline of the Function 5 3 2 Parameters Requiring Settings Parameter No Name Description Reference Pn001 Control Mode S...

Page 282: ...input the pulse command Pulses input before INP turns ON will be ignored The shaded areas for the Positioning Completion Signal INP in the time chart show that the signal is turned ON as the motor ro...

Page 283: ...6 9 6 4 Electronic Gear Function 6 11 6 4 1 Outline of the Function 6 11 6 4 2 Parameters Requiring Settings 6 11 6 4 3 Operation Example 6 13 6 5 Encoder Dividing Function 6 15 6 5 1 Outline of the F...

Page 284: ...2 2 Parameters Requiring Settings 6 43 6 12 3 Operation 6 43 6 13 Friction Torque Compensation Function 6 44 6 13 1 Outline of the Function 6 44 6 13 2 Parameters Requiring Settings 6 44 6 13 3 Operat...

Page 285: ...external input DFSEL1 2 Switching via external input DFSEL1 DFSEL2 3 Switching based on the command direction P 7 22 Pn214 Damping Frequency 1 Set Damping Frequency 1 to suppress vibration at the end...

Page 286: ...ding to the operation Also set the Switching Mode using Damping Filter Selection Pn213 If the measurement device cannot be used use CX Drive tracing function and read the residual damping frequency Hz...

Page 287: ...ange 100 Pn214 Pn215 Pn214 x 2 or 2 000 Note When Damping Filter 1 is disabled in Damping Filter Selection Pn213 this parameter is also disabled 4 Set the Damping Filter Selection Pn213 Damping Filter...

Page 288: ...esonance component from the torque command The automatically set notch filter frequency is applied to the Notch 3 Pn207 to Pn209 and Notch 4 Pn210 to Pn212 settings Refer to 6 3 Notch Filters on page...

Page 289: ...changed to an extreme value In this case set Adaptive Filter Selection Pn200 to 0 to disable the parameter and then set Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 to 5 000 di...

Page 290: ...at a specific location you can set the resonance frequency using a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component If mechanical resonance occu...

Page 291: ...s set Setting range 0 to 99 P 7 20 Pn204 Notch 2 Frequency Setting Set the center frequency of notch filter 2 Details are the same as those of Notch 1 Frequency Setting P 7 20 Pn205 Notch 2 Width Sett...

Page 292: ...value should conform to the right column in the table below Notch Filter Width and Depth Width Depth Set value Bandwidth center frequency Set value I O ratio Damping factor dB 0 0 50 0 0 Cut off 1 0...

Page 293: ...e of the Function 6 4 2 Parameters Requiring Settings Parameter No Name Description Reference Pn008 Electronic Gear Integer Setting Set the number of command pulses corresponding to 1 motor rotation P...

Page 294: ...1 to 1 073 741 824 When Electronic Gear Integer Setting Pn008 and Electronic Gear Ratio Numerator 1 Pn009 are 0 the processing is performed based on the value set in Electronic Gear Ratio Denominator...

Page 295: ...nteger Setting Pn008 is not 0 When Electronic Gear Integer Setting Pn008 and Electronic Gear Ratio Numerator are 0 When Electronic Gear Integer Setting Pn008 is 0 and Electronic Gear Ratio Numerator i...

Page 296: ...576 If the electronic gear ration is 500 Pn008 500 and the command pulse value is 100 kpps 100 kpps x 1 048 576 500 209 715 200 209 7152 Mpps This exceeds 175 Mpps 1 If the electronic gear ration is 5...

Page 297: ...s 5 m pulse in a mechanical system that generates a movement of 10 mm per motor rotation set the encoder dividing ratio to 2 000 pulses rotation 6 5 1 Outline of the Function 6 5 2 Parameters Requirin...

Page 298: ...ut source Encoder When Encoder Dividing Denominator Pn503 is 0 The number of output pulses is calculated based on Encoder Dividing Numerator Pn011 as follows Number of output pulses per rotation Encod...

Page 299: ...sponding to each output type is as follows Encoder Output Direction Switching Selection Pn012 Encoder Output Direction Switching Selection Pn012 Output source Phase B logic When operating in forward d...

Page 300: ...ion 6 6 2 Parameters Requiring Settings Parameter No Name Description Reference Pn437 Brake Timing When Stopped Set the time after a servo OFF command is issued upon servo lock stop until the Brake In...

Page 301: ...d to the general purpose output CN1 Note The brake attraction time and release time vary depending on the Servomotor brake Please refer to 3 3 Servomotor Specifications on page 3 36 for details 6 6 4...

Page 302: ...ease request is received from the network 4 t1 is the time set in the Brake Timing During Operation Pn438 or the time until the motor speed drops to the setting speed or lower in Brake Release Speed S...

Page 303: ...nterlock Output BKIR signal is allocated to the general purpose output CN1 2 If the main circuit power supply turns OFF while the motor is operating a phase loss alarm or main circuit voltage low alar...

Page 304: ...the general purpose output CN1 Note After an alarm is reset the system enters the servo OFF state motor not energized To turn ON the servo after resetting the alarm send the servo ON command again ac...

Page 305: ...the responsiveness depending on whether the motor is stopping or operating you can perform optimal control by using gain switching The gain switching function is used when realtime autotuning does not...

Page 306: ...Set the condition for switching between Gain 1 and Gain 2 P 7 14 Pn116 Gain Switching Delay Time in Position Control Set the time to return from Gain 2 to Gain 1 Unit 0 1 ms P 7 15 Pn117 Gain Switchi...

Page 307: ...value set in Pn119 For information of each gain refer to Section 7 Parameter Details The details of the gain switch settings vary depending on the control mode to be used For details about the setting...

Page 308: ...uates and the switching time is not met switching is cancelled To switch when the amount of change reaches 4 in 2 ms 0 33 166 s set the value to approximately 6 Gain Switching Mode 5 or 9 Switching by...

Page 309: ...n031 6 Switching by Amount of Position Error Gain switching is performed based on the accumulated pulse in the error counter Gain Switching Mode 7 Switching by Position Command Input Gain switching is...

Page 310: ...nd Input and Speed Switching to Gain 2 occurs when the position command is input Switching to Gain 1 occurs if no position command is issued for the period of Gain Switching Delay Time in Speed Contro...

Page 311: ...set time expires Position Gain Switching Time The Position Gain Switching Time Pn119 can be set to reduce torque fluctuations and vibration caused by a sudden change in the position loop gain when the...

Page 312: ...itching condition Gain Switching Delay Time Pn116 Gain Switching Level Pn117 Gain Switching Hysteresis Pn118 Position Gain Switching Time Pn119 0 Always Gain 1 1 Always Gain 2 2 Switching using gain s...

Page 313: ...d motor output torque limit value P 7 51 Pn523 Torque Limit Switching Setting 1 Set the rate of change fluctuation when switching from No 1 Torque Limit to No 2 Torque Limit P 7 52 Pn524 Torque Limit...

Page 314: ...between No 1 Torque Limit and No 2 Torque Limit If the No 1 Torque Limit Pn013 or No 2 Torque Limit Pn522 value is changed from the front panel or CX Drive the rate of change setting is ignored and t...

Page 315: ...Allocation Method on page 6 34 when you change the allocation to use NO and NC in the Logic column above refer to the following states NO Disabled OFF when signal input is open with COM Enabled ON wh...

Page 316: ...hat can be Allocated Parameter No Name Description Reference Pn400 Input Signal Selection 1 Set the SI1 input function allocation This parameter must be set in hexadecimal notation The display on the...

Page 317: ...ust be set for all control modes Otherwise Interface Input Function Number Error 1 Alarm No 33 2 or Interface Input Function Number Error 2 Alarm No 33 3 will occur If Zero Speed Designation Selection...

Page 318: ...arm output signal allocation cannot be changed Use the following parameters when changing the output signal allocations For the setting method refer to Output Signal Allocation Method on page 6 37 6 9...

Page 319: ...recautions for Correct Use Precautions for Correct Use Do not use any values other than the settings listed You can allocate the same function to more than one output signal For output signals the log...

Page 320: ...s Requiring Settings Parameter No Name Description Reference Pn400 to Pn409 Input Signal Selection 1 to 10 Set the input signal allocations and logic These parameters are allocated by default as follo...

Page 321: ...ction Pn504 Description 0 Forward and Reverse Drive Prohibition Input function enabled The function operates as follows when a signal is input When Forward Drive Prohibition Input is shorted Normal st...

Page 322: ...the immediate stop torque and stop with servo locked set value 2 in the Stop Selection for Drive Prohibition Input Pn505 or limit the operation using the host controller instead of this function Becau...

Page 323: ...r can rotate normally without any failures The realtime autotuning function is disabled The instantaneous speed observer function is disabled Precautions for Correct Use Precautions for Correct Use If...

Page 324: ...des a balance between the effect of suppressing the influence of disturbance and the operating noise level 3 Set Disturbance Torque Compensation Gain Pn623 Change the value of Disturbance Torque Compe...

Page 325: ...he speed loop gain are treated as Gain 3 and the Gain 1 setting is applied to other gains If the Gain 2 switching condition is established in the Gain 3 region operation switches to Gain 2 If Gain 2 s...

Page 326: ...The servo is ON The Servomotor can rotate normally without any failures 6 13 1 Outline of the Function 6 13 2 Parameters Requiring Settings Parameter No Name Description Reference Pn607 Torque Command...

Page 327: ...ct Use Precautions for Correct Use You can use unbalanced load compensation and dynamic friction compensation together or separately Take note that the following use limit is applied upon control mode...

Page 328: ...4 3 Set Inertia Ratio 2 Pn613 4 Set the Inertia Ratio Switching Input JSEL signal Precautions for Correct Use Precautions for Correct Use Be sure to switch the inertia ratio with the Servomotor stoppe...

Page 329: ...lated by comparison with the speed feedback value 6 15 1 Outline of the Function 6 15 2 Parameters Requiring Settings Parameter No Name Description Reference Pn110 Speed Feed forward Amount The speed...

Page 330: ...ase based on the following formula according to the speed feed forward gain value The position error in the constant speed range becomes smaller as the speed feed forward gain increases Precautions fo...

Page 331: ...cceleration deceleration at a constant speed can be brought close to 0 it can be controlled to almost 0 throughout the entire operation range during a trapezoidal speed pattern under ideal conditions...

Page 332: ...ON The Servomotor can rotate normally without any failures The realtime autotuning function is disabled 6 16 1 Outline of the Function 6 16 2 Parameters Requiring Settings Parameter No Name Descriptio...

Page 333: ...n the torque monitor waveform increase significantly enough to cause a problem return the setting to 0 and make sure that the inertia ratio or the adjustment parameters are correct If the machine oper...

Page 334: ...6 Applied Functions 6 52 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual...

Page 335: ...plains the set value and setting details of each parameter 7 1 Basic Parameters 7 2 7 2 Gain Parameters 7 10 7 3 Vibration Suppression Parameters 7 20 7 4 Analog Control Parameters 7 26 7 5 Interface...

Page 336: ...Set value Description 0 Forward direction command sets the motor rotation direction to CW 1 Forward direction command sets the motor rotation direction to CCW Pn000 Pn006 Pn301 Command Servomotor rota...

Page 337: ...ing 0 Cycle the power supply Required Set value Description 0 Position control Pulse train command 1 Speed control Internally set speed control 2 Reserved Do not set 3 Mode 1 Position control Mode 2 S...

Page 338: ...etting unit for speed loop gain is smaller Explanation of Set Values Select whether to use photocoupler input or input for line driver only for command pulse input Explanation of Set Values Set the di...

Page 339: ...Command Pulse Rotation Direction Switching Selection Pn006 Command Pulse Mode Selection Pn007 Command pulse mode Motor forward command Motor reverse command 0 0 or 2 90 phase difference A B signal in...

Page 340: ...input Line driver t1 2 s Open collector t1 5 s 1 Reverse pulse Forward pulse Line driver t2 1 s Open collector t2 2 5 s 3 Feed pulse Forward or reverse signal Line driver t2 1 s Open collector t2 2 5...

Page 341: ...2 GESEL1 and GESEL2 settings Although Pn008 Pn009 and Pn010 can be set to any value within the setting range OMRON will not guarantee that the function operates as intended with any extreme electroni...

Page 342: ...500 Cycle the power supply Required Pn012 Encoder Output Direction Switching Selection Setting range 0 to 1 Unit Default setting 0 Cycle the power supply Required Set value Phase B logic Output sourc...

Page 343: ...n Resistor Selection Setting range 0 to 3 Unit Default setting 3 1 Cycle the power supply Required Set value Description 0 Regeneration Resistor used Built in Resistor The regeneration processing circ...

Page 344: ...y Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause mechanical resonance resulting in an overload alarm If the position...

Page 345: ...t of integration will be held However it will be lost when set to 10 000 Response for Speed Loop Integral Time Constant Set the time constant for the low pass filter LPF after speed detection in six l...

Page 346: ...in the Switching Mode parameters Pn115 and Pn120 If the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the Servomotor is rotating or stopped...

Page 347: ...ts Explanation of Set Values Select either PI P operation switching or Gain 1 Gain 2 switching The PI P operation switching is performed with the Gain Switching GSEL CN1 pin 27 However this setting is...

Page 348: ...set these parameters to 200 4 This represents the encoder resolution Pn115 Switching Mode in Position Control Setting range 0 to 10 Unit Default setting 0 Cycle the power supply Set value Description...

Page 349: ...Position Control Pn115 is set to 3 or 5 to 10 Pn116 Gain Switching Delay Time in Position Control Setting range 0 to 10 000 Unit 0 1 ms Default setting 50 Cycle the power supply H L H L H L H L Figure...

Page 350: ...op Gain 2 Pn105 differ significantly The position loop gain increases as the set time expires Position Gain Switching Time Position Gain Switching Time Pn119 can be set to mitigate the torque fluctuat...

Page 351: ...in if the torque variation during 1 ms is 10 set these parameters to 200 4 When the set value is 10 the meanings of Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in Speed Contr...

Page 352: ...Switching Mode in Speed Control Pn120 Pn121 Gain Switching Delay Time in Speed Control Setting range 0 to 10 000 Unit 0 1 ms Default setting 0 Cycle the power supply Pn122 Gain Switching Level in Spee...

Page 353: ...e drawing below The settings for Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Control Pn123 are enabled as absolute values forward reverse Do not set Do not set D...

Page 354: ...er supply Set value Description 0 Disabled The parameters related to notch filters 3 and 4 hold the current values 1 One filter enabled The parameters related to notch filter 3 are updated according t...

Page 355: ...he notch filter function is disabled Select the notch width of the fourth resonance suppression notch filter Increasing the setting value widens the notch width Normally use the default set value Set...

Page 356: ...e function is disabled if the setting is 0 to 0 9 Hz For the setting method refer also to 6 1 Damping Control on page 6 3 Pn213 Damping Filter Selection Setting range 0 to 3 Unit Default setting 0 Cyc...

Page 357: ...ing 100 For the setting method refer also to 6 1 Damping Control on page 6 3 Set Damping Frequency 4 to suppress vibration at the end of the load in damping control Measure the frequency of vibration...

Page 358: ...lowing cases The electronic gear ratio is set to a large value 10 or higher The command pulse frequency is low Pn222 Position Command Filter Time Constant Setting range 0 to 10 000 Unit 0 1 ms Default...

Page 359: ...for the FIR filter applied to the command pulses FIR Finite Impulse Response Setting a larger value improves the smoothness of the command pulse input Pn223 Smoothing Filter Time Constant Setting rang...

Page 360: ...nit be sure that the polarity of the speed command signal from the Position Control Unit matches the polarity set in this parameter Otherwise the Servomotor may operate abnormally Pn300 Command Speed...

Page 361: ...0 000 to 20 000 Unit r min Default setting 0 Cycle the power supply Pn306 No 3 Internally Set Speed Setting range 20 000 to 20 000 Unit r min Default setting 0 Cycle the power supply Pn307 No 4 Intern...

Page 362: ...his is useful for applications where impact may occur due to a large change in acceleration or deceleration when the Servomotor starts or stops with linear acceleration or deceleration Pn311 No 8 Inte...

Page 363: ...Use this parameter when Control Mode Selection Pn001 is set to 1 speed control It may not function properly when Control Mode Selection Pn001 is set to 3 position speed control Pn315 Zero Speed Design...

Page 364: ...l Mode Selection Pn001 is set to 3 position speed control The Servomotor falls in a servo lock state in the position control mode if the actual motor speed reaches the value set in this parameter or l...

Page 365: ...Setting range 0 Unit Default setting 0 Cycle the power supply Pn323 Reserved Setting range 0 Unit Default setting 0 Cycle the power supply Pn324 Reserved Setting range 0 Unit Default setting 0 Cycle t...

Page 366: ...n 5 Setting range 0 to 00FFFFFF hex Unit Default setting 4 108 Cycle the power supply Required Pn405 Input Signal Selection 6 Setting range 0 to 00FFFFFF hex Unit Default setting 197 379 Cycle the pow...

Page 367: ...1 Selection Setting range 0 to 21 Unit Default setting 0 Cycle the power supply Set value Description Monitor type Unit Output gain when Pn417 0 0 Motor speed r min 500 1 Position command speed 2 r mi...

Page 368: ...om the command pulse input when expressed in command units respectively Set the output gain of the analog monitor 1 Select the type of analog monitor 2 The set values for this parameter are the same a...

Page 369: ...e 0 to 214 748 364 Unit Pn418 monitor unit V Default setting 0 Cycle the power supply Pn421 Analog Monitor Output Setting Setting range 0 to 2 Unit Default setting 0 Cycle the power supply Set value O...

Page 370: ...Pn425 Reserved Setting range 0 Unit Default setting 0 Cycle the power supply Pn426 Reserved Setting range 0 Unit Default setting 0 Cycle the power supply Pn427 Reserved Setting range 0 Unit Default s...

Page 371: ...n433 is set to 0 and the ON status will be held until the next position command is input Pn431 Positioning Completion Range 1 Setting range 0 to 262 144 Unit Command units Default setting 10 Cycle the...

Page 372: ...signal will output if the speed command value matches the motor speed This setting has a hysteresis of 10 r min for detection Pn434 Zero Speed Detection Setting range 10 to 20 000 Unit r min Default s...

Page 373: ...urns OFF and the Servomotor is de energized after waiting for the set time set value x ms Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay time in t...

Page 374: ...rake Interlock Output BKIR turns ON after the set time set value x 1 ms elapsed TB in the above figure is the setting time in Brake Timing During Operation Pn438 set value 1 ms or the time until the m...

Page 375: ...ower supply Set value Description 0 OR output for all types of warnings 1 Overload warning 2 Excessive regeneration warning 3 Battery warning 4 Fan warning 5 Encoder communications warning 6 Encoder o...

Page 376: ...pulse output per rotation calculated using the above formula is a multiple of 4 In other cases however the phase Z signal will not be synchronized with the phase A signal because it is output at the e...

Page 377: ...tion Input signals are open a Drive Prohibition Input Error Alarm No 38 will occur When set to 2 a Drive Prohibition Input Error Alarm No 38 will occur when the connection between either Forward or Re...

Page 378: ...mand is supplied continuously or if the Servomotor rotates continuously with the servo OFF a Error Counter Overflow Alarm No 24 0 may occur due to the accumulation of position errors In addition if th...

Page 379: ...n using the Servo Drive with this parameter set to hold the position error counter content 3 During deceleration means the period until the motor decreases its speed to 30 r min or less from the norma...

Page 380: ...e period from the motor is running until the motor speed reaches 30 r min or lower Once the motor reaches 30 r min or lower and changes to the after stopping status following operation is based on the...

Page 381: ...detected simultaneously because even though Alarm No 26 0 is indicated Alarm No 26 1 is also generated internally Set the torque limit for the following cases During deceleration with Stop Selection...

Page 382: ...tection margin of error for the set value is 36 r min for a 5 core incremental encoder Set the allowable operating range for the position command input range If the set value is exceeded an Overrun Li...

Page 383: ...rm Reset Condition Setting Setting range 0 to 1 Unit Default setting 0 Cycle the power supply Required Set value Description 0 120 ms 1 Follow the setting of Control Input Signal Read Setting Pn515 Pn...

Page 384: ...e signal read cycle However the responsiveness to signal input will be degraded Explanation of Set Values Select the setting unit of Positioning Completion Range 1 and 2 Pn431 and Pn442 and Error Coun...

Page 385: ...the setting as a percentage of the rated torque Example When the maximum torque is limited to 150 Pn521 Torque Limit Selection Setting range 0 to 6 Unit Default setting 1 Cycle the power supply Torqu...

Page 386: ...not set Pn523 Torque Limit Switching Setting 1 Setting range 0 to 4 000 Unit ms 100 Default setting 0 Cycle the power supply Pn524 Torque Limit Switching Setting 2 Setting range 0 to 4 000 Unit ms 100...

Page 387: ...oder pulses 6 Total command pulses 8 Reserved Do not set 9 Control mode 10 I O signal status 11 Reserved Do not set 12 Alarm factor history 13 Warning number 14 Regeneration resistance load ratio 15 O...

Page 388: ...s depending on the mode as shown in the table below Pn531 Reserved Setting range 1 Unit Default setting 1 Cycle the power supply Pn532 Command Pulse Input Maximum Setting Setting range 250 to 4 000 Un...

Page 389: ...in the reverse direction The unit is a percentage of the rated torque Pn600 Reserved Setting range 0 Unit Default setting 0 Cycle the power supply Pn602 Excessive Speed Error Setting Setting range 0...

Page 390: ...o electric current response The default setting is 100 Set the second load inertia as a percentage of the motor rotor inertia Pn610 Function Expansion Setting Setting range 0 to 63 Unit Default settin...

Page 391: ...rlock on page 6 18 Set the overspeed detection level in the event of an immediate stop alarm The overspeed detection level is 1 2 times the maximum rotation speed of the Servomotor if this parameter i...

Page 392: ...upply Required Set value Description 0 Writing to the EEPROM is not performed simultaneously with parameter changes 1 Writing to the EEPROM is performed simultaneously with parameter changes Pn618 Pow...

Page 393: ...me Autotuning Estimated Speed Selection Setting range 0 to 3 Unit Default setting 1 Cycle the power supply Set value Description 0 Fix the estimated result when load estimation is stabilized 1 Estimat...

Page 394: ...iction compensation small Rigidity setting Enabled Fixed parameter setting Set to fixed values and Gain switch setting Enabled 20 x 1 22 x 1 24 x 3 27 x 1 28 x 1 29 x 2 1461 4 to 6 Torque compensation...

Page 395: ...he setting method refer to 10 2 Warning List on page 10 5 Precautions for Correct Use Precautions for Correct Use Pn700 to Pn799 and Pn800 to Pn899 are not used Do not change the settings Pn633 Reserv...

Page 396: ...7 Parameter Details 7 62 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual...

Page 397: ...heck Before Turning ON the Power Supply 8 3 8 2 2 Turning ON the Power Supply 8 4 8 2 3 Checking the Display 8 4 8 3 Using the Front Panel Display 8 5 8 4 Mode Setting 8 6 8 4 1 Changing the Mode 8 6...

Page 398: ...ified installation and wiring conditions must be satisfied particularly for models conforming to the EC Directives Section 4 4 2 Preparing for operation Check the necessary items and then turn ON the...

Page 399: ...0 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz The main circuit power supply inputs L1 L3 or L1 L2 L3 must be properly connected to the terminal block The con...

Page 400: ...he Alarm Output ALM turns ON after the power supply is turned ON Configure the host controller so that it does not detect any alarm during this period if the power supply is powered ON with the host c...

Page 401: ...it When an alarm occurs all LED flashes and then alarm screen is displayed Shift key Shift the operating digits to the left Mode key Switch between 4 modes Monitor Mode Parameter Setting Mode Auxiliar...

Page 402: ...rs and Servo Drives User s Manual 8 4 Mode Setting 1 The display is based on Default Display Pn528 setting after the power supply is turned ON 8 4 1 Changing the Mode Default display on the front pane...

Page 403: ...the opposite direction Position Command Error Motor Rotation Speed Position Command Speed Speed Control Command Torque Command Total Encoder Pulses Total Command Pulses Reserved Control Mode I O Sign...

Page 404: ...min This indicates the speed control command unit r min This indicates the torque command value of the Servo Drive 100 is displayed when the output from the Servo Drive is at rated torque The minus si...

Page 405: ...er s Manual 8 4 Mode Setting 8 8 4 2 Monitor Mode Do not set Total Encoder Pulses Total Command Pulses Reserved Lower L Higher H Total Encoder Pulses Encoder Pulse Press to switch Lower L and Higher H...

Page 406: ...ot set any value Reserved Do not set any value Input signal Pin No 8 ON Output signal Pin No 10 OFF or Disabled Pin No Input Output OFF or Disabled ON It is possible to change the signal number if the...

Page 407: ...ry of up to 14 most recent alarms including the current alarm The display will flash if an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for...

Page 408: ...m code Description Alarm code Description 11 Control Power Supply Undervoltage 26 Overspeed 12 Overvoltage 27 Electronic Gear Setting Error 13 Main Power Supply Undervoltage 34 Overrun Limit Error 14...

Page 409: ...sistance load ratio as a percentage when the detection level for the regeneration overload is 100 This indicates the overload ratio as a percentage when the rated load is 100 Warning Number Regenerati...

Page 410: ...lue set in No 1 Torque Limit Pn013 or No 2 Torque Limit Pn522 whichever is enabled is set to 5 or less of the rated torque 6 IPG input enabled P IPG is open with Command Pulse Prohibition Input Settin...

Page 411: ...Encoder Communications Errors Input signal Output signal Number of I O signal changes Pin No It is possible to change the pin number if the decimal point is located on the right of the pin number It i...

Page 412: ...ot set Do not set Do not set This indicates the software version of the Servo Drive Display example Ver 1 23 Reserved Encoder Position Error Reserved Reserved P N Voltage Software Version Encoder posi...

Page 413: ...Number Motor Serial Number Amplifier Serial Number Lower L Amplifier Serial Number Higher H Amplifier Serial Number Press to switch Lower L and Higher H Display example For serial number 09040001 Moto...

Page 414: ...encoder is used Do not set Accumulative Operation Time Automatic Motor Recognition Function Drive Temperature and Encoder Temperature Reserved Accumulative Operation Time h is displayed Lower L Highe...

Page 415: ...e parameter setting mode display Key operation Display example Description Use and keys to select the desired parameter number Use to move to the left and change the digit to set Use to increase the v...

Page 416: ...ON after saving the parameters to the EEPROM If the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed When the set value...

Page 417: ...n case that this happens set all the parameters again and retry writing the data 8 4 4 Parameter Write Mode Key operation Display example Description Press key to switch to the parameter write mode di...

Page 418: ...liary Function Mode Key operation Display example Description The display is based on Default Display Pn528 setting Press key to change to the monitor mode display Press key three times to change to t...

Page 419: ...isplay Press and hold key for 5 seconds or more until appears The number of dashes on the display increases The jog operation is ready If is displayed the servo is not ready Press and hold key for 5 s...

Page 420: ...ased on external commands Do not set Use the following procedure to initialize the selected parameter 1 Initialize the parameter 2 Return to the auxiliary function mode display Precautions for Correct...

Page 421: ...isplay Key operation Display example Description Use the and keys to select Pn535 Use to move to the left and change the digit to set Use to increase the value of the digit with Use to decrease the va...

Page 422: ...7 6 Extended Parameters on page 7 42 Key operation Display example Description Press key to switch to the parameter write mode display Press key to switch to the parameter write mode display Press an...

Page 423: ...scription From the auxiliary function mode alarm reset display press key to switch to the front panel lock mode display Press key to switch to the front panel lock mode display Press and hold key for...

Page 424: ...Then check for safety and retry trial operation Check the following items Wiring Make sure that there are no wiring errors especially for the power supply input and motor output Make sure that there...

Page 425: ...that matches the output pattern of the host system 5 Write the parameter data to the EEPROM and turn OFF and then ON the power supply 6 Apply 12 to 24 VDC between the operation command input RUN CN1...

Page 426: ...8 Operation 8 30 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual...

Page 427: ...s to note regarding various gain adjustments 9 1 Gain Adjustment 9 2 9 1 1 Purpose of the Gain Adjustment 9 2 9 1 2 Gain Adjustment Methods 9 2 9 1 3 Gain Adjustment Procedure 9 3 9 2 Realtime Autotun...

Page 428: ...ent 9 1 2 Gain Adjustment Methods Function Description Reference page Automatic adjustment Realtime autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatical...

Page 429: ...llowable axial load for the motor or decelerator output Use gears with small backlash The specific vibration resonance frequencies of mechanical systems has a large impact on the gain adjustment of th...

Page 430: ...set By estimating the load inertia from the operation pattern the operation coefficient for the speed loop gain and the integral time constant are altered Doing this for each pattern can cause vibrat...

Page 431: ...ine rigidity number and check the response If vibration occurs enable the adaptive filter and operate the machine If already enabled lower the machine rigidity number The adaptive filter can be left e...

Page 432: ...on to the EEPROM Lower the value set in Realtime Autotuning Machine Rigidity Setting Pn003 Manually set the notch filter Once unusual noise or vibration occurs Inertia Ratio 1 Pn004 Torque Command Val...

Page 433: ...orque Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 Gain Switching Input Operating Mode Selection 1 1 1 1 1 1 1 1 Pn115 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switch...

Page 434: ...0 0 0 Pn114 Gain Switching Input Operating Mode Selection 1 1 1 1 1 1 1 1 Pn115 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switching Disable Mode 0 Pn116 Gain Switching Dela...

Page 435: ...Torque Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 Gain Switching Input Operating Mode Selection 1 1 1 1 1 1 1 1 Pn115 Switching Mode in Position Control Gain Switching Enable Mode 10 Gain Switc...

Page 436: ...Amount 0 0 0 0 0 0 0 0 Pn113 Torque Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 Gain Switching Input Operating Mode Selection 1 1 1 1 1 1 1 1 Pn115 Switching Mode in Position Control Gain Switch...

Page 437: ...t can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actua...

Page 438: ...unting does not occur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunting does not occur upon servo lock Does hunting or vibration occur when the motor rotates...

Page 439: ...djustment Disable realtime autotuning Pn002 0 Set each parameter according to the parameter settings for different applications Operate based on the normal operation pattern and load Adjustment comple...

Page 440: ...n106 Pn102 Speed Loop Integral Time Constant 21 0 ms Pn107 Pn104 Torque Command Filter Time Constant 0 84 ms Pn109 Adjustment of Each Parameter Application name Inertia Rigidity Position Loop Gain 1 s...

Page 441: ...overshooting never occurs For quicker positioning increase the position loop gain value Note that setting a excessively large results in overshooting or vibration If this occurs decrease the set value...

Page 442: ...y to occur Adjustment must be made so that vibration does not occur This parameter is related to Speed Loop Integral Time Constant Pn102 so it is possible to increase the speed loop gain by increasing...

Page 443: ...s the current command from the speed loop This ensures a smooth current flow and reduced vibration Torque Command Filter Time Constant is set to 84 0 84 ms by default Increase the value to decrease vi...

Page 444: ...loop is saturated due to reasons such as a short acceleration time and a large load torque If overshooting occurs increase the acceleration time to prevent saturation of the torque loop Command operat...

Page 445: ...nce 10 1 Actions for Problems 10 2 10 1 1 Preliminary Checks When a Problem Occurs 10 2 10 1 2 Precautions When a Problem Occurs 10 3 10 1 3 Replacing the Servomotor or Servo Drive 10 4 10 2 Warning L...

Page 446: ...2 to 5 kW Single phase 200 to 230 VAC 170 to 253 VAC 50 60 Hz If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range Check the...

Page 447: ...o conduction via bypassing circuit If the encoder signal is lost the motor may run away or an alarm may occur Be sure to disconnect the motor from mechanical systems before checking the encoder signal...

Page 448: ...position phase Z may deviate so origin adjustment must be performed Refer to the position controller s manual for details on performing origin adjustment 1 Take a record of all parameter settings Use...

Page 449: ...ut 2 WARN2 in Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 If you set these parameters to 0 all warning types will be output Do not set other values not listed above 3 Each wa...

Page 450: ...Reset the alarm using one of the following methods Be sure to remove the cause of the alarm first Input the Alarm Reset Input RESET signal Turn OFF the power supply then turn it ON again Reset the al...

Page 451: ...onds 18 0 Regeneration Overload The regenerative energy exceeds the processing capacity of the Regeneration Resistor 1 Regeneration Tr Error An error was detected in a Servo Drive regeneration drive T...

Page 452: ...Pn514 with respect to the position command input 36 0 2 Parameter Error Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the EEPROM 37 0 2 Param...

Page 453: ...on for Alarm Detection on page 7 46 87 0 Emergency Stop Input Error An emergency stop input signal STOP was input 95 0 4 Motor Non conformity The combination of the Servomotor and Servo Drive is not a...

Page 454: ...power supply voltage exceeded the allowable input voltage range causing the voltage across the positive and negative terminals in the converter to exceed the specified value The power supply voltage i...

Page 455: ...ly capacity Connect each phase L1 L2 and L3 of the power supply correctly Use L1 and L3 for single phase 100 V and single phase 200 V Replace the Servo Drive 1 Main Power Supply Undervoltage AC cutoff...

Page 456: ...load warning display and the load ratio through communications Increase the capacities of the Servo Drive and the Servomotor Set longer acceleration and deceleration times Reduce the load Readjust the...

Page 457: ...r cable correctly 24 0 Error Counter Overflow Position error pulses exceeded the value set in Error Counter Overflow Level Pn014 Motor operation does not follow the command The value set in Error Coun...

Page 458: ...ce to the encoder pulses exceeded 229 536 870 912 Check to see if the Servomotor rotates according to the position command Check with the torque monitor to see if the output torque is saturated Adjust...

Page 459: ...ence input turns ON too slowly 43 0 Encoder Initialization Error An error was detected during encoder initialization Replace the Servomotor 44 0 Encoder 1 rotation Counter Error An encoder 1 rotation...

Page 460: ...n Resistor Selection Pn016 value to 2 Otherwise the Regeneration Resistor will not be protected generate excessive heat and be burned out 3 When the Internal Position Command Speed is force set to 0 d...

Page 461: ...d pulse type of the controller and that of the Servo Drive Set the command pulse type of the Servo Drive so that it matches the command pulse type of the controller The Zero Speed Designation Input VZ...

Page 462: ...he load s moment of inertia exceeds the Servo Drive s allowable value Try to operate the Servomotor with no load by disconnecting the motor from mechanical systems Reduce the load Replace the Servomot...

Page 463: ...ontrol I O signal cable that meets the specifications The control I O signal cable is affected by noise because it is longer than the specified length Check the length of the control I O signal cable...

Page 464: ...coupling between mechanical systems and the Servomotor Check to see if positional deviation occurs in the coupling between mechanical systems and the Servomotor Correct the coupling between mechanica...

Page 465: ...he lifetimes for the different motor parts are listed below Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values assume a motor operating ambient tempe...

Page 466: ...ommend that the ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the Servo Drive The limit of aluminum electrolytic capacitors is greatly...

Page 467: ...Input Type AC Servomotors and Servo Drives User s Manual The appendices provide connection examples with OMRON s PLC and Position Controller as well as lists of parameters A 1 Connection Examples A 2...

Page 468: ...CW L1C L2C L1 L2 L3 CNB B1 B3 B2 U V W CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG A7 A8 A5 A6 A9 A14 A12 A11 A20 A15 A17 A19 A18 A16 X1 24 VDC X1 24 VDC A4 A3 5 VDC 30 23 24 39 7 29 31 BKIRCOM 10...

Page 469: ...A2 6 3 4 30 23 24 39 7 29 31 38 36 5 L1C L2C L1 L2 L3 B1 B3 B2 U V W INP RUN RESET INPCOM ALMCOM FG A8 A7 A6 A5 A9 A14 A12 A11 A20 A15 A17 A19 A18 A16 24 VDC ECRST CJ1W NC113 213 413 R88D KP X1 24 VD...

Page 470: ...3 4 30 23 24 39 7 29 31 38 36 5 L1C L2C L1 L2 L3 B1 B3 B2 U V W ECRST INP RUN RESET INPCOM ALMCOM FG A7 A8 A5 A6 A10 A16 A14 A12 A24 A19 A21 A23 A22 A20 24 VDC 24 VDC X1 Description A4 A3 5 VDC X1 24...

Page 471: ...C200HW NC113 213 413 R88D KP No CN1 CNA CNB A1 A2 6 3 4 30 23 24 39 7 29 31 38 36 5 L1C L2C L1 L2 L3 B1 B3 B2 U V W ECRST INP RUN RESET INPCOM ALMCOM FG A8 A7 A6 A5 A16 A14 A12 A24 A19 A21 A23 A22 A2...

Page 472: ...11 3 L1 L2 U V W SGGND INP RUN ALM FG Z X1 XB 24 VDC R T NFB ON OFF X1 MC1 X1 24 VDC BKIR 25 19 MC1 X1 L3 M R88M KE CN2 E 24 VDC B XB CNB B1 B3 B2 BKIRCOM 10 ALMCOM 36 PL SUP MC2 MC1 MC2 MC1MC2 MC2 E...

Page 473: ...V W RUN 36 ALMCOM ALM FG X1 XB 24 VDC R T NFB ON OFF X1 MC1 X1 24 VDC BKIR SGGND 25 SGGND 17 MC1 X1 L3 M CN2 E 24 VDC B XB PL BKIRCOM 10 MC2 SUP MC2 MC1 MC2 MC1MC2 Reactor CP1H X40DT D R88 KP Output...

Page 474: ...ection with SYSMAC CJ2M CPU3 CPU1 S No CN1 CNA 37 39 30 19 7 29 37 11 L1 L2 U V W RUN ALM FG Z 35 1 5 13 2 6 X1 XB R T NFB ON OFF X1 X1 MC1 X1 24 VDC BKIR 31 32 17 24 VDC 39 INP L3 M CN2 E 24 VDC B XB...

Page 475: ...able Counter Unit CS1W HCP22 V1 CS1W HCP22 V1 R88D KP Description No CN1 Special I O Connector I O Connector CNA CNB 24 VDC Power Supply for Output Error Counter Clear 1 A19 Common CCW 1 6k CW 1 6k Z...

Page 476: ...YSMAC Customizable Counter Unit CS1W HCA12 22 V1 CS1W HCA12 22 V1 R88D KP Description No CN1 Special I O Connector I O Connector CNA A Phase LD CCW Limit Input Signal 1 B1 A1 A3 B Phase LD A Phase LD...

Page 477: ...commands 1 Reverse CCW when viewed from shaft end for positive commands 001 Control Mode Selection Select the control mode of the Servo Drive 0 0 to 3 Required 0 Position control Pulse train command...

Page 478: ...ion is set in the numerator 0 0 to 230 010 Electronic Gear Ratio Denominator 10 000 1 to 230 011 Encoder Dividing Numerator Set the number of output pulses per motor rotation for phases A and B 2 500...

Page 479: ...ernal Resistor The regeneration processing circuit operates and Regeneration Overload Protection Alarm No 18 is enabled when the operating rate of the Regeneration Resistor is over 10 2 Uses the Exter...

Page 480: ...peed Loop Gain 2 Set the second speed loop gain 270 6 0 1 Hz 1 to 32 767 107 Speed Loop Integral Time Constant 2 Set the second speed loop integral time constant 10 000 0 1 ms 1 to 10 000 108 Speed Fe...

Page 481: ...tching level 50 0 to 20 000 118 Gain Switching Hysteresis in Position Control Set the hysteresis in gain switching 33 0 to 20 000 119 Position Gain Switching Time Set the position gain switching time...

Page 482: ...ith 200 V and 1 kW or more 4 The default setting is 126 for a Servo Drive with 200 V and 1 kW or more 5 The default setting is 380 for a Servo Drive with 200 V and 1 kW or more 6 The default setting i...

Page 483: ...cond resonance suppression notch filter 2 0 to 20 206 Notch 2 Depth Setting Set the notch depth of the second resonance suppression notch filter 0 0 to 99 207 Notch 3 Frequency Setting Set the notch f...

Page 484: ...frequency The minimum allowable setting is 10 1 Hz 0 0 1 Hz 0 to 2 000 217 Damping Filter 2 Setting Make fine adjustment to the second damping control function Set a smaller value if torque saturatio...

Page 485: ...n 20 000 to 20 000 305 No 2 Internally Set Speed Set the second internal speed command value 0 r min 306 No 3 Internally Set Speed Set the third internal speed command value 0 r min 307 No 4 Internall...

Page 486: ...served Do not set 10 000 10 000 326 Reserved Do not set 0 0 327 Reserved Do not set 0 0 328 Reserved Do not set 16 000 16 000 329 Reserved Do not set 0 0 Interface Monitor Setting Parameters Pn No Nam...

Page 487: ...00FFFFFF hex Required 412 Not used Do not change the set value 413 Output Signal Selection 4 Set the function assignment of output signal 4 328 964 0 to 00FFFFFF hex Required 416 Analog Monitor 1 Sel...

Page 488: ...1 Positioning Completion Range 1 Set the positioning completion range as the number of allowable pulses 10 Command unit 0 to 262 144 432 Positioning Completion Condition Selection Select the judgment...

Page 489: ...sed until the mechanical brake is activated when the Servomotor is operating 0 1 ms 0 to 10 000 439 Brake Release Speed Setting Set the threshold speed for judging whether to output the mechanical bra...

Page 490: ...ohibition Input Selection Set the operation to be performed upon forward reverse drive prohibition input 1 0 to 2 Required 0 Forward or reverse drive prohibition input enabled 1 Forward or reverse dri...

Page 491: ...or counter Hold 6 During deceleration Dynamic brake After stopping Servo free Error counter Hold 7 During deceleration Free run After stopping Servo free Error counter Hold 8 During deceleration Emerg...

Page 492: ...diate stop During deceleration Dynamic brake After stopping Servo free 7 During deceleration by immediate stop alarm Immediate stop During deceleration Free run After stopping Servo free 511 Immediate...

Page 493: ...ommand Pulse Prohibition Input Read Setting Select the signal read cycle for the Command Pulse Prohibition Input 0 0 to 4 Required 0 0 166 ms 1 0 333 ms 2 1 ms 3 1 666 ms 4 0 166 ms 520 Position Setti...

Page 494: ...type of data to be displayed by default on the 7 segment display when the control power supply is powered on 1 0 to 35 Required 0 Position command error Command unit 1 Motor speed r min 2 Position com...

Page 495: ...not set 1 1 532 Command Pulse Input Maximum Setting Set the maximum command pulse input value 4 000 kpps 250 to 4 000 Required 533 Pulse Regeneration Output Limit Setting Set whether to enable or disa...

Page 496: ...xtension value The set value varies depending on the function 0 0 to 63 611 Electric Current Response Setting Make fine adjustment to electric current response The default setting is 100 100 50 to 100...

Page 497: ...the realtime autotuning is enabled 1 0 to 3 0 Fixes the estimated result when load estimation is stabilized 1 Estimates every minute from the load characteristic changes 2 Estimates every second from...

Page 498: ...Appendices A 32 OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual...

Page 499: ...Index 1 I OMNUC G5 series Pulse train Input Type AC Servomotors and Servo Drives User s Manual Index...

Page 500: ...ection Pn006 7 4 Command Speed Selection Pn300 7 26 Connection Examples A 2 Connector specifications 3 62 Connector Terminal Block 2 20 Connector Terminal Block Cables 2 20 3 91 Connector Terminal Blo...

Page 501: ...ing Pn606 7 55 Gain Adjustment 9 2 Gain Switching GSEL 3 22 Gain Switching Delay Time in Position Control Pn116 7 15 Gain Switching Delay Time in Speed Control Pn121 7 18 Gain Switching Function 6 23...

Page 502: ...3 14 Position Command Filter Time Constant Pn222 7 24 Position Command Pulse 3 15 Position Command Status Output P CMD 3 31 Position Control 5 2 Position Control Mode Adjustment 9 12 Position Control...

Page 503: ...ount Pn110 7 13 Speed Feed forward Command Filter Pn111 7 13 Speed Loop Gain Pn101 7 11 Speed Loop Gain 2 Pn106 7 12 Speed Loop Integral Time Constant Pn102 7 11 Speed Loop Integral Time Constant 2 Pn...

Page 504: ......

Page 505: ......

Page 506: ...S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Tokyo J...

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