Omron OMNUC 88D-UP20HA User Manual Download Page 14 | Manualshive

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Table of Contents

Chapter 1. Introduction

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1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration

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1-3 Servo Driver Nomenclature

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1-4 Applicable Standards and Models

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1-4-1 UL/cUL Standards

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1-4-2 EC Directives

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Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . .

2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-1 External Dimensions (Unit: mm)

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2-1-2 Installation Conditions

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2-2 Wiring Products Conforming to UL/cUL

and Wiring Products Not Conforming to Any Standards

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2-2-1 Connecting OMRON Servo Controllers

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2-2-2 Connector-Terminal Conversion Unit

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2-2-3 Wiring Servo Drivers

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2-2-4 Wiring for Noise Resistance

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2-2-5 Peripheral Device Connection Examples

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2-3 Wiring Products Conforming to EC Directives

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2-3-1 Connecting Servo Controllers

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2-3-2 Wiring Servo Drivers

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2-3-3 Wiring Products Conforming to EMC Directives

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2-3-4 Peripheral Device Connection Examples

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Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Operational Procedure

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3-2 Turning On Power and Checking Displays

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3-2-1 Items to Check Before Turning On Power

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3-2-2 Turning On Power and Confirming the Display

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3-3 Using Parameter Units

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3-3-1 Parameter Unit Keys and Functions

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3-3-2 Modes and Changing Modes

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3-3-3 Mode Changes and Display Contents

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3-4 Initial Settings: Setup Parameters

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3-4-1 Setting and Checking Setup Parameters (Cn-01, 02)

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3-4-2 Setup Parameter Contents

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3-4-3 Important Setup Parameters (Cn-01 and Cn-02)

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3-5 Setting Functions: User Parameters

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3-5-1 Setting and Checking User Parameters (Cn-04 to 29)

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3-5-2 User Parameter Chart

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3-5-3 Internal Speed Control Settings

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3-5-4 Electronic Gear Function: Position Control

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3-5-5 Encoder Dividing Function

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3-5-6 Bias Function: Position Control

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3-5-7 Torque Limit Function

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3-5-8 Brake Interlock (For Motors with Brakes)

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3-6 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-1 Preparations for Trial Operation

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3-6-2 Jog Operations

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Summary of Contents for OMNUC 88D-UP20HA

Page 1: ...ing S HA LA V W AC Servo Drivers R88D UPjjHA R88D UPjjLA R88D UPjjV and R88D UPjjW S H L AC Servo Drivers R88D UPjjH and R88D UPjjL NOTICE Before using the product under the following conditions consu...

Page 2: ...USER S MANUAL MODELS R88M Uj AC Servomotors MODELS R88D UPj AC Servo Drivers AC SERVOMOTORS DRIVERS 30 to 750 W Pulse train Inputs OMNUC USERIES...

Page 3: ...SER ALONE HAS DETERMINED THAT 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...

Page 4: ...ly that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nucle...

Page 5: ...o confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORM...

Page 6: ...ays and on some OMRON products of ten means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything...

Page 7: ...ult in electric shock or injury WARNING Wiring or inspection must be performed at least 5 minutes after turning off the power supply Doing so may result in electric shock WARNING Do not damage press o...

Page 8: ...ny foreign objects from entering the product Doing so may result in fire Caution Be sure to install the product in the correct direction Not doing so may result in mal function Caution Provide the spe...

Page 9: ...ity or other forms of noise S Locations subject to strong electromagnetic fields and magnetic fields S Locations subject to possible exposure to radioactivity S Locations close to power supplies Opera...

Page 10: ...esume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation Warning Labels Warning labels are pasted on t...

Page 11: ...Warning Labels for Models Conforming to EC Directives Warning label 1 Warning label 2...

Page 12: ...tware servo technol ogy It provides high perfor mance a sensitive man ma chine interface and economy SYSMAC CS1 C CV Programmable Controller Pulse input Controller Connecting Cable Chapter 5 5 3 1 Set...

Page 13: ...ervo Driver I O Operations Chapter 5 5 1 3 Cable Specifications Chapter 5 5 3 2 5 3 3 Power signals Encoder signals Motor Specifications Chapter 5 5 2 OMNUC U series AC Servomotor Operation Method Cha...

Page 14: ...Peripheral Device Connection Examples Chapter 3 Operation 3 1 Operational Procedure 3 2 Turning On Power and Checking Displays 3 2 1 Items to Check Before Turning On Power 3 2 2 Turning On Power and C...

Page 15: ...4 3 2 Alarm Output 4 3 3 Overload Characteristics Electron Thermal Characteristics 4 3 4 Alarm History Display Mode 4 4 Troubleshooting 4 5 Periodic Maintenance Chapter 5 Specifications 5 1 Servo Dri...

Page 16: ...Chapter 1 Introduction 1 1 Features 1 2 System Configuration 1 3 Servo Driver Nomenclature 1 4 Applicable Standards and Models 1...

Page 17: ...cUL Standards have the same product names as conventional U series HA LA models As shown in the following table they are distinguished by the manufacturing date Model Manufacturing date Type Remarks...

Page 18: ...ional speed can be set in the parameters H Electronic Gear Function Position Control The number of pulses used to rotate the motor is calculated by multiplying the number of command pulses by the elec...

Page 19: ...n and emergency stop torque deceleration parameter setting H Feed forward and Bias Functions Position Control These functions reduce the position control time S Feed forward Function Reduces the posit...

Page 20: ...r Units OMNUC U series AC Servo Driver OMNUC U series AC Servomotor SYSMAC CS1 C CV Programmable Controller C200HW NC113 C200HW NC213 C200HW NC413 C200H NC112 C200H NC211 C500 NC113 C500 NC211 Positio...

Page 21: ...ver Nomenclature H Front View Terminal block CN4 Connector for monitor output Power supply indicator Alarm indicator CN3 Parameter Unit connector CN1 Control I O connector CN2 Encoder connector Introd...

Page 22: ...t shaft without keys and without brake B Straight shaft without keys and with brake S1 Straight shaft with keys and without brake BS1 Straight shaft with keys and with brake Note 4 UL cUL Standards ap...

Page 23: ...mental encoder 200 VAC R88D UPjjV R88M Ujjj30VA j See note 100 VAC R88D UPjjW R88M Ujjj30WA j See note Note Optional specifications shaft profile straight shaft with keys S1 Straight shaft with keys a...

Page 24: ...Chapter 2 System Design and Installation 2 1 Installation 2 2 Wiring Products Conforming to UL cUL and Wiring Products Not Conforming to Any Standards 2 3 Wiring Products Conforming to EC Directives 2...

Page 25: ...ion Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning Caution Take appropriate measures to ensure that the specified power wi...

Page 26: ...UP03H A UP04H A UP08H A 200 VAC 30 to 200 W R88D UP03L A UP04L A UP10L A 100 VAC 30 to 100 W 160 149 R3 Three M4 55 130 5 4 5 45 5 45 6 5 165 149 6 Installation dimensions Two 6 dia D R88D UP12H A 200...

Page 27: ...and AC Servomotors Not Conforming to Any Standards Contd D R88D UP20H A 200 VAC 750 W and R88D UP15LA 100 VAC 300 W 160 105 130 90 149 165 90 149 Four M4 Two R3 Two 6 dia 7 8 6 5 6 6 Installation dim...

Page 28: ...P03V UP04V UP08V 200 VAC 30 to 200 W R88D UP03W UP04W UP10W 100 VAC 30 to 100 W Two 6 dia Three M4 R3 Installation dimensions D R88D UP12V 200 VAC 400 W R88D UP12W 100 VAC 200 W Two 6 dia Three M4 R3...

Page 29: ...2 6 H AC Servo Drivers Conforming to EC Directives Contd D R88D UP20V 200 VAC 750 W R88D UP15W 100 VAC 300 W Two 6 dia Four M4 Two R3 Installation dimensions System Design and Installation Chapter 2...

Page 30: ...Unit D R88A RG08UA 25 6 15 Dia 6 R3 6 25 50 5 15 160 130 149 18 5 130 149 Two M4 Installation dimensions H Parameter Units D R88A PR02U 63 50 8 1000 135 125 7 18 5 Two 4 5 dia System Design and Insta...

Page 31: ...2 8 D R88A PR03U 54 57 5 15 6 9 System Design and Installation Chapter 2...

Page 32: ...U03030HA B R88M U05030HA B R88M U10030HA B R88M U03030LA B R88M U05030LA B R88M U10030LA B Two 4 3 dia Four R3 7 6h6 dia 30h7 dia 46 dia Encoder adapter Motor plug 14 dia 300 30 17 35 6 5 300 30 9 5 2...

Page 33: ...LL 30 L 21 60 60 D 200 W 300 W 400 W Models with Brake R88M U20030HA B R88M U40030HA B R88M U20030LA B R88M U30030LA B Four 5 5 dia Four R5 3 14h6 dia 50h7 dia Encoder adapter Motor plug 70 dia 14 di...

Page 34: ...Four R8 2 16h6 dia 70h7 dia Encoder adapter Motor plug 90 dia 14 dia 300 30 17 35 300 30 8 5 2 8 3 15 35 34 145 40 185 21 80 80 D 750 W Models with Brake R88M U75030HA B Four 7 dia Four R8 2 16h6 dia...

Page 35: ...0030VA BS1 R88M U03030WA BS1 R88M U05030WA BS1 R88M U10030WA BS1 Four R3 7 Two 4 3 dia 46 dia Sh6 dia 30h7 dia 14 dia Standard Models Model L LL S R88M U03030VA S1 R88M U03030WA S1 94 5 69 5 6 R88M U0...

Page 36: ...odels with Brake R88M U20030VA BS1 R88M U40030VA BS1 R88M U20030WA BS1 R88M U30030WA BS1 Four R5 3 Four 5 5 dia 70 dia 14h6 dia 50h7 dia 14 dia Standard Models Standard Models Model L LL R88M U20030VA...

Page 37: ...tives Contd D 750 W Standard Models R88M U75030VA S1 Four R8 2 Four 7 dia 90 dia 16h6 dia 14 dia 70h7 dia D 750 W Models with Brake R88M U75030VA BS1 Four R8 2 Four 7 dia 90 dia 16h6 dia 14 dia 70h7 d...

Page 38: ...out Brake R88M U03030jj S1 R88M U05030jj S1 With Brake R88M U03030jj BS1 R88M U05030jj BS1 14 1 2 Dia 6h6 2 2 D 100 W Models Without Brake R88M U10030jj S1 With Brake R88M U10030jj BS1 1 8 Dia 8h6 14...

Page 39: ...e rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space...

Page 40: ...encoder cable or connec tor areas when transporting it Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed o...

Page 41: ...ey Belt D Water and Drip Resistance The Servomotor does not have a water proof structure Except for the connector areas the protec tive structure is covered by the following JEM The Japan Electrical M...

Page 42: ...able may become dis connected or the cable clamp may become damaged Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease sh...

Page 43: ...C C series Position Control Units SYSMAC C series Programmable Controller Position Control Units for SYSMAC C series Programmable Controllers 3G2A5 NC111 EV1 C500 NC113 C500 NC211 C200H NC112 C200H NC...

Page 44: ...Unit for C200H NC211 XW2B 40J6 2B Note 1 Refer to Section 6 for a connection exam ple for Relay Unit terminal blocks Note 2 A Relay Unit is also available for the CQM1 CPU43 V1 CQM1H PLB21 with pulse...

Page 45: ...jS R88A CAUjjjB OMNUC U series AC Servomotor OMNUC U series AC Servo Driver Servo Driver Connecting Cable XW2Z 100J B1 1 m XW2Z 200J B1 2 m Note Two cables are required when using the C200HW NC213 2 a...

Page 46: ...g R88A CTUjjjN Connector Cable for Connector Terminal Conversion Unit XW2B 40F5 P Connector Terminal Conversion Unit Controller OMNUC U series AC Servo Driver Power Cable R88A CAUjjjS R88A CAUjjjB Enc...

Page 47: ...y R88D UPjjH A Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPjjL A Single phase 100 115 VAC 85 to 127 V 50 60 Hz1 P Main circuit DC The terminals for connecting Regeneration Units R88A RG08UA...

Page 48: ...ly 7 D Servo Drivers with 100 VAC Input R88D UPjjL A Driver model Watts R88D UP03L A 30 W R88D UP04L A 50 W R88D UP10L A 100 W R88D UP12L A 200 W R88D UP15LA 300 W Power supply input cur rent R T 2 0...

Page 49: ...mum thickness of 3 5 mm2 and arrange the wiring so that the ground lines are as short as possible If no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower du...

Page 50: ...current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take in...

Page 51: ...ise filter with a through type capacitor D Noise Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines Output lines cannot use the same noise filters as...

Page 52: ...varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts...

Page 53: ...are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use ferrite cores The followi...

Page 54: ...control power supply and ground at the Servo Driver input section and the controller output section For encoder output A B and Z phase lines be sure to use twisted pair shielded cable and connect both...

Page 55: ...R88D UPjjjH A Single phase 100 115 VAC 50 60 Hz R88D UPjjjL A Noise filter Class 3 ground to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U seri...

Page 56: ...ect the short bar between the RG and JP terminals The internal circuit may be damaged if the external regeneration resistor is con nected with the shortbar still connected between the RG and JP termin...

Page 57: ...onnecting to a Servo Controller Servo Controller General purpose Control Cable R88A CPUjjjS OMNUC U series AC Servo Driver Model conforming to EC Directives Power Cable R88A CAU001 R88A CAU01B Encoder...

Page 58: ...le phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UPjjW Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC output When there is a high level of regenerative energy in a multi axis system the...

Page 59: ...ervo Drivers with 100 VAC Input R88D UPjjW Driver model Watts R88D UP03L A 30 W R88D UP04L A 50 W R88D UP10L A 100 W R88D UP12L A 200 W R88D UP15LA 300 W Power supply input cur rent L1 L2 2 0 A 2 6 A...

Page 60: ...y to the ground plate to ground it H Wiring Methods 1 m max 0 5 m max 2 m max AC power supply Contactor Metal duct or conduit Ground 100 max Metal plate Control panel Noise filter Brake pow er supply...

Page 61: ...ribed in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel D Case Structure Use a metal control panel with welded joints...

Page 62: ...ally suitable Refer to the table in 2 2 3 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc t...

Page 63: ...ters are manufactured by Okaya Electric Ind Application Model Rated current Test voltage Insulation resistance Leakage current Attenuation characteristic max Normal MHz Common MHz 200 V 30 to 100 W 10...

Page 64: ...selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately...

Page 65: ...032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves H Improving Control I O Signal Noise R...

Page 66: ...0 Hz R88D UPjjV Single phase 100 115 VAC 50 60 Hz R88D UPjjW Noise filter Class 3 ground to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U series...

Page 67: ...Procedure 3 2 Turning On Power and Checking Displays 3 3 Using Parameter Units 3 4 Initial Settings Setup Parameters 3 5 Setting Functions User Parameters 3 6 Trial Operation 3 7 Making Adjustments 3...

Page 68: ...d then connect to the machine Not doing so may cause injury Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in i...

Page 69: ...turning on the power supply check the necessary items In order to make the initial settings turn on an application power supply Chapter 3 section 3 2 4 Checking Display Status Check by means of the di...

Page 70: ...ite V and blue W power lines and the green ground wire must be properly connected to the terminal block H Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechan...

Page 71: ...lly turn the Servomotor shaft clockwise and counterclockwise and check to be sure that it agrees with the posi tive and negative on the speed display If it does not agree then the encoder signal line...

Page 72: ...Status display mode Bit display indicating internal status via indicators Power supply ON display base block positioning completion rotation detection and current limit detection command pulse input S...

Page 73: ...b b c n 0 0 u n 0 0 0 a 0 2 Power ON Display example Status display mode Settings mode Monitor mode Alarm history display mode 3 3 3 Mode Changes and Display Contents The following diagram shows the...

Page 74: ...els Settings mode c n 0 0 System check mode Jog operation page 3 31 Clear alarm history data page 4 14 Motor parameters check page 4 8 Auto tuning page 3 32 Sequence input signal switch page 3 9 Seque...

Page 75: ...displayed In the rightmost digit the bit number that can be set is displayed It can be checked whether the bit information is 0 not lit or 1 lit according to the 7 segment display vertical bar To chan...

Page 76: ...time of recovery from mo mentary stop Abnormal stop 6 1 0 Motor stopped by dynamic brake 1 Motor stopped with free run 7 see 2 1 0 Dynamic brake OFF after motor stopped note 2 1 Dynamic brake ON afte...

Page 77: ...pulse train input Note 1 If power is immediately turned back on after having been cut off a momentary stop alarm may be gen erated If bit no 5 is set to 1 the alarm will be cleared automatically even...

Page 78: ...1 90 phase difference A B phase signal 2X 1 0 0 90 phase difference A B phase signal 4X 6 0 Not used 7 0 Not used 8 0 Not used 9 0 Not used Deviation counter clear A 1 0 Clears the deviation counter w...

Page 79: ...tion control by pulse train inputs Factory setting 1 Position control by pulse train inputs pulse stop input IPG enabled 1 0 Internal speed control settings only Servo lock when stopped 1 Internal spe...

Page 80: ...Stop Process for Overtravel Overtravel occurs Bit 8 Deceleration method Decelerate by dynamic brake Decelerate by free run Bit 9 Stop condition Servo free dynamic brake OFF Servo free dynamic brake OF...

Page 81: ...ng with Mounted type R88A PR03U 1 Press the MODE SET Key to go into settings mode cn jj 2 Press the Up and Down Keys to display the desired user parameter number The number will be incremented or decr...

Page 82: ...g the DATA Key again will bring back the parameter number display 4 Repeat steps 1 through 4 above as required to set other parameters 3 5 2 User Parameter Chart PRM No Parameter name Factory setting...

Page 83: ...for out putting brake commands Cn 16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo off to brake command output Cn 17 Torque command filter time constant 4 100 s 0 to 250 Setting for torque...

Page 84: ...ng HA LA V W Models 0 0 to 14 Unit number setting used dur ing multi axis communications Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is e...

Page 85: ...wing table shows the combinations of speeds and directions that can be selected with these three control inputs CN1 11 SPD1 CN1 12 SPD2 CN1 15 RDIR Internal speed setting Rotational direction OFF ON O...

Page 86: ...the speed for when SPD1 is OFF and SPD2 is ON Cn 20 No 2 internal speed setting 200 r min 0 to 4 500 Sets the speed for when SPD1 is ON and SPD2 is ON Cn 21 No 3 internal speed setting 300 r min 0 to...

Page 87: ...To fine tune the position and speed of two lines that must be synchronized S When using a positioner with a low command pulse frequency S To set the machine movement per pulse to a specific value such...

Page 88: ...t for encoder signals output from the Servo Driver The number of pulses per Servomotor revolution can be set within a range of 16 to 2 048 Use this function for the following applications When connect...

Page 89: ...n constant A phase B phase Z phase A phase B phase Z phase Forward Rotation Side Reverse Rotation Side Note When the encoder divider rate is set to other than 2 048 1024 512 the phase difference for p...

Page 90: ...sing the bias function set the bias rotational speed to 0 Note 2 As the bias rotational speed increases Servomotor rotation becomes more unstable The optimal val ue changes depending on the load gain...

Page 91: ...the output torque limit for the forward direction as a percentage of the rated torque Cn 09 Reverse torque limit Maximum torque 0 to maximum torque This parameter sets the output torque limit for the...

Page 92: ...e defective For wiring methods refer to 2 2 5 Peripheral Device Connection Examples H Function The output timing of the brake interlock signal BKIR that control turning the magnetic brake ON and OFF c...

Page 93: ...It takes up to 100 ms for the brake to be held after the brake power supply has been turned off When using it for the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that t...

Page 94: ...amic brake When Cn 01 bit no 6 0 See note 2 Note 1 For the approximately 10 ms it takes from when the power to the Servomotor turns off until the dynamic brake operates the Servomotor rotates by momen...

Page 95: ...Stopping the Motor Make sure that the power switch can be turned off or the Run command used to stop the motor immedi ately in case of trouble D Connecting a Parameter Unit Connect a Parameter Unit t...

Page 96: ...the actual operating speed Check the following items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the op...

Page 97: ...Key to display the setting of Cn 00 5 Using the Up and Down Keys set the parameter to 00 Jog operation 6 Press the MODE SET Key to shift to the jog display 7 Press the SERVO DATA Key to turn on the s...

Page 98: ...arameter is factory set to 0 c c n 0 0 0 0 0 5 1 2 6 4 Data 3 0 0 1 t U n 5 e n d DATA Indicates settings mode System check mode Auto tuning display Auto tuning end display 1 Confirm that the initial...

Page 99: ...g 006 108 007 130 H L Models Response Set value Position loop gain 1 s Representative applications Low 001 20 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Me...

Page 100: ...ing does not complete or if the gain set via auto tuning is not sufficient adjust the gain manu ally using the procedure in 3 7 2 Manually Adjusting Gain 0 1 2 jog speed Approx 1 1 s Approx 0 7 s Oper...

Page 101: ...04 speed loop gain to a value where hunting doesn t occur in servo lock Decrease Cn 05 speed loop integra tion time constant to a value where hunting doesn t occur in servo lock Does hunting vibratio...

Page 102: ...erate rigidity 20 200 120 10 Low rigidity H Adjustment Parameters D Adjusting Speed Loop Gain PRM No Parameter name Factory setting Unit Setting range Explanation Cn 04 Speed loop gain 80 Hz 1 to 2 00...

Page 103: ...nt is manipulated the response is as shown in the diagram below Motor speed speed monitor Time Overshoots when speed loop integral time constant is short When speed loop integral time constant is long...

Page 104: ...er ated If position loop gain is low positioning time can be improved by using feed forward control In addition to this method positioning completion can be speeded up by using the bypass function Mot...

Page 105: ...celeration decel eration time constant 0 0 1 ms 0 to 640 Sets the time constant for smoothing posi tion command soft start function Even if the position command pulses are input in steps the time cons...

Page 106: ...5 Cn 04 05 Cn 24 25 Cn 17 Cn 0A Cn 1E Electronic gear ratio G1 G2 Comp gain Cn 28 4 3 8 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed...

Page 107: ...g is the larger of Eg1 and Eg2 When regenerative energy is absorbed at the Servo Driver only Eg must not exceed the amount of re generative energy that can be absorbed at the Servo Driver In addition...

Page 108: ...e approxi mately 90 of the figure derived by the formula The maximum regenerative energy for the Servo Driver s internal capacitors only can be found by means of the following formula Eg is the larger...

Page 109: ...nal to the square of the rotation speed Lengthen the deceleration time Reduce the amount of regenerative energy per unit time When using multiple axes the terminals can be connected together and the t...

Page 110: ...for the horizontal shaft No external force should be applied H Range for Absorbing Regenerative Energy The relationship between rotation speed and the load inertia that can be absorbed by a Servo Dri...

Page 111: ...plicable load inertia 10 4kgSm2 200W 3 69 10 4kgSm2 2 15 Rotation speed r min D R88D UP12H A UP12V 400 W R88D UP15LA UP15W 300 W Applicable load inertia 10 4kgSm2 300W 400W 3 8 10 4kgSm2 1 9 Rotation...

Page 112: ...he resistor be tween the P and RG terminals Connecting to the wrong terminals may destroy the Re generation Unit so connect the resistor carefully The Regeneration Unit does not con form to EC Directi...

Page 113: ...ing External Regeneration Resistors Remove the short bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor s between the P and RG terminals External regeneration r...

Page 114: ...e ener gy H Wiring Method Example for 3 Axes Axis 1 Axis 2 Axis 3 Note 1 Do not open or close the connections between the or terminals while power is being sup plied The Units may be destroyed Note 2...

Page 115: ...Chapter 4 Application 4 1 Using Displays 4 2 Using the Monitor Output 4 3 Protective and Diagnostic Functions 4 4 Troubleshooting 4 5 Periodic Maintenance 4...

Page 116: ...Servo Driver itself One is for the power supply and another is for alarms Symbol Name Function PWR Power supply indicator Lit when AC power supply is normal ALM Alarm indicator Lit when error occurs...

Page 117: ...ay mode Bit display indicating internal status via indicators Power supply ON display base block positioning completed rotation detection and current limit detection command pulse input Symbol display...

Page 118: ...isplay Contents Bit data Contents Power supply ON Lit when Servo Driver power supply is ON Base block Lit during base block no power to motor dimmed when servo is ON Positioning completed Lit when the...

Page 119: ...splays pulse number with 1 4 turn being 2048 pulses with an error of approx 5 pulses 04 Electrical angle Degrees Displays the electrical angle of the motor 05 Internal status bit display 1 Displays Se...

Page 120: ...4 Press the DATA Key to return to the monitor number display 5 Press the MODE SET Key to move from monitor mode to alarm history display mode H Internal Status Bit Display Un 05 Un 06 Internal status...

Page 121: ...when there is a signal H L Models Dimmed when there is a signal 12 Z Encoder Z phase HA LA V W Models Lit when there is a signal H L Models Dimmed when there is a signal 13 PU Poll sensor U phase 14 P...

Page 122: ...splay the setting of Cn 00 4 Using the Up and Down Keys change the setting to 04 Servomotor parameter check 5 Press the MODE SET Key and check the Servomotor parameters in order 6 Press the MODE SET K...

Page 123: ...t Terminals Top of the Servo Driver Top of Servo Driver Front Pin allocation CN4 CN4 D Monitor Output Circuit CN4 1 NM Speed monitor CN4 3 GND CN4 2 AM Current monitor CN4 4 GND 47 47 D Monitor Output...

Page 124: ...the Servo Driver s Analog Monitor Connector Red Servo Driver R88D jj External devices Connector socket model DF11 4DS 2C Hirose DF11 2428SCF Hirose Cable AWG24 x 4C UL1007 No Symbol Servo Driver Whit...

Page 125: ...N ON ON OFF Overload Detected at reverse limit characteristics when the output torque exceeds120 of the rated torque HA LA V W Models a 71 ON ON ON OFF Overload Detected at reverse limit characteristi...

Page 126: ...nsistor ON Error alarm Output transistor OFF H Clearing Alarms Any of the following methods can be used to clear alarms Turn ON the alarm reset signal RESET Toggle the power supply Press the Reset Key...

Page 127: ...power again If the power is turned on again too soon the Servomotor coil may be damaged H Overload Characteristic Graph The characteristic between the load ratio and the electronic thermal operating...

Page 128: ...data The larger the error occurrence number the less recent the alarm is H Clearing Alarm History Data Alarm history data initialization is executed in the system check mode The items in parentheses i...

Page 129: ...are displayed in status display mode Turn ON the POT and NOT signals If POT and NOT are not being used set Cn 01 bit nos 2 and 3 to 1 The mode is the internal speed control setting mode Check Cn 02 b...

Page 130: ...obstructed Check to see whether any thing is blocking ventilation Ensure adequate ventilation There is an overload Check the torque command value by means of monitor mode Lighten the load Change to a...

Page 131: ...rred when power was turned on Control board defective Replace Servo Driver Occurred when Servo was turned on Current feedback circuit error Main circuit transistor module error Replace Servo Driver Se...

Page 132: ...AC when 200 VAC is specified The supply voltage must be 85 to 127 VAC when 100 VAC is specified Occurred during Servomo tor deceleration The load inertia is too large Lengthen the deceleration time Re...

Page 133: ...Correct the wiring Insert the connectors cor rectly Occurred when the power was turned on Cn 01 bit no E is set to 1 Set Cn 01 bit No E to 0 a c3 Encoder A B phase wire dis connection Some movement o...

Page 134: ...e again Servo Driver defective Replace the Servo Driver Parameter Unit is defec tive Cable is broken R88A PR02U Replace the Parameter Unit cpf01 Parameter Unit transmission er 2 Occurred while the Par...

Page 135: ...d as described in operation manual The radial loads during operation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufactu...

Page 136: ...cations 5 1 Servo Driver Specifications 5 2 Servomotor Specifications 5 3 Cable Specifications 5 4 Parameter Unit Specifications 5 5 Regeneration Unit Specifications 5 6 Front surface Mounting Bracket...

Page 137: ...orming to UL cUL Standards and Models Not Conforming to Any Standards Between power line terminals and case 1 000 VAC for 1 min 20 mA max at 50 60 Hz Models Conforming to EC Directives Between power l...

Page 138: ...quency Bias setting 0 to 450 r min Position acceleration decel eration time constant 0 to 64 0 ms The same setting is used for acceleration and deceleration Input sig nals Position command pulse in pu...

Page 139: ...1 G1 G2 100 G1 G2 1 to 65 535 Positioning completed range 0 to 250 command units Feed forward com pensation 0 to 100 of speed command amount pulse frequency Bias setting 0 to 450 r min Position accele...

Page 140: ...d based on IGBT PWM frequency 11 kHz 7 8 kHz Applicable Servomotor R88M U03030VA R88M U05030VA R88M U10030VA R88M U20030VA R88M U40030VA R88M U75030VA Applicable Servomotor wattage 30 W 50 W 100 W 200...

Page 141: ...88D UP03W R88D UP04W R88D UP10W R88D UP12W R88D UP15W Continuous output current 0 P 0 9 A 1 3 A 3 1 A 3 8 A 4 8 A Momentary max output current 0 P 2 8 A 4 1 A 10 A 12 A 15 A Input power supply Single...

Page 142: ...ion of more than 30 times the motor s ro tor inertia Required for regeneration of more than 20 times the motor s rotor inertia Protective functions Overcurrent grounding overload overvoltage overspeed...

Page 143: ...ut When using multiple axes and there is excessive regenerative energy the terminals can be connected together and the terminals can be connected together to increase the regeneration absorption capac...

Page 144: ...tation current limit PCL NCL when setup parameter Cn 02 bit no 2 0 ON Current limit 12 NCL SPD2 Reverse rotation current limit input Speed selec tion command 2 input Internal setting speed Cn 1F 20 21...

Page 145: ...ase output Outputs encoder pulses divided according to user parameter Cn 0A Line driver output conforming to 21 A Encoder A phase output parameter Cn 0A Line driver output conforming to RS 422A 22 B E...

Page 146: ...al for ward pulse B phase Brake interlock output Motor rotation detection cur rent control detection Forward rota tion current lim it speed selec tion command 1 Control DC 24 V input Gain decelera tio...

Page 147: ...weaken servo rigidity repellant force with respect to external force When the gain reduction is input speed loop integration is disabled decreasing the speed loop gain In addition when parts are inser...

Page 148: ...als become respectively the forward rota tion current limit and the reverse rotation current limit and they limit the current to the Servomotor The current limit values can be set for the respective d...

Page 149: ...e Pulse 90 Differential Pulse A Phase CN1 1 PULS CW A Feed Pulse Reverse Pulse 90 Differential Pulse A Phase CN1 2 PULS CW A Direction Signal Forward Pulse 90 Differential Pulse B Phase CN1 3 SIGN CCW...

Page 150: ...0 1 Reverse pulse and forward pulse 1 CW 2 CW 3 CCW 4 CCW L L 0 1 0 1 90_ differential 1 A 2 A 0 1 1 2 differential phase 2 A 3 B 1 0 0 4 hase signals 3 B 4 B Negative 0 0 0 Forward pulse and directio...

Page 151: ...pulses Maximum frequency 200 kpps t1 t1 T A phase Forward commands Reverse commands B phase t1 0 1 s 2 5 s T 5 0 s Note Although the above timing charts show positive logic the same conditions hold fo...

Page 152: ...ck For Motors with Brakes for details D Positioning Completed Output 8 INP This output is turned ON when the pulse count remaining on the deviation counter is less than the posi tioning completed rang...

Page 153: ...he error This output is OFF at the time of powering up and turns ON when the power up processing is completed D Alarm Code Outputs 1 to 3 and Alarm Code Output Ground 30 31 32 33 AL01 to AL03 and 33 A...

Page 154: ...B B Z Z GND R R R 2 1 6 7 10 9 0 V FG 16 3 4 5 8 12 11 5 V Servo Driver A phase B phase Z phase Output line driver SN75ALS 174NS or equivalent Controller on User s Side 0 V Applicable line receiver T...

Page 155: ...n drive prohibit Alarm reset Do not connect these pins Brake interlock Motor rotation detection Output ground common Alarm output Maximum operating voltage 30 VDC Maximum output current 50 mA Alarm co...

Page 156: ...tly using a clamp D Connectors Used 20P Sumitomo 3M Receptacle at Servo Driver 10220 52A2JL Soldered plug at cable side 10120 3000VE Case at cable side 10320 52A0 008 D Pin Arrangement 2 E0V 4 E5V 8 1...

Page 157: ...interface 1 TXD Transmission data This is the send data line driver output to the P U i l 2 TXD Transmission data Parameter Unit or a personal computer 3 RXD Reception data This is the send data line...

Page 158: ...table range is 1 to 2 000 Hz the response frequency when equivalent inertia is used As the number is increased the gain is increased The factory setting is for 80 Hz Using the factory setting for the...

Page 159: ...oller from PI control to P control in order to moderate excessive characteristics when an operation such as acceleration or deceleration is executed accompanied by output saturation of the controller...

Page 160: ...eliminate the vibration i e set it to a high value D Forward Rotation External Current Limit Cn 18 Reverse Rotation External Current Limit Cn 19 These set the Servomotor output torque limits for the f...

Page 161: ...0 x G1 G2 x 100 The factory setting is G1 4 G2 1 i e an electronic gear ratio of 4 1 At the factory setting inputting 2 048 pulses will cause one Servomotor revolution D Position Command Acceleration...

Page 162: ...t Number Setting Cn 29 HA LA V W Models This setting specifies the Servo Driver s unit number when communicating with a personal computer Set the unit number to 0 when communicating with a single axis...

Page 163: ...rds Type B JIS C4004 All models other than those in Type A Structure Totally enclosed self cooling Protective structure Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards...

Page 164: ...10 5 0 26 10 5 0 40 10 5 1 23 10 5 1 91 10 5 6 71 10 5 Torque constant see note NSm A 0 255 0 286 0 408 0 355 0 533 0 590 Induced volt age constant see note mV r min 8 89 9 98 14 0 12 4 18 6 20 6 Pow...

Page 165: ...10 5 0 40 10 5 1 23 10 5 1 91 10 5 Torque constant see note NSm A 0 168 0 194 0 156 0 255 0 279 Induced voltage constant see note mV r min 5 87 6 79 5 43 8 9 9 74 Power rate see note kW s 4 36 9 63 25...

Page 166: ...0j B R88M U05030j B R88M U10030j B R88M U20030j B R88M U30030j B R88M U40030j B R88M U75030j B Rotor in ertia kgSm2 GD2 4 0 21 10 5 0 26 10 5 0 40 10 5 1 23 10 5 1 91 10 5 1 91 10 5 6 71 10 5 Brake in...

Page 167: ...us use R88M U03030H A R88M U03030VA R88M U05030H A R88M U05030VA R88M U10030H A R88M U10030VA R88M U20030H A R88M U20030VA R88M U40030H A R88M U40030VA R88M U75030H A R88M U75030 Frequent use Continuo...

Page 168: ...mately 4 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 Generally in a mechanical system when the temperature...

Page 169: ...motors with brakes Note 2 The allowable radial load is the value at a point 5 mm from the end of the shaft Radial load Thrust load 5 mm Note 3 The allowable radial and thrust loads are values determin...

Page 170: ...acteristics 90 43 2 Phase relationship For rotation in the CW direction A phase is advanced by 90 compared to B phase Maximum rotational speed 4500 r min Maximum response frequency 153 6 kHz Output si...

Page 171: ...k Conversion Unit Cables D Types of Cable Model Length L Outer diameter of sheath R88A CTU001N 1 m 9 9 dia R88A CTU002N 2 m D Connection Configuration XW2B 40F5 P Connector Terminal Conversion Unit L...

Page 172: ...nector plug Sumitomo 3M s 10136 3000VE Connector cover Sumitomo 3M s 10336 52A 008 Signal Analog Pulse A A B B Z Z TREF AGND REF AGND BKIR VCMP TGON 0GND PCL NCL 24 VIN RUN MING POT NOT RESET EGND ALO...

Page 173: ...Cable Model Length L Outer diameter of sheath R88A CPU001S 1 m 9 9 dia R88A CPU002S 2 m D Connection Configuration L Position Control Unit mounted on a SYSMAC C CV series PC OMNUC U Series AC Servomot...

Page 174: ...Red NOT NOT 18 Pink Black RESET RESET 19 Pink Red EGND EGND 20 Orange Black A A 21 Orange Red A A 22 Gray Black B B 23 Gray Red B B 24 White Black Z Z 25 White Red Z Z 26 Yellow Black 27 Yellow Red 2...

Page 175: ...a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration L OMNUC U Series AC Servomotor OMNUC U Series AC Servomotor Driver 16 33 3 23 7 37 t 14 t 14 D Wiring A 1 A 2 B 3...

Page 176: ...9 1 Tyco Electronics AMP Connector pin contact model 170359 1 Tyco Electronics AMP H Encoder Cables for Models Conforming to EC Directives D Types of Cable Model Length L Outer diameter of sheath R88A...

Page 177: ...en AWG24 white green AWG22 black AWG22 red AWG22 green yellow Symbol No Symbol No Cable AWG22 3C AWG24 3P UL2589 Shell FG E5V 20 For Cable Connector model 17J E 13090 02D8A DDK Connector plug model 10...

Page 178: ...03S 3 m 5 8 dia R88A CAU005S 5 m R88A CAU010S 10 m R88A CAU015S 15 m R88A CAU020S 20 m Up to a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration L OMNUC U Series AC S...

Page 179: ...170360 1 Tyco Electronics AMP for 200 to 750 W models H Power Cable for Servomotors With Brakes Models Conforming to UL cUL Standards and Models Not Conforming to Any Standards D Types of Cable Model...

Page 180: ...172168 1 Tyco Electronics AMP Connector pin contact model 170359 1 Tyco Electronics AMP 30 to 100 W models 170360 1 Tyco Electronics AMP 200 to 750 W models H Power Cable for Servomotors Without Brake...

Page 181: ...rvomotors With Brakes Models Conforming to EC Directives Model Length L Outer diameter of sheath R88A CAU01B 1 m 6 8 dia Note 1 Power cables will be cut to the specified length in 1 m increments Note...

Page 182: ...ue Green Yellow Black Red AWG20 Red AWG20 White AWG20 Blue AWG20 Black AWG20 Green AWG20 Black AC Servomotor AC Servo Driver Brake Brake U phase V phase W phase 24 VDC 10 no polarity GR Cable AWG20 6C...

Page 183: ...ed Accessory cable 1 000 mm Connected by connectors Accessory connectors 7910 7500SC 10 pins D sub connector 9 pins Display 7 segment LED 5 digits External dimensions 63 135 18 5 W H D 54 57 5 15 W H...

Page 184: ...n contact at time of protective function operation 200 VAC drive possible External dimensions 55 160 130 W H D D Indicator LED Specifications Name Specifications POWER Lit while power flows between P...

Page 185: ...ming to EC Directives H Combinations Servo Driver Front surface Mounting Bracket d l Model Supply voltage Power g model R88D UP02H A 200 V 30 W R88A TK01U R88D UP03H A 50 W R88D UP04H A 100 W R88D UP0...

Page 186: ...5 51 H Dimensions D R88A TK01U Top Mounting Bracket 6 dia Two 3 6 dia pan head screws Bottom Mounting Bracket Two 3 6 dia pan head screws Specifications Chapter 5...

Page 187: ...5 52 D R88A TK02U Top Mounting Bracket 6 dia Two 3 6 dia pan head screws Bottom Mounting Bracket Two 3 6 dia pan head screws Specifications Chapter 5...

Page 188: ...5 53 H Mounting Dimensions D R88A TK01U D R88A TK02U Two M5 Three M5 Specifications Chapter 5...

Page 189: ...Chapter 6 Supplementary Materials 6 1 Connection Examples 6 2 Servo Connector Terminal Connection Unit 6 3 OMNUC U series Standard Models 6 4 Parameter Setting Forms 6...

Page 190: ...230 VAC 50 60 Hz MC CN 1 13 19 20 A B A B A B X1 ALM Output power supply input 24 VDC Output power supply input 5 VDC Pulse output CCW without resistance 0 V Deviation counter reset output 0 V Origin...

Page 191: ...ithout resistance 0 V Deviation counter reset output 0 V Origin line driver input Positioning completed input Position proximity input CCW limit input External interrupt input CW limit input Emergency...

Page 192: ...xis origin line driver input X axis origin common X axis CCW limit input X axis CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW witho...

Page 193: ...X axis origin line driver input X axis origin common X axis CCW limit input X axis CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW wi...

Page 194: ...PjjLj 100 115 VAC 50 60 Hz R88B UPjjHj 200 230 VAC 50 60 Hz Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Not...

Page 195: ...ete input X axis CW limit input X axis input common X axis emerg stop input X axis external interrupt input X axis CCW limit input X axis origin proximity input Noise filter Note 1 Incorrect signal wi...

Page 196: ...mplete input X axis CW limit input X axis input common X axis emerg stop input X axis external interrupt input X axis CCW limit input X axis origin proximity input Noise filter Note 1 Incorrect signal...

Page 197: ...limit CCW limit Origin proximity Com mon Com mon Com mon Com mon Com mon External interrupt 24 VDC See note 1 24 VDC Note 1 The XB contact is used to turn ON OFF the electromagnetic brake Note 2 Do n...

Page 198: ...BKIR Com mon X axis external interrupt X axis RESET 24 VDC X axis ALMCOM See note 1 Y axis external interrupt 24 VDC See note 1 Y axis RESET Y axis ALMCOM 24 VDC Com mon Com mon Com mon Com mon Com m...

Page 199: ...use the CQM1 s output pulse to be returned and input to the high speed counter Note 2 Input this output signal to a CQM1 s Input Unit Note 3 The XB contact is used to turn ON OFF the electromagnetic b...

Page 200: ...030HA 200 W R88M U20030HA 400 W R88M U40030HA 750 W R88M U75030HA 100 VAC 30 W R88M U03030LA 50 W R88M U05030LA 100 W R88M U10030LA 200 W R88M U20030LA 300 W R88M U30030LA With brake 200 VAC 30 W R88M...

Page 201: ...R88M U40030HA BS1 750 W R88M U75030HA BS1 100 VAC 30 W R88M U03030LA BS1 50 W R88M U05030LA BS1 100 W R88M U10030LA BS1 200 W R88M U20030LA BS1 300 W R88M U30030LA BS1 D Servo Drivers with Pulse train...

Page 202: ...Connector at one d 3 m R88A CAU003S motors no brake end 5 m R88A CAU005S 10 m R88A CAU010S 15 m R88A CAU015S 20 m R88A CAU020S Cable only 1 m units R88A CAU001 For motors with b k Connector at one d...

Page 203: ...100J A6 C200HW NC213 C HW NC 0 5 m XW2Z 050J A7 C200HW NC413 1 m XW2Z 100J A7 D Connectors Terminal Blocks and Peripheral Cable Specification Model Control cable connector R88A CNU01C Connector termi...

Page 204: ...W R88M U05030VA BS1 100 W R88M U10030VA BS1 200 W R88M U20030VA BS1 400 W R88M U40030VA BS1 750 W R88M U75030VA BS1 100 VAC 30 W R88M U03030WA BS1 50 W R88M U05030WA BS1 100 W R88M U10030WA BS1 200 W...

Page 205: ...Power Cables Cables Only Specification Model For standard motor no brake 1 m units R88A CAU001 For motor with brake 1 m units R88A CAU01B D General purpose Control Cables Specification Model For gene...

Page 206: ...witching speed commands 0 r min 0 to 4 500 Cn 0E P control switching acceleration com mands 0 10 r min s 0 to 3 000 Cn 0F P control switching deviation pulse 10 Command units 0 to 10 000 Cn 10 Jog spe...

Page 207: ...note 4 0 0 to 14 Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load inertia is extremely small some oscillation may occur If it does then lower Cn 04 t...

Page 208: ...e 1 0 Dynamic brake OFF after motor stopped 7 note 2 1 Dynamic brake ON after motor stopped 8 0 0 Method for stopping when over travel occurs de pends on bit no 6 setting 8 1 When over travel occurs m...

Page 209: ...entary stop alarm may be generated If bit no 5 is set to 1 the alarm will be cleared automatically even if it is gener ated and operation will resume Note 2 If set bit 6 to 1 and bit 8 to 0 the dynami...

Page 210: ...B phase signal 1X 0 1 1 90 phase difference A B phase signal 2X 1 0 0 90 phase difference A B phase signal 4X 6 0 Not used 6 0 7 0 Not used 7 0 8 0 Not used 8 0 9 0 Not used 9 0 Deviation counter clea...

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