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Omron OMNUC G, User Manual

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Omron OMNUC G User Manual Download Page 336

6-5

6-2 Preparing for Operation

Opera

tion

6

Checking the Displays

„

7-segment LED

The display of the 7-segment LED on the front panel is shown below. 
When the power is turned ON, the node address set with the rotary switch is displayed, followed by 
the display content set by the Default Display (Pn001) parameter. 
When an alarm occurs, the alarm code will be displayed. When a warning occurs, the warning code 
will be displayed.

8.8.

nkak

 k3k

1k6k

9k0.

0k0.

-k-k

-k-.

0k0.

Turn ON Control Power Supply

All OFF

All ON 
(approx. 0.6 s)

<Node Address Display>

[nA] (Node Address) 
(approx. 0.6 s)

Rotary switch setting (for MSD = 0, LSD = 3) 
(Time set by the Power ON Address Display 
 Duration Setting (Pn006)) 

<Normal Display (when the Default Display (Pn001) is set to 0)>

Main Power Supply ON 
and Network Established

Servo ON

Alarm Issued

<Alarm Display>

Warning code (2 s)

Normal Display 
(approx. 4 s)

Alarm code flashes in decimal display
(Below is an example for overload)

Alternates between warning code (hex) 
and normal display 
(Below is an example for overload)

<Warning Display>

Warning Issued

Warning Cleared

Alarm Cleared

Servo OFF

[- -] + right dot ON

[00] + right dot ON

Main Power Supply OFF 
or Network Not Established

[- -] 

Summary of Contents for OMNUC G

Page 1: ...Cat No I566 E1 01 USER S MANUAL OMNUC GSERIES R88M G AC Servomotors R88D GN ML2 AC Servo Drives AC SERVOMOTORS SERVO DRIVES WITH BUILT IN MECHATROLINK II COMMUNICATIONS ...

Page 2: ...OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the informa tion contained in this publication Prod...

Page 3: ...stems a qualified electrical engineer or the equivalent as follows Personnel in charge of introducing FA equipment Personnel in charge of designing FA systems Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the OMNUC G Series and its peripheral devices Please read this manual thoroughly and understand its ...

Page 4: ...OR USER 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 RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR ...

Page 5: ...tended to imply 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 Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industr...

Page 6: ...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 manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s te...

Page 7: ...e product in detail Make sure that these protective covers and shields are put in place as specified before using the product Consult your OMRON representative when using the product after a long period of storage Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω or less Incorrect grounding may result in electric shock Do not touch the inside of the Servo Dri...

Page 8: ...the product Doing so may result in injury or damage to the product Provide a stopping mechanism on the machine to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes Not doing so may result in injury Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately Not doing so may result in injury Do not come...

Page 9: ...res outside the specified range Locations subject to humidity outside the specified range Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Do not touch the Servo Driv...

Page 10: ...inal Doing so may result in burning Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in equipment damage Ins...

Page 11: ...operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Do not operate the Servomotor connected to a load that exceeds the applicable load mom...

Page 12: ...n Be sure to follow the instructions given there Warning Label Contents Disposing of the Product Dispose of the batteries according to local ordinances and regulations Wrap the batteries in tape or other insulative material before disposing of them Dispose of the product as industrial waste R88D GN01H ML2 Location of warning label ...

Page 13: ...ny problems missing parts damage to the Servo Drive etc please contact your local sales representative or OMRON sales office Understanding Servo Drive Model Numbers The model number provides information such as the Servo Drive type the applicable Servomotor capacity and the power supply voltage R88D GN01H ML2 Power Supply Voltage L 100 VAC H 200 VAC A5 50 W 01 100 W 02 200 W 04 400 W 08 750 W 10 1...

Page 14: ...5K0 6K0 7K5 10 15 20 30 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 4 5 kW 5 kW 6 kW 7 5 kW 1 000 r min 1 500 r min 2 000 r min 3 000 r min Applied Voltage H L T S 200 VAC with incremental encoder specifications 100 VAC with incremental encoder specifications 200 VAC with absolute encoder specifications 100 VAC with absolute encoder specifications Option Blank Straight shaft B O ...

Page 15: ... kW 5 kW 6 kW 7 kW Backlash 3 Max Gear Ratio 05 09 11 12 20 21 25 33 45 1 5 1 9 only frame number 11A 1 11 except frame number 65A 1 12 only frame number 65A 1 20 only frame number 65A 1 21 except frame number 65A 1 25 only frame number 65A 1 33 1 45 Flange Size Number 11A 14A 20A 32A 50A 65A 40 60 90 120 170 230 Motor Type Blank P S T 3 000 r min cylindrical Servomotors flat Servomotors 2 000 r m...

Page 16: ...ble Servomotor Capacity 050 100 200 400 750 50 W 100 W 200 W 400 W 750 W Option J With key and tap Backlash C 15 max Motor Type Blank P 3 000 r min cylindrical Servomotors flat Servomotors Decelerator for G Series Servomotors Backlash 15 Max Gear Ratio 05 09 15 25 1 5 1 9 1 15 1 25 Flange Size Number B C D 52 78 98 ...

Page 17: ...cs for Servomotors as well as specifications for accessories such as encoders Chapter 4 System Design Describes the installation conditions for Servo Drives Servomo tors and Decelerators EMC conforming wiring methods calcula tions of regenerative energy and performance information on the External Regeneration Resistor Chapter 5 Operating Functions Describes the control functions parameter settings...

Page 18: ...ard Models and Dimensions 2 1 Standard Models 2 1 2 2 External and Mounting Hole Dimensions 2 23 Chapter 3 Specifications 3 1 Servo Drive Specifications 3 1 3 2 Servomotor Specifications 3 17 3 3 Decelerator Specifications 3 32 3 4 Cable and Connector Specifications 3 42 3 5 Parameter Unit Specifications 3 78 3 6 External Regeneration Resistor Specifications 3 79 3 7 Reactor Specifications 3 80 Ch...

Page 19: ... 5 16 Gain Switching 5 31 5 17 Speed Feed forward 5 38 5 18 Torque Feed forward 5 39 5 19 Speed Feedback Filter Selection 5 40 5 20 P Control Switching 5 41 5 21 Torque Command Filter Time Constant 5 42 5 22 Notch Filter 5 43 5 23 Adaptive Filter 5 45 5 24 Instantaneous Speed Observer 5 48 5 25 Damping Control 5 50 5 26 User Parameters 5 55 5 27 Details on Important Parameters 5 86 Chapter 6 Opera...

Page 20: ...ter 8 Troubleshooting 8 1 Error Processing 8 1 8 2 Alarm Table 8 3 8 3 Troubleshooting 8 7 8 4 Overload Characteristics Electronic Thermal Function 8 20 8 5 Periodic Maintenance 8 21 Chapter 9 Appendix 9 1 Parameter Tables 9 1 ...

Page 21: ...ew 1 1 Overview 1 1 Features 1 1 1 2 System Configuration 1 2 1 3 Names of Parts and Functions 1 3 Servo Drive Part Names 1 3 Servo Drive Functions 1 4 1 4 System Block Diagrams 1 5 1 5 Applicable Standards 1 10 EC Directives 1 10 UL and CSA Standards 1 10 ...

Page 22: ...coder feedback pulses This makes it possible to use the Servo Drive s various control parameters and monitor data via a host controller allowing you to unify the system data control Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The damping control function suppresses vibration of low rigidity mechanisms or devices whose ends tend to vibrate Two vibration filters...

Page 23: ...CHATRO LINK II Programmable Controller SYSMAC CS1 Controller MECHATROLINK ll type Programmable Controller SYSMAC CJ1 Position Control Unit MECHATRO LINK II Controller MECHATROLINK ll type OMNUC G Series AC Servo Drive R88D GN ML2 OMNUC G Series AC Servomotor R88M G CJ1W NCF71 Position Control Unit CS1W NCF71 ...

Page 24: ... G Servomotor connection terminals U V W Control circuit power terminals L1C L2C Main circuit power terminals L1 L2 L3 External Regeneration Resistor connection terminals B1 B2 B3 Protective ground terminals Control I O connector CN1 RS 232 communications connector CN3 Encoder connector CN2 MECHATROLINK II communications status LED indicator Rotary switches G IM SP COM X10 3 2 1 0 ADR AC SERVO DRI...

Page 25: ...measured based on the analog voltage level by using an oscilloscope Set the type of signal to be output and the output voltage level by setting the Speed Monitor SP Selection Pn007 and Torque Monitor IM Selection Pn008 For details refer to User Parameters on page 5 55 MECHATROLINK II Status LED Indicator Indicates the communications status of the MECHATROLINK II For details refer to MECHATROLINK I...

Page 26: ...uits Gate drive SW power supply Main circuit control Internal control power supply RS 232 interface CN6B connector CN6A connector CN3 connector CN2 encoder signal connector GR L2C L1C L2 L3 L1 FUSE CN A 15V G1 VCC1 VCC G2 E5V Over current detection Current detection Voltage detection Regene rative control Relay drive TH GR CN1 control I O connector RS 485 S E5V BAT EG G B1 B2 CN B OH U V W MPU ASI...

Page 27: ...ction Voltage detection Regene rative control Relay drive TH GR CN B U V W B1 B3 B2 Internal regeneration resistor Cooling fan Control I O interface MECHATROLINK II interface Display setting circuits RS 232 interface CN6B connector CN6A connector CN3 connector CN2 encoder signal connector CN1 control I O connector RS 485 S E5V BAT EG G MPU ASIC Position speed and torque processor PWM control Encod...

Page 28: ... control Relay drive TH GR Terminals Terminals U V W Cooling fan B1 B3 B2 Internal regeneration resistor Control I O interface MECHATROLINK II interface RS 232 interface CN6B connector CN6A connector CN3 connector CN2 encoder signal connector CN1 control I O connector RS 485 S E5V BAT EG G MPU ASIC Position speed and torque processor PWM control Encoder communications interface Display setting cir...

Page 29: ...ive control Relay Gate drive TH GR Terminals Terminals U V W Cooling fan B1 B3 B2 Internal regeneration resistor Control I O interface MECHATROLINK II interface Display setting circuits RS 232 interface CN6B connector CN6A connector CN3 connector CN2 encoder signal connector CN1 control I O connector RS 485 S E5V BAT EG G MPU ASIC Position speed and torque processor PWM control Encoder communicati...

Page 30: ...ction Regene rative control Relay Gate drive B1 B2 Terminals Terminals U V W Cooling fan Control I O interface MECHATROLINK II interface Display setting circuits RS 232 interface CN6B connector CN6A connector CN3 connector CN2 encoder signal connector CN1 control I O connector RS 485 S E5V BAT EG G MPU ASIC Position speed and torque processor PWM control Encoder communications interface MECHATROLI...

Page 31: ...omotors EN 55011 Class A Group 1 Limits of radio disturbance and measurement methods for industrial scientific and medical radio frequency equipment EN 61000 6 2 Electromagnetic compatibility EMC Immunity standard for industrial environments IEC 61000 4 2 Electrostatic discharge immunity testing IEC 61000 4 3 Radio frequency radiation field immunity testing IEC 61000 4 4 Electrical fast transient ...

Page 32: ......

Page 33: ...r Combinations 2 5 Decelerators 2 7 Accessories and Cables 2 14 2 2 External and Mounting Hole Dimensions 2 23 Servo Drives 2 23 Servomotors 2 33 Parameter Unit Dimensions 2 43 Servomotor and Decelerator Combinations 2 44 Decelerator Dimensions 2 47 External Regeneration Resistor Dimensions 2 61 Reactor Dimensions 2 62 ...

Page 34: ...ML2 200 W R88D GN02L ML2 400 W R88D GN04L ML2 Single phase 200 VAC 50 W R88D GN01H ML2 100 W 200 W R88D GN02H ML2 400 W R88D GN04H ML2 Single phase three phase 200 VAC 750 W R88D GN08H ML2 1 kW R88D GN10H ML2 900 W R88D GN15H ML2 1 kW 1 5 kW Three phase 200 VAC 2 kW R88D GN20H ML2 2 kW R88D GN30H ML2 3 kW 3 kW R88D GN50H ML2 4 kW 4 5 kW 5 kW 6 kW R88D GN75H ML2 7 5 kW ...

Page 35: ... G75030T R88M G75030T S2 1 kW R88M G1K030T R88M G1K030T S2 1 5kW R88M G1K530T R88M G1K530T S2 2 kW R88M G2K030T R88M G2K030T S2 3 kW R88M G3K030T R88M G3K030T S2 4 kW R88M G4K030T R88M G4K030T S2 5 kW R88M G5K030T R88M G5K030T S2 With brake 100 V 50 W R88M G05030H B R88M G05030H BS2 R88M G05030T B R88M G05030T BS2 100 W R88M G10030L B R88M G10030L BS2 R88M G10030S B R88M G10030S BS2 200 W R88M G20...

Page 36: ...ake 100 V 100 W R88M GP10030L B R88M GP10030L BS2 R88M GP10030S B R88M GP10030S BS2 200 W R88M GP20030L B R88M GP20030L BS2 R88M GP20030S B R88M GP20030S BS2 400 W R88M GP40030L B R88M GP40030L BS2 R88M GP40030S B R88M GP40030S BS2 200 V 100 W R88M GP10030H B R88M GP10030H BS2 R88M GP10030T B R88M GP10030T BS2 200 W R88M GP20030H B R88M GP20030H BS2 R88M GP20030T B R88M GP20030T BS2 400 W R88M GP4...

Page 37: ...ith key and tap With out brake 200 V 900 W R88M G90010T R88M G90010T S2 2 kW R88M G2K010T R88M G2K010T S2 3 kW R88M G3K010T R88M G3K010T S2 4 5 kW R88M G4K510T R88M G4K510T S2 6 kW R88M G6K010T R88M G6K010T S2 With brake 200 V 900 W R88M G90010T B R88M G90010T BS2 2 kW R88M G2K010T B R88M G2K010T BS2 3 kW R88M G3K010T B R88M G3K010T BS2 4 5 kW R88M G4K510T B R88M G4K510T BS2 6 kW R88M G6K010T B R8...

Page 38: ...0S R88D GN04L ML2 Single phase 200 V 50 W R88M G05030H R88M G05030T R88D GN01H ML2 100 W R88M G10030H R88M G10030T R88D GN01H ML2 200 W R88M G20030H R88M G20030T R88D GN02H ML2 400 W R88M G40030H R88M G40030T R88D GN04H ML2 Single phase three phase 200 V 750 W R88M G75030H R88M G75030T R88D GN08H ML2 1 kW R88M G1K030T R88D GN15H ML2 1 5 kW R88M G1K530T R88D GN15H ML2 Three phase 200 V 2 kW R88M G2...

Page 39: ...20T R88D GN15H ML2 Three phase 200 V 2 kW R88M G2K020T R88D GN20H ML2 3 kW R88M G3K020T R88D GN30H ML2 4 kW R88M G4K020T R88D GN50H ML2 5 kW R88M G5K020T R88D GN50H ML2 7 5 kW R88M G7K515T R88D GN75H ML2 Voltage Servomotor Servo Drive Rated output With absolute encoder Single phase three phase 200 V 900 W R88M G90010T R88D GN15H ML2 Three phase 200 V 2 kW R88M G2K010T R88D GN30H ML2 3 kW R88M G3K0...

Page 40: ...050B 1 21 R88G HPG14A21100B 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 100 W 1 5 R88G HPG11A05100B 1 11 R88G HPG14A11100B 1 21 R88G HPG14A21100B 1 33 R88G HPG20A33100B 1 45 R88G HPG20A45100B 200 W 1 5 R88G HPG14A05200B 1 11 R88G HPG14A11200B 1 21 R88G HPG20A21200B 1 33 R88G HPG20A33200B 1 45 R88G HPG20A45200B 400 W 1 5 R88G HPG14A05400B 1 11 R88G HPG20A11400B 1 21 R88G HPG20A21400B 1 33 R88G HP...

Page 41: ...5 R88G HPG32A051K0B 1 11 R88G HPG32A111K0B 1 21 R88G HPG32A211K0B 1 33 R88G HPG32A331K0B 1 45 R88G HPG50A451K0B 1 5 kW 1 5 R88G HPG32A052K0B 1 11 R88G HPG32A112K0B 1 21 R88G HPG32A211K5B 1 33 R88G HPG50A332K0B 1 45 R88G HPG50A451K5B 2 kW 1 5 R88G HPG32A052K0B 1 11 R88G HPG32A112K0B 1 21 R88G HPG50A212K0B 1 33 R88G HPG50A332K0B 3 kW 1 5 R88G HPG32A053K0B 1 11 R88G HPG50A113K0B 1 21 R88G HPG50A213K0...

Page 42: ...11K0SB 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 HPG50A332K0SB 2 kW 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB 1 21 R88G HPG50A213K0B 1 33 R88G HPG50A332K0SB 3 kW 1 5 R88G HPG32A054K0B 1 11 R88G HPG50A115K0B 1 21 R88G HPG50A213K0SB 1 25 R88G HPG65A253K0SB 4 kW 1 5 R88G HPG50A054K0SB 1 11 R88G HPG50A114K0...

Page 43: ...900TBJ Specifications Model Motor capacity Gear ratio 900 W 1 5 R88G HPG32A05900TB 1 11 R88G HPG32A11900TB 1 21 R88G HPG50A21900TB 1 33 R88G 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 R88G HPG65A255K0SB 4 5 kW 1 5 R88G HPG50A054K5TB 1 12 R88G HPG65...

Page 44: ... the box Example R88G HPG11A05100PBJ Specifications Model Motor capacity Gear ratio 100 W 1 5 R88G HPG11A05100PB 1 11 R88G HPG14A11100PB 1 21 R88G HPG14A21100PB 1 33 R88G HPG20A33100PB 1 45 R88G HPG20A45100PB 200 W 1 5 R88G HPG14A05200PB 1 11 R88G HPG20A11200PB 1 21 R88G HPG20A21200PB 1 33 R88G HPG20A33200PB 1 45 R88G HPG20A45200PB 400 W 1 5 R88G HPG20A05400PB 1 11 R88G HPG20A11400PB 1 21 R88G HPG...

Page 45: ...0CJ 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 100 W 1 5 R88G VRSF05B100CJ 1 9 R88G VRSF09B100CJ 1 15 R88G VRSF15B100CJ 1 25 R88G VRSF25B100CJ 200 W 1 5 R88G VRSF05B200CJ 1 9 R88G VRSF09C200CJ 1 15 R88G VRSF15C200CJ 1 25 R88G VRSF25C200CJ 400 W 1 5 R88G VRSF05C400CJ 1 9 R88G VRSF09C400CJ 1 15 R88G VRSF15C400CJ 1 25 R88G VRSF25C400CJ 750 W 1 5 R88G VRSF05C750CJ 1 9 R88G VRSF09D750CJ 1 15 R88G VR...

Page 46: ...ations Model Motor capacity Gear ratio 100 W 1 5 R88G VRSF05B100PCJ 1 9 R88G VRSF09B100PCJ 1 15 R88G VRSF15B100PCJ 1 25 R88G VRSF25B100PCJ 200 W 1 5 R88G VRSF05B200PCJ 1 9 R88G VRSF09C200PCJ 1 15 R88G VRSF15C200PCJ 1 25 R88G VRSF25C200PCJ 400 W 1 5 R88G VRSF05C400PCJ 1 9 R88G VRSF09C400PCJ 1 15 R88G VRSF15C400PCJ 1 25 R88G VRSF25C400PCJ ...

Page 47: ... R88A CRGA050C 3 000 r min Servomotors of 50 to 750 W with an incremental encoder 3 000 r min Flat Servomotors of 100 to 400 W with an incremental encoder 3 m R88A CRGB003C 5 m R88A CRGB005C 10 m R88A CRGB010C 15 m R88A CRGB015C 20 m R88A CRGB020C 30 m R88A CRGB030C 40 m R88A CRGB040C 50 m R88A CRGB050C 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 1 500 r min Servomoto...

Page 48: ...CAGB015B 20 m R88A CAGB020S R88A CAGB020B 30 m R88A CAGB030S R88A CAGB030B 40 m R88A CAGB040S R88A CAGB040B 50 m R88A CAGB050S R88A CAGB050B 3 000 r min Servomotors of 2 kW 2 000 r min Servomotors of 2 kW 3 m R88A CAGC003S R88A CAGC003B 5 m R88A CAGC005S R88A CAGC005B 10 m R88A CAGC010S R88A CAGC010B 15 m R88A CAGC015S R88A CAGC015B 20 m R88A CAGC020S R88A CAGC020B 30 m R88A CAGC030S R88A CAGC030B...

Page 49: ...e when a Servomotor with a brake is used it will require both a Power Cable for a Servomotor without a brake and a Brake Cable Specifications Model For Servomotor without brake For Servomotor with brake 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 6 kW 3 m R88A CAGE003S 5 m R88A CAGE005S 10 m R88A CAGE010S 15 m R88A CAGE015S 20 m R88A CAGE020S 30 m R88A CAGE030S 40 m R88A CAGE040S ...

Page 50: ... 100 to 400 W 3 m R88A CAGA003B 5 m R88A CAGA005B 10 m R88A CAGA010B 15 m R88A CAGA015B 20 m R88A CAGA020B 30 m R88A CAGA030B 40 m R88A CAGA040B 50 m R88A CAGA050B 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 6 kW 3 m R88A CAGE003B 5 m R88A CAGE005B 10 m R88A CAGE010B 15 m R88A CAGE015B 20 m R88A CAGE020B 30 m R88A CAGE030B 40 m R88A CAGE040B 50 m R88A CAGE050B ...

Page 51: ...88A CRGA050CR 3 000 r min Servomotors of 50 to 750 W with an incremental encoder 3 000 r min Flat Servomotors of 100 to 400 W with an incremental encoder 3 m R88A CRGB003CR 5 m R88A CRGB005CR 10 m R88A CRGB010CR 15 m R88A CRGB015CR 20 m R88A CRGB020CR 30 m R88A CRGB030CR 40 m R88A CRGB040CR 50 m R88A CRGB050CR 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 1 000 r min Se...

Page 52: ...03SR R88A CAGB003BR 5 m R88A CAGB005SR R88A CAGB005BR 10 m R88A CAGB010SR R88A CAGB010BR 15 m R88A CAGB015SR R88A CAGB015BR 20 m R88A CAGB020SR R88A CAGB020BR 30 m R88A CAGB030SR R88A CAGB030BR 40 m R88A CAGB040SR R88A CAGB040BR 50 m R88A CAGB050SR R88A CAGB050BR 3 000 r min Servomotors of 2 kW 2 000 r min Servomotors of 2 kW 3 m R88A CAGC003SR R88A CAGC003BR 5 m R88A CAGC005SR R88A CAGC005BR 10 m...

Page 53: ...3BR 5 m R88A CAGA005BR 10 m R88A CAGA010BR 15 m R88A CAGA015BR 20 m R88A CAGA020BR 30 m R88A CAGA030BR 40 m R88A CAGA040BR 50 m R88A CAGA050BR Specifications Model RS 232 Communications Cable 2 m R88A CCG002P2 Specifications Model MECHATROLINK II Cable 0 5 m FNY W6003 A5 1 m FNY W6003 01 3 m FNY W6003 03 5 m FNY W6003 05 10 m FNY W6003 10 20 m FNY W6003 20 30 m FNY W6003 30 MECHATROLINK II termina...

Page 54: ... type XW2B 20G4 M3 5 screw type XW2B 20G5 M3 screw type XW2D 20G6 Specifications Model Regeneration capacity 20 W 50 Ω with 150 C thermal switch R88A RR08050S Regeneration capacity 20 W 100 Ω with 150 C thermal switch R88A RR080100S Regeneration capacity 70 W 47 Ω with 170 C thermal switch R88A RR22047S Regeneration capacity 180 W 20 Ω with 200 C thermal switch R88A RR50020S Specifications Model R...

Page 55: ...s for Rack Mounting Absolute Encoder Backup Battery Specifications Model R88D GNA5L ML2 GN01L ML2 GN01H ML2 GN02H ML2 R88A TK01G R88D GN02L ML2 GN04H ML2 R88A TK02G R88D GN04L ML2 GN08H ML2 R88A TK03G R88D GN10H ML2 GN15H ML2 R88A TK04G Specifications Model 2 000 mA h 3 6 V R88A BAT01G ...

Page 56: ...Dimensions Servo Drives Single phase 100 VAC R88D GNA5L ML2 GN01L ML2 50 to 100 W Single phase 200 VAC R88D GN01H ML2 GN02H ML2 50 to 200 W Wall Mounting External Dimensions Mounting Hole Dimensions G IM SP COM X10 3 2 1 0 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 132 70 4 150 40 28 0 5 7 42 Two M4 140 0 5 150 ...

Page 57: ...s and Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 42 Two M4 158 170 0 5 Square hole 5 2 7 132 70 4 180 170 150 21 7 5 2 dia R2 6 2 6 24 2 6 8 5 4 3 2 1 0 9 8 7 6 X1 AC SERVO DRIVER ADR 0 1 2 3 X10 COM SP IM G ...

Page 58: ...ions Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 43 0 5 6 57 Two M4 140 0 5 150 132 70 4 150 55 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 57 Two M4 158 170 0 5 Square hole 8 5 2 7 132 70 4 180 170 150 7 5 2 dia R2 6 55 28 2 6 24 2 6 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 ...

Page 59: ...nsions Mounting Hole Dimensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 50 0 5 8 5 67 Two M4 140 0 5 150 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 170 70 4 150 65 67 Two M4 158 170 0 5 Square hole 21 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 5 2 2 6 170 70 4 180 170 150 5 2 dia R2 6 65 40 20 20 40 2...

Page 60: ...nsions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 70 0 5 8 5 87 Two M4 140 0 5 150 170 70 4 150 85 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 87 Four M4 158 170 0 5 Square hole 40 0 5 11 5 2 5 2 170 70 4 180 170 150 5 2 dia 5 2 dia R2 6 R2 6 10 40 85 60 40 10 2 6 22 2 6 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1...

Page 61: ...00 VAC R88D GN20H ML2 2 kW Wall Mounting External Dimensions Mounting Hole Dimensions 3 5 3 5 5 2 5 2 5 2 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 200 70 198 188 168 85 50 17 5 50 17 5 42 5 42 5 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 87 Four M4 168 188 0 5 18 5 50 0 5 ...

Page 62: ...nting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 5 2 5 2 5 2 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 200 70 32 1 2 6 198 188 168 85 50 17 5 50 17 5 42 5 42 5 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 89 Four M4 176 Square hole 188 20 5 50 0 5 0 5 ...

Page 63: ...88D GN30H ML2 GN50H ML2 2 to 5 kW Wall Mounting External Dimensions Mounting Hole Dimensions 5 2 5 2 100 15 65 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 5 2 200 250 240 220 130 100 15 65 70 3 5 3 5 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 132 Six M4 220 16 240 0 5 100 0 5 50 0 5 ...

Page 64: ...ting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 5 2 5 2 100 15 65 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 5 2 200 70 32 3 2 6 250 240 220 130 100 15 65 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 132 Six M4 228 Square hole 16 240 0 5 100 0 5 50 0 5 ...

Page 65: ... Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions 5 2 5 2 5 2 Four 5 2 dia 5 2 5 2 5 2 248 339 3 45 1 70 4 2 3 4 250 220 235 85 90 90 82 5 90 37 5 M W V U B2 B2 B1 B1 L3 L3 L2 L2 L1 L1 0 G IM SP COM X10 3 2 1 ADR AC SERVO DRIVER X1 6 7 8 9 0 1 2 3 4 5 250 Six M4 229 38 5 240 0 5 90 0 5 90 0 5 Square hole ...

Page 66: ...0S B S2 G10030T 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 Model Dimensions mm LL LN R88M G05030 72 26 5 R88M G10030 92 46 5 R88M G05030 B 102 26 5 R88M G10030 B 122 46 5 INC ABS 230 200 3 6 LL 25 32 40 40 LN Motor connector Encoder connector 8 dia h 6 46 dia Two 4 3 dia 30 dia h 7 Brake connector Three h 9 12 ...

Page 67: ...h a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LR S D1 D2 C G KL1 Z QK b h M t1 L R88M G20030 79 5 30 11 70 50 60 6 5 43 4 5 18 4h9 4 M4 2 5 8 R88M G40030 99 14 22 5 5h9 5 M5 3 10 R88M G75030 112 2 35 19 90 70 80 8 53 6 22 6h9 6 3 5 R88M G20030 B 116 30 11 70 50 60 6 5 43 4 5 18 4h9 4 M4 2 5 8 R88M G40030 B 135 5 14 22 5 5h9 5 M5 3 10 R88M G75030 B 149 ...

Page 68: ...odel number Model Dimensions mm LL D1 D2 C D3 G KL1 Z R88M G1K030 175 100 80 90 120 7 98 6 6 R88M G1K530 180 115 95 100 135 10 103 9 R88M G2K030 205 R88M G1K030 B 200 100 80 90 120 7 98 6 6 R88M G1K530 B 205 115 95 100 135 10 103 9 R88M G2K030 B 230 Model Dimensions mm LL R88M G3K030 217 R88M G3K030 B 242 ABS 45 42 M5 depth 12 Six h 9 3 5 6 Dimensions of shaft end with key and tap LL 55 G 3 KL1 84...

Page 69: ...s have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL R88M G4K030 240 R88M G5K030 280 R88M G4K030 B 265 R88M G5K030 B 305 ABS LL 65 12 6 118 84 130 130 Four 9 dia 110 dia h 7 24 dia h 6 165 dia Encoder connector Servomotor brake connector 145 dia 55 51 Eight h 9 4 7 M8 depth 20 Dimensions of shaft end with key and tap ...

Page 70: ... M L R88M GP10030L R88M GP10030H 60 5 25 8 70 50 60 3 7 43 4 5 12 5 3h9 3 1 8 M3 6 R88M GP10030S R88M GP10030T 87 5 R88M GP20030L R88M GP20030H 67 5 30 11 90 70 80 5 8 53 5 5 18 4h9 4 2 5 M4 8 R88M GP20030S R88M GP20030T 94 5 R88M GP40030L R88M GP40030H 82 5 14 22 5 5h9 5 3 M5 10 R88M GP40030S R88M GP40030T 109 5 R88M GP10030L B R88M GP10030H B 84 5 25 8 70 50 60 3 7 43 4 5 12 5 3h9 3 1 8 M3 6 R88...

Page 71: ...e end of the model number Model Dimensions mm LL R88M G1K020 150 R88M G1K520 175 R88M G1K020 B R88M G1K520 B 200 Model Dimensions mm LL LR S LW QK M L R88M G2K020 200 55 22 45 41 M5 12 R88M G3K020 250 65 24 55 51 M8 20 R88M G2K020 B 225 55 22 45 41 M5 12 R88M G3K020 B 275 65 24 55 51 M8 20 ABS Encoder connector Servomotor brake connector LL 55 12 6 118 84 130 130 Four 9 dia 145 dia 110 dia h 7 22 ...

Page 72: ...l Dimensions mm LL LR S D1 D2 C D3 KL1 Z QK b h t1 M L R88M G4K020 242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20 R88M G5K020 225 70 35 200 114 3 176 233 143 13 5 50 10h9 8 5 M12 25 R88M G4K020 B 267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20 R88M G5K020 B 250 70 35 200 114 3 176 233 143 13 5 50 10h9 8 5 M12 25 ABS LL LR 18 3 2 KL1 84 C C D1 dia D2 dia h 7 S dia h 6 D3 dia Four Z dia Encoder...

Page 73: ...shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL R88M G7K515 340 5 R88M G7K515 B 380 5 ABS 90 96 M16 depth 32 12 h 9 8 5 Dimensions of shaft end with key and tap Eye bolt Nominal diameter 10 Brake connector LL 113 24 3 2 183 84 176 176 Four 13 5 dia 200 dia 114 3 dia h 7 42 dia h 6 233 dia Motor connector Encoder connector ...

Page 74: ... b h t1 M L R88M G90010 175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010 182 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 R88M G90010 B 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010 B 207 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 Model Dimensions mm LL R88M G3K010 222 R88M G3K010 B 271 ABS C C S dia h 6 D2 dia h 7 LR F LL G KL1 84...

Page 75: ...ed with S2 at the end of the model number Model Dimensions mm LL R88M G4K510 300 5 R88M G4K510 B 337 5 Model Dimensions mm LL R88M G6K010 340 5 R88M G6K010 B 380 5 ABS 114 3 dia h 7 42 dia h 6 113 LL 24 3 2 84 176 176 143 Four 13 5 dia Encoder connector Servomotor brake connector Eye bolt Nominal diameter 10 200 dia 233 dia 90 12 h 9 5 8 M16 depth 32 Dimensions of shaft end with key and tap ABS Ey...

Page 76: ...2 43 2 2 External and Mounting Hole Dimensions 2 Standard Models and Dimensions Parameter Unit Dimensions R88A PR02G Hand held Parameter Unit Mini DIN 8 pin MD connector 62 24 15 1500 M3 depth 5 114 15 ...

Page 77: ...5200B R88M G40030 R88G HPG14A05400B R88G HPG20A11400B R88G HPG20A21400B R88G HPG32A33400B R88G HPG32A45400B R88M G75030 R88G HPG20A05750B R88G HPG20A11750B R88G HPG32A21750B R88G HPG32A33750B R88G HPG32A45750B R88M G1K030T R88G HPG32A051K0B R88G HPG32A111K0B R88G HPG32A211K0B R88G HPG32A331K0B R88G HPG50A451K0B R88M G1K530T R88G HPG32A052K0B Also used with R88M G2K030T R88G HPG32A112K0B Also used ...

Page 78: ...R88M G3K030T R88G HPG32A112K0SB Also used with R88M G2K020T R88G HPG32A211K0SB R88G HPG50A332K0SB Also used with R88M G2K020T R88G HPG50A451K0SB R88M G1K520T R88G HPG32A053K0B Also used with R88M G3K030T R88G HPG32A112K0SB Also used with R88M G2K020T R88G HPG50A213K0B Also used with R88M G3K030T R88G HPG50A332K0SB Also used with R88M G2K020T R88M G2K020T R88G HPG32A053K0B Also used with R88M G3K03...

Page 79: ...010T R88G HPG32A052K0TB R88G HPG50A112K0TB R88G HPG50A212K0TB R88G HPG65A255K0SB Also used with R88M G5K020T R88M G3K010T R88G HPG50A055K0SB Also used with R88M G5K020T R88G HPG50A115K0SB Also used with R88M G5K020T R88G HPG65A205K0SB Also used with R88M G5K020T R88G HPG65A255K0SB Also used with R88M G5K020T R88M G4K510T R88G HPG50A054K5TB R88G HPG65A127K5SB Also used with R88M G7K515T R88G HPG65A...

Page 80: ...PG14A05200B 64 0 58 60 60 60 70 70 56 0 55 5 40 37 2 5 21 1 11 R88G HPG14A11200B 64 0 58 60 60 60 70 70 56 0 55 5 40 37 2 5 21 1 21 R88G HPG20A21200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 33 R88G HPG20A33200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dime...

Page 81: ...90 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dimensions QK b h t1 M L 400 W 1 5 R88G HPG14A05400B 8 16 28 5 5 M4 10 M4 25 5 5 3 M4 8 1 11 R88G HPG20A11400B 10 25 42 9 0 M4 10 M4 36 8 7 4 0 M6 12 1 21 R88G HPG20A21400B 10 25 42 9 0 M4 10 M4 36 8 7 4 0 M6 12 1 33 R88G HPG32A33400B 13...

Page 82: ...1 R88G HPG32A211K5B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 45 R88G HPG50A451K5B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 2 kW 1 5 R88G HPG32A052K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 21 R88G HPG50A212K0B 123 156...

Page 83: ... M10 20 1 45 R88G HPG50A451K5B 16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 2 kW 1 5 R88G HPG32A052K0B 13 40 82 11 M8 10 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0B 13 40 82 11 M8 10 M6 70 12 8 5 0 M10 20 1 21 R88G HPG50A212K0B 16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0B 16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 3 kW 1 5 R88G HPG32A053K0B 13 40 82 11 M8 18 M6 70 12 8 5 0 M10 20 1 11 R...

Page 84: ...190 145 165 163 122 103 12 0 53 3 kW 1 5 R88G HPG32A054K0B 129 133 120 130 130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG50A115K0B 149 156 170 130 130 190 145 165 163 122 103 12 0 53 1 21 R88G HPG50A213K0SB 149 156 170 130 130 190 145 165 163 122 103 12 0 53 1 25 R88G HPG65A253K0SB 231 222 230 130 130 260 145 220 214 168 165 12 0 57 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dimensio...

Page 85: ...0 214 168 165 12 0 57 1 12 R88G HPG65A127K5SB 254 5 222 230 180 180 260 200 220 214 168 165 12 0 57 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dimensions QK b h t1 M L 4 kW 1 5 R88G HPG50A054K0SB 16 50 82 14 M10 25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A114K0SB 16 50 82 14 M10 25 M6 70 14 9 5 5 M10 20 1 20 R88G HPG65A204K0SB 25 80 130 18 M10 25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A2...

Page 86: ... 12 5 35 1 11 R88G HPG50A112K0TB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 21 R88G HPG50A212K0TB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 25 R88G HPG65A255K0SB 231 222 230 180 180 260 200 220 214 168 165 12 0 57 3 kW 1 5 R88G HPG50A055K0SB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 11 R88G HPG50A115K0SB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 20 R8...

Page 87: ... 5 5 M10 20 1 25 R88G HPG65A255K0SB 25 80 130 18 M12 25 M8 110 22 14 9 0 M16 35 3 kW 1 5 R88G HPG50A055K0SB 16 50 82 14 M12 25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A115K0SB 16 50 82 14 M12 25 M6 70 14 9 5 5 M10 20 1 20 R88G HPG65A205K0SB 25 80 130 18 M12 25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A255K0SB 25 80 130 18 M12 25 M8 110 22 14 9 0 M16 35 4 5 kW 1 5 R88G HPG50A054K5TB 16 50 82 14 M12 25 M...

Page 88: ... 8 M3 6 1 11 R88G HPG14A11100PB 8 16 28 5 5 M4 10 M3 25 5 5 3 0 M4 8 1 21 R88G HPG14A21100PB 8 16 28 5 5 M4 10 M3 25 5 5 3 0 M4 8 1 33 R88G HPG20A33100PB 10 25 42 9 0 M4 10 M3 36 8 7 4 0 M6 12 1 45 R88G HPG20A45100PB 10 25 42 9 0 M4 10 M3 36 8 7 4 0 M6 12 Model Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 200 W 1 5 R88G HPG14A05200PB 65 0 58 60 80 80 70 90 56 0 55 5 40 37 2 5 21 1 11 R88G HPG2...

Page 89: ...45 R88G HPG32A45400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dimensions QK b h t1 M L 400 W 1 5 R88G HPG20A05400PB 10 25 42 9 0 M5 12 M4 36 8 7 4 0 M6 12 1 11 R88G HPG20A11400PB 10 25 42 9 0 M5 12 M4 36 8 7 4 0 M6 12 1 21 R88G HPG20A21400PB 10 25 42 9 0 M5 12 M4 36 8 7 4 0 M6 12 1 33 R88G HPG32A33400PB 13 40 82 11 0 M5 12 M6 7...

Page 90: ...3 6 1 25 R88G VRSF25B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 200 W 1 5 R88G VRSF05B200CJ 72 5 32 60 52 70 60 50 45 10 3 10 1 9 R88G VRSF09C200CJ 89 5 50 60 78 70 90 70 62 17 3 8 1 15 R88G VRSF15C200CJ 100 0 50 60 78 70 90 70 62 17 3 8 1 25 R88G VRSF25C200CJ 100 0 50 60 78 70 90 70 62 17 3 8 400 W 1 5 R88G VRSF05C400CJ 89 5 50 60 78 70 90 70 62 17 3 8 1 9 R88G VRSF09C400CJ 89 5 50 60 78 70 90 70 62 ...

Page 91: ...4 2 5 1 25 R88G VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2 5 200 W 1 5 R88G VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2 5 1 9 R88G VRSF09C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 25 R88G VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 400 W 1 5 R88G VRSF05C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 9 R88G VRSF09C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C400CJ...

Page 92: ...5 R88G VRSF25B100PCJ 78 0 32 60 52 70 60 50 45 10 3 8 200 W 1 5 R88G VRSF05B200PCJ 72 5 32 80 52 90 60 50 45 10 3 12 1 9 R88G VRSF09C200PCJ 89 5 50 80 78 90 90 70 62 17 3 12 1 15 R88G VRSF15C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 1 25 R88G VRSF25C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 400 W 1 5 R88G VRSF05C400PCJ 89 5 50 80 78 90 90 70 62 17 3 12 1 9 R88G VRSF09C400PCJ 89 5 50 80 78 90 90 70...

Page 93: ...1 25 R88G VRSF25B100PCJ 12 20 M4 M5 M3 12 16 4 4 2 5 200 W 1 5 R88G VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2 5 1 9 R88G VRSF09C200PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C200PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 25 R88G VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 400 W 1 5 R88G VRSF05C400PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 9 R88G VRSF09C400PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C400P...

Page 94: ...or Dimensions External Regeneration Resistor R88A RR08050S RR080100S R88A RR22047S R88A RR50020S 20 t1 2 104 122 130 43 5 28 4 2 6 Thermal switch output 500 1 5 dia 0 3mm 2 3 dia 0 75mm 2 20 t1 2 200 220 230 62 48 4 2 6 500 Thermal switch output 1 5 dia 0 3mm 2 3 dia 0 75mm 2 360 386 402 43 25 10 78 76 40 5 2 ...

Page 95: ...l and Mounting Hole Dimensions 2 Standard Models and Dimensions Reactor Dimensions 3G3AX DL2002 3G3AX DL2004 Ground terminal M4 66 56 72 90 Four 5 2 8 Two M4 98 85 66 56 72 90 98 95 Ground terminal M4 Two M4 Four 5 2 8 ...

Page 96: ... External and Mounting Hole Dimensions 2 Standard Models and Dimensions 3G3AX DL2007 3G3AX DL2015 66 56 72 90 98 105 Ground terminal M4 Two M4 Four 5 2 8 66 56 72 90 98 115 Ground terminal M4 Two M4 Four 5 2 8 ...

Page 97: ...AX AL2025 AL2055 Model Dimensions mm A C Y 3G3AX AL2025 130 82 67 3G3AX AL2055 140 98 75 86 71 80 100 Four 6 9 116 105 Ground terminal M4 Two M4 Ground terminal M5 Six M4 terminal screws Terminal block 150 92 C 40 60 A Ro R So S To T Connection Diagram Y 1 50 1 Ro R So S To T 9 5 Four 6 dia Notch ...

Page 98: ...10 AL2220 Model Dimensions mm A C D H H1 X Y K W 3G3AX AL2110 160 103 70 170 106 60 80 5 3 12 3G3AX AL2220 180 113 75 190 136 90 90 8 4 16 5 W Terminal width H H1 A Ro R So S To T C Y 1 X 1 W 55 D Ro R So S To T Ground terminal M6 Connection Diagram Four 6 dia Notch Terminal holes Six K dia ...

Page 99: ...ns 3 17 Characteristics 3 18 Encoder Specifications 3 31 3 3 Decelerator Specifications 3 32 Standard Models and Specifications 3 32 3 4 Cable and Connector Specifications 3 42 Encoder Cable Specifications 3 42 Absolute Encoder Battery Cable Specifications 3 48 Servomotor Power Cable Specifications 3 49 Communications Cable Specifications 3 67 Connector Specifications 3 68 MECHATROLINK II Communic...

Page 100: ...5 C at 100 of the rated torque Item Specifications Ambient operating temperature and humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature and humidity 20 to 65 C 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance Smaller of either 10 to 60 Hz with double amplitude of 0 1 mm or acceleration of 5 88 m s2 max in X Y and Z d...

Page 101: ...rol circuit 4 4 W 4 4 W 4 4 W 4 4 W Control method All digital servo Inverter method IGBT driven PWM method PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Maximum applicable motor capacity 50 W 100 W 200 W 400 W Applicable Servomo tors 3 000 r min Servomotors G05030H G10030L G20030L G40030L G05030T G10030S G20030S G40030S 3 000 r min Flat Servomo tors...

Page 102: ...A 0 07 A 0 07 A Heat generated Main circuit 14 3 W 14 8 W 23 6 W 38 7 W 52 9 W 105 9 W Control circuit 4 5 W 4 5 W 4 5 W 4 3 W 6 1 W 6 1 W PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Approx 1 7 kg Approx 1 7 kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1 5 kW Applicable Servomo tors 3 000 r min Servomotors G05030H G10030H G2003...

Page 103: ... W 376 2 W Control circuit 10 7 W 13 3 W 13 3 W 13 8 W PWM frequency 6 0 kHz Weight Approx 3 2 kg Approx 6 0 kg Approx 6 0 kg Approx 16 4 kg Maximum applicable motor capacity 2 kW 3 kW 5 kW 7 5 kW Applica ble Ser vomotors 3 000 r min Servomotors G2K030T G3K030T G4K030T G5K030T 3 000 r min Flat Servomo tors 2 000 r min Servomotors G2K020T G3K020T G4K020T G5K020T G7K515T 1 000 r min Servomotors G2K0...

Page 104: ...evel Pn209 Overspeed The rotation speed of the Servomotor exceeded the setting of the Over speed Detection Level Setting Pn073 Command error The operation command ended in an error Internal deviation counter overflow The value of the deviation counter internal control unit exceeded 227 134217728 Overrun limit error The allowable range of movement set in the Overrun Limit Setting Pn026 was exceeded...

Page 105: ...e actuating MECHATROLINK II communications synchronization frames SYNC were not received in accordance with the transmission cycle Watchdog data error The synchronization data exchanged between the master and slave nodes during each MECHATROLINK II communications cycle resulted in an er ror Emergency stop input error The emergency stop input circuit opened Transmission cycle setting error The tran...

Page 106: ...0 to 264 V 50 60Hz L2 L3 L1C Control circuit power supply input R88D GN L ML2 Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GN H ML2 Single phase 200 to 240 VAC 170 to 264V 50 60 Hz L2C Symbol Name Function B1 External Regeneration Resistor connection terminals 50 to 400 W These terminals normally do not need to be connected If there is high regenerative energy connect an External Regenera...

Page 107: ...2 Single phase 200 to 230 VAC 170 to 253V 50 60 Hz L2C B1 External Regeneration Resistor connection terminals 2 to 5 kW Normally B2 and B3 are connected If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 B3 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sur...

Page 108: ...rnal Regeneration Resistor between B1 and B2 if necessary B2 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sure to wire them correctly V White W Blue Green Yellow Frame ground This is the ground terminal Ground to 100 Ω or less Symbol Name Function NC Do not connect L1C Control circuit power supply input R88D GN75H ML2 Single phase 200 to 230 VAC 170 to ...

Page 109: ...3 2 STOP 1 24VIN Forword Torque Limit Input General purpose Input 1 External Latch 1 External Latch 2 External Latch 3 12 to 24 VDC 19 POT Forward Drive Prohibit Input 20 NOT 21 DEC Origin Proximity Input Shell FG BAT BATCOM Backup Battery 1 34 33 22 IN0 General purpose Input0 23 IN2 General purpose Input 2 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4...

Page 110: ...004 chooses between enable and disable Pn044 sets the function assignment for pins 19 and 20 Pn066 selects the operation NOT Reverse Drive Prohibit Input 21 DEC Origin Proximity Input Connect the origin proximity input signal in the origin search operation Pn042 changes the logic of the sensor 22 IN0 External general purpose Input 0 This input is used as external general purpose input 0 23 IN2 Ext...

Page 111: ...Output 1 BKIR 35 OUTM1COM Pn112 General purpose Output 1 Function Selection Pn113 General purpose Output 2 Function Selection Pn114 General purpose Output 3 Function Selection OUTM1 General purpose Output 1 OUTM2 General purpose Output 2 OUTM3 General purpose Output 3 0 Not assigned No output Always OFF 1 INP1 Positioning Completed 1 output assignment 2 VCMP Speed Conformity Signal output assignme...

Page 112: ... 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 26 28 30 32 34 36 POT IN1 Forward Drive Prohibit Input EXT3 Reverse Torque Limit Input NOT STOP DEC IN0 Origin Proximity Input OUTM2 General purpose Output 2 BAT Backup Battery Input BATCOM ALMCOM Alarm Output ALM Alarm Output NCL PCL External Latch Signal 3 Reverse Drive Prohibit Input External General purpose Input 0 Forward Torque Limit Input External...

Page 113: ...VIN 4 7Ω Signal Levels ON level 10 V min OFF level 3 V max External power supply 12 VDC 5 to 24 VDC 5 Power supply capacity 50 mA min per Unit Photocoupler input To other input circuit ground commons To other input circuits Servo Drive X Di To other output circuits X Di External power supply 24 VDC 1 V Maximum operating voltage 30 VDC Maximum output current 50 mA Di Diode for preventing surge volt...

Page 114: ...cy Stop STOP and Drive Prohibit POT NOT inputs are settled before the protective function starts working ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Pn06A Approx 10 ms after the main circuit power is turned ON after initialization is completed Alarm Output ALM Positioning Completed Output INP Brake Interlock Output BKIR RUN Command Input RUN Approx 2 s Appro...

Page 115: ...n 265 μA for power interruption timer and 3 6 μA when power is supplied to Ser vo Drive 4 BAT Battery 5 PS Encoder phase S input Line driver input corresponding with the EIA RS 485 communica tions method 6 PS Encoder phase S input Shell FG Shield ground Cable shield ground Name Model Manufacturer Servo Drive Connector 53460 0629 Molex Japan Cable Connector 55100 0670 Pin No Symbol Name Function In...

Page 116: ...with no con densation 20 to 80 C 85 max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 1 10 to 2 500 Hz Acceleration of 49 m s2 max in the X Y and Z directions 10 to 2 500 Hz Acceleration of 24 5 m s2 max in the X Y and Z directions 10 to 2 500 Hz Acceleration of 49 m s2 max in the X Y and Z directions 10 to 2 500 Hz Acceleration of 24 5 m s2 max in t...

Page 117: ... 245 245 Allowable thrust load 3 N 58 58 98 98 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Radiation shield dimensions material 100 80 t10 AI 130 120 t12 AI Applicable Servo Drives R88D GNA5L ML2 GN01L ML2 GN02L ML2 GN04L ML2 Brake specifications Brake inertia kg m2 GD2 4 2 10 7 2 10 7 1 8 10 6 1 8 10 6 Excitation vo...

Page 118: ...st load 3 N 58 58 98 98 147 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 Approx 2 3 With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Approx 3 1 Radiation shield dimensions material 100 80 t10 AI 130 120 t12 AI 170 160 t12 AI Applicable Servo Drives R88D GN01H ML2 GN01H ML2 GN02H ML2 GN04H ML2 GN08H ML2 Brake specifications Brake inertia kg m2 GD2 4 2 10 7 2 10 7 1 8...

Page 119: ...ke kg Approx 4 5 Approx 5 1 Approx 6 5 Approx 9 3 Approx 12 9 Approx 17 3 With brake kg Approx 5 1 Approx 6 5 Approx 7 9 Approx 11 Approx 14 8 Approx 19 2 Radiation shield dimensions material 170 160 t12 AI 320 300 t30 AI 320 300 t20 AI 380 350 t30 AI Applicable Servo Drives R88D GN15H ML2 GN15H ML2 GN20H ML2 GN30H ML2 GN50H ML2 GN50H ML2 Brake specifications Brake inertia kg m2 GD2 4 2 5 10 5 3 3...

Page 120: ...adial loads are applied as shown in the following diagram 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 3 000 r min Servomotors 3 000 r min Servomotors with 100 VAC Power Input The following ...

Page 121: ...epetitive usage Continuous usage N m r min 4 0 0 1000 2000 3000 4000 5000 8 0 7 05 2 4 2 4 4 0 1 0 7 05 3600 Repetitive usage Continuous usage N m r min 5 0 1000 2000 3000 4000 5000 10 9 1 3 18 3 18 4 8 9 1 3600 Repetitive usage Continuous usage N m r min 2 0 0 1000 2000 3000 4000 5000 4 0 3 6 1 3 1 3 1 7 0 78 3 6 3800 Repetitive usage Continuous usage N m r min 10 0 1000 2000 3000 4000 5000 20 18...

Page 122: ...0 20 30 40 With brake 100 70 60 10 0 20 30 40 Without brake Rated Torque Ambient temperature With brake 100 95 10 0 20 30 40 Rated Torque Ambient temperature With brake 100 75 70 10 0 20 30 40 Without brake Rated Torque Ambient temperature With brake 100 80 70 10 0 20 30 40 Without brake Rated Torque Ambient temperature With brake 100 90 10 0 20 30 40 Rated Torque Ambient temperature With brake 10...

Page 123: ...98 58 98 98 Weight Without brake kg Approx 0 7 Approx 1 3 Approx 1 8 Approx 0 7 Approx 1 3 Approx 1 8 With brake kg Approx 0 9 Approx 2 Approx 2 5 Approx 0 9 Approx 2 Approx 2 5 Radiation shield dimensions material 130 120 t10 AI 170 160 t12 AI 130 120 t10 AI 170 160 t12 AI Applicable Servo Drives R88D GN01L ML2 GN02L ML2 GN04L ML2 GN01H ML2 GN02H ML2 GN04H ML2 Brake specifications Brake inertia k...

Page 124: ... CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 3 000 r min Flat Servomotors 3 000 r min Flat Servomotors with 100 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M GP10030L S 100 W R88M GP20030L S 200 W R88M GP40030L S 400 W 3 000 r min Flat Servomotors with 200 VAC Power Input Th...

Page 125: ... 490 Weight Without brake kg Approx 6 8 Approx 8 5 Approx 10 6 Approx 14 6 Approx 18 8 Approx 25 Approx 41 With brake kg Approx 8 7 Approx 10 1 Approx 12 5 Approx 16 5 Approx 21 3 Approx 28 5 Approx 45 Radiation shield dimensions material 275 260 t15 AI 380 350 t30 AI 470 440 t30 AI Applicable Servo Drives R88D GN10H ML2 GN15H ML2 GN20H ML2 GN30H ML2 GN50H ML2 GN50H ML2 GN75H ML2 Brake specificati...

Page 126: ... The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 2 000 r min Servomotors 2 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G1K020T 1 kW R88M G1K520T 1 5 kW R88M G2K020T ...

Page 127: ... 490 490 588 Weight Without brake kg Approx 8 5 Approx 17 5 Approx 25 Approx 34 Approx 41 With brake kg Approx 10 Approx 21 Approx 28 5 Approx 39 5 Approx 45 Radiation shield dimensions material 275 260 t15 AI 470 440 t30 AI Applicable Servo Drives R88D GN15H ML2 GN30H ML2 GN50H ML2 GN50H ML2 GN75H ML2 Brake specifications Brake inertia kg m2 GD2 4 1 35 10 4 4 7 10 4 4 7 10 4 4 7 10 4 4 7 10 4 Exc...

Page 128: ...d as shown in the following diagram 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 1 000 r min Servomotors 1 000 r min Servomotors with 200 VAC Power Input The following graphs show the charac...

Page 129: ...e For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur at low temperature startup Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures An increase in load friction...

Page 130: ...ompliance Item Specifications Encoder system Optical encoder 17 bits No of output pulses Phases A and B 32 768 pulses rotation Phase Z 1 pulse rotation Maximum rotations 32 768 to 32 767 rotations or 0 to 65 534 rotations Power supply voltage 5 VDC 5 Power supply current 110 mA max Applicable battery voltage 3 6 VDC Current consumption of battery 265 μA for a maximum of 5 s right after power inter...

Page 131: ...R88G HPG14A21100B 143 2 18 65 238 6 13 5 00 10 6 340 1358 1 04 1 33 R88G HPG14A33050B 91 3 73 71 151 10 5 4 40 10 6 389 1555 1 04 1 45 R88G HPG14A45050B 67 5 09 71 111 14 3 4 40 10 6 427 1707 1 04 100 W 1 5 R88G HPG11A05100B 600 1 37 86 1000 3 8 5 00 10 7 135 538 0 29 1 11 R88G HPG14A11100B 273 2 63 75 454 7 39 6 00 10 6 280 1119 1 04 1 21 R88G HPG14A21100B 143 5 40 80 238 15 2 5 00 10 6 340 1358 ...

Page 132: ...2 88 454 68 1 6 00 10 5 659 2320 3 1 1 21 R88G HPG32A21750B 143 42 3 84 238 124 3 3 00 10 4 1367 5448 7 8 1 33 R88G HPG32A33750B 91 69 7 88 151 204 7 2 70 10 4 1565 6240 7 8 1 45 R88G HPG32A45750B 67 95 0 88 111 279 2 2 70 10 4 1718 6848 7 8 1 kW 1 5 R88G HPG32A051K0B 600 11 5 72 1000 32 9 3 90 10 4 889 3542 7 3 1 11 R88G HPG32A111K0B 273 28 9 83 454 82 6 3 40 10 4 1126 4488 7 8 1 21 R88G HPG32A21...

Page 133: ... able radial load Allow able thrust load Weight r min N m r min N m kg m2 N N kg 2 kW 1 5 R88G HPG32A052K0B 600 26 7 84 1000 77 4 3 90 10 4 889 3542 7 4 1 11 R88G HPG32A112K0B 273 62 4 89 454 180 7 3 40 10 4 1126 4488 7 9 1 21 R88G HPG50A212K0B 143 118 9 89 214 1 343 9 5 80 10 4 3611 12486 19 0 1 33 R88G HPG50A332K0B 91 191 8 91 136 1 555 0 4 80 10 4 4135 14300 19 0 3 kW 1 5 R88G HPG32A053K0B 600 ...

Page 134: ...448 7 8 1 33 R88G HPG50A332K0SB 60 144 9 92 91 407 6 4 70 10 4 4135 14300 19 0 1 45 R88G HPG50A451K0SB 44 197 7 92 67 555 9 4 70 10 4 4538 15694 19 0 1 5 kW 1 5 R88G HPG32A053K0B 400 31 7 89 600 86 8 3 80 10 4 889 3542 7 3 1 11 R88G HPG32A112K0SB 182 72 1 92 273 197 7 3 40 10 4 1126 4488 7 8 1 21 R88G HPG50A213K0B 95 137 5 92 143 377 0 5 80 10 4 3611 12486 19 0 1 33 R88G HPG50A332K0SB 60 219 4 93 ...

Page 135: ...1 3 80 10 4 889 3542 7 9 1 11 R88G HPG50A115K0B 182 145 2 92 273 418 3 8 80 10 4 2974 10285 19 1 1 21 R88G HPG50A213K0SB 95 260 0 1 93 143 806 4 6 90 10 4 3611 12486 19 1 1 25 R88G HPG65A253K0SB 80 322 9 90 120 930 1 3 00 10 3 7846 28654 52 0 4 kW 1 5 R88G HPG50A054K0SB 400 85 8 91 600 250 3 1 20 10 3 2347 8118 18 6 1 11 R88G HPG50A114K0SB 182 192 7 93 273 562 8 8 70 10 4 2974 10285 20 1 1 20 R88G...

Page 136: ...126 4488 8 4 1 21 R88G HPG50A21900TB 47 169 8 94 95 362 4 7 00 10 4 3611 12486 19 1 1 33 R88G HPG50A33900TB 30 268 5 94 60 573 2 5 90 10 4 4135 14300 19 1 2 kW 1 5 R88G HPG32A052K0TB 200 90 2 95 400 196 1 4 90 10 4 889 3542 8 9 1 11 R88G HPG50A112K0TB 90 198 4 94 182 430 9 8 40 10 4 2974 10285 20 1 1 21 R88G HPG50A212K0TB 47 320 0 1 95 95 786 8 6 50 10 4 3611 12486 20 1 1 25 R88G HPG65A255K0SB 40 ...

Page 137: ...4 1 11 R88G HPG14A11100PB 273 2 63 75 454 7 06 6 89 6 00 10 6 280 1119 1 04 1 21 R88G HPG14A21100PB 143 5 40 80 238 14 5 14 2 5 00 10 6 340 1358 1 04 1 33 R88G HPG20A33100PB 91 6 91 65 151 18 6 18 1 4 50 10 5 916 3226 2 9 1 45 R88G HPG20A45100PB 67 9 42 65 111 25 3 24 7 4 50 10 5 1006 3541 2 9 200 W 1 5 R88G HPG14A05200PB 600 2 49 78 1000 7 01 2 07 10 5 221 883 0 99 1 11 R88G HPG20A11200PB 273 4 7...

Page 138: ... R88G VRSF15B100CJ 200 1 67 70 333 4 73 3 50 10 6 588 294 0 70 1 25 R88G VRSF25B100CJ 120 2 78 70 200 7 88 3 25 10 6 686 343 0 70 100 W 1 5 R88G VRSF05B100CJ 600 1 19 75 1000 3 38 4 00 10 6 392 196 0 55 1 9 R88G VRSF09B100CJ 333 2 29 80 556 6 48 3 50 10 6 441 220 0 55 1 15 R88G VRSF15B100CJ 200 3 81 80 333 10 8 3 50 10 6 588 294 0 70 1 25 R88G VRSF25B100CJ 120 6 36 80 200 18 0 3 25 10 6 686 343 0 ...

Page 139: ... momen tary torque Decelera tor inertia Allow able radial load Allow able thrust load Weight r min N m r min N m kg m2 N N kg 400 W 1 5 R88G VRSF05C400CJ 600 5 40 85 1000 15 6 15 3 3 63 10 5 784 392 1 70 1 9 R88G VRSF09C400CJ 333 9 50 83 556 27 4 26 8 2 75 10 5 931 465 1 70 1 15 R88G VRSF15C400CJ 200 15 8 83 333 45 7 44 8 3 00 10 5 1176 588 2 10 1 25 R88G VRSF25C400CJ 120 26 4 83 200 76 1 74 7 2 8...

Page 140: ...W 1 5 R88G VRSF05B100PCJ 600 1 19 75 1000 3 15 4 00 10 6 392 196 0 72 1 9 R88G VRSF09B100PCJ 333 2 29 80 556 6 048 3 50 10 6 441 220 0 72 1 15 R88G VRSF15B100PCJ 200 3 81 80 333 10 08 3 50 10 6 588 294 0 87 1 25 R88G VRSF25B100PCJ 120 6 36 80 200 16 8 3 25 10 6 686 343 0 85 200 W 1 5 R88G VRSF05B200PCJ 600 2 70 85 1000 7 65 1 18 10 5 392 196 0 85 1 9 R88G VRSF09C200PCJ 333 3 77 66 556 10 692 2 75 ...

Page 141: ...ox 0 3 kg R88A CRGA010C 10 m Approx 0 6 kg R88A CRGA015C 15 m Approx 0 9 kg R88A CRGA020C 20 m Approx 1 2 kg R88A CRGA030C 30 m 6 8 dia Approx 2 4 kg R88A CRGA040C 40 m Approx 3 2 kg R88A CRGA050C 50 m Approx 4 0 kg Servo Drive Servomotor R88D GN R88M G L 6 5 dia 6 8 dia Signal No Servo Drive E5V 1 E0V 2 BAT 3 4 S 5 6 FG Shell Red Black Orange Orange White Cable AWG22 2C AWG24 2P UL20276 3 to 20 m...

Page 142: ...R88A CRGB030C 30 m 6 8 dia Approx 2 4 kg R88A CRGB040C 40 m Approx 3 2 kg R88A CRGB050C 50 m Approx 4 0 kg Servo Drive Servomotor R88D GN R88M G L 6 5 dia 6 8 dia No E5V 1 E0V 2 S 5 6 FG No 4 5 2 3 E5V E0V S FG 6 Signal Servo Drive Shell Red Black Blue White Blue Cable AWG22 2C AWG24 2P UL20276 3 to 20 m AWG16 2C AWG26 2P UL20276 30 to 50 m Signal Servomotor Servo Drive Connector Servomotor Connec...

Page 143: ...15 m Approx 1 0 kg R88A CRGC020N 20 m Approx 1 5 kg R88A CRGC030N 30 m 6 8 dia Approx 2 5 kg R88A CRGC040N 40 m Approx 3 3 kg R88A CRGC050N 50 m Approx 4 1 kg Servo Drive Servomotor R88D GN R88M G L 6 5 dia 6 8 dia No E5V 1 E0V 2 BAT 3 4 S 5 6 FG Straight plug N MS3106B20 29S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics No H G T S K L E5V E0V BAT S FG J Signal She...

Page 144: ...ia Signal No Servo Drive E5V 1 E0V 2 3 BAT 4 5 S 6 FG Shell Pink Red Pink Black Green Red Orange Black Green Black Orange Red Cable AWG24 4P UL20276 No 7 8 1 2 4 5 E5V E0V BAT BAT S S FG Signal Servomotor 3 Servomotor Connector Connector 172161 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK Servo Drive Connector Connector Crimp type I O Connector Molex Japan Connector pi...

Page 145: ...tor R88D GN R88M G L 7 5 8 2 dia Signal No Servo Drive E5V 1 E0V 2 S 5 S 6 FG Cable AWG24 4P UL20276 No 4 5 2 3 E5V E0V S S FG Servomotor 6 Signal Servomotor Connector Connector 172160 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK Servo Drive Connector Connector Crimp type I O Connector Molex Japan Connector pins 50639 8028 Molex Japan Shell Pink Red Pink Black Orange B...

Page 146: ... No Servo Drive E5V 1 E0V 2 BAT 3 BAT 4 S 5 S 6 FG No H G T S K L E5V E0V BAT BAT S S FG Signal Servomotor J Straight plug N MS3106B20 29S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics Servomotor Connector Cable AWG24 4P UL20276 Servo Drive Connector Connector Crimp type I O Connector Molex Japan Connector pins 50639 8028 Molex Japan Signal Pink Red Pink Black Gree...

Page 147: ...D0R3C 0 3 m ABS Servo Drive Battery holder Servomotor R88D GN ML2 R88M G 43 5 300 43 5 18 8 18 8 t 12 t 12 Signal No Servo Drive S 6 S 5 BAT 4 BAT 3 E0V 2 E5V 1 FG S S BAT BAT E0V E5V FG Shell Signal No Battery holder BAT 2 BAT 1 No 6 5 4 3 2 1 Shell Signal Servomotor Orange White Orange Red Black Blue Blue White Connector plug 55100 0670 Molex Japan Connector socket 54280 0609 Molex Japan ...

Page 148: ...n moving parts Model Length L Outer diameter of sheath Weight R88A CAGA003S 3 m 6 2 dia Approx 0 2 kg R88A CAGA005S 5 m Approx 0 3 kg R88A CAGA010S 10 m Approx 0 6 kg R88A CAGA015S 15 m Approx 0 9 kg R88A CAGA020S 20 m Approx 1 2 kg R88A CAGA030S 30 m Approx 1 8 kg R88A CAGA040S 40 m Approx 2 4 kg R88A CAGA050S 50 m Approx 3 0 kg Precautions for Correct Use 50 50 L Servo Drive Servomotor R88D GN R...

Page 149: ...GB005S 5 m Approx 1 0 kg R88A CAGB010S 10 m Approx 2 0 kg R88A CAGB015S 15 m Approx 2 9 kg R88A CAGB020S 20 m Approx 3 8 kg R88A CAGB030S 30 m Approx 5 6 kg R88A CAGB040S 40 m Approx 7 4 kg R88A CAGB050S 50 m Approx 9 2 kg 70 L Servo Drive Servomotor R88D GN R88M G 10 4 dia 37 3 dia No A B C D M4 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Cable AWG14 4C UL2463 Servo Drive Red Whi...

Page 150: ... R88A CAGC010S 10 m Approx 2 0 kg R88A CAGC015S 15 m Approx 2 9 kg R88A CAGC020S 20 m Approx 3 8 kg R88A CAGC030S 30 m Approx 5 6 kg R88A CAGC040S 40 m Approx 7 4 kg R88A CAGC050S 50 m Approx 9 2 kg 70 L Servo Drive Servomotor R88D GN R88M G 10 4 dia 37 3 dia No A B C D M5 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Cable AWG14 4C UL2463 Servo Drive Red White Signal Servomotor Ser...

Page 151: ...D005S 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 Approx 8 0 kg R88A CAGD030S 30 m Approx 11 9 kg R88A CAGD040S 40 m Approx 15 8 kg R88A CAGD050S 50 m Approx 19 7 kg 70 L Servo Drive Servomotor R88D GN R88M G 14 7 dia 40 5 dia No A B C D M5 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Cable AWG10 4C UL2463 Servo Drive Red W...

Page 152: ...R88A CAGE010S 10 m Approx 12 6 kg R88A CAGE015S 15 m Approx 18 8 kg R88A CAGE020S 20 m Approx 24 9 kg R88A CAGE030S 30 m Approx 37 2 kg R88A CAGE040S 40 m Approx 49 5 kg R88A CAGE050S 50 m Approx 61 8 kg 70 L Servo Drive Servomotor R88D GN R88M G 28 5 dia 56 4 dia No A B C D Cable AWG6 4C UL62 M5 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Servo Drive Red White Signal Servomotor S...

Page 153: ...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 Approx 1 3 kg R88A CAGA030SR 30 m Approx 1 9 kg R88A CAGA040SR 40 m Approx 2 6 kg R88A CAGA050SR 50 m Approx 3 2 kg 50 50 L Servo Drive Servomotor R88D GN R88M G 6 9 dia No 1 2 3 4 FG Servo Drive Red White Black Green Yellow Cable AWG20 4C UL2464 Servomotor Servomotor Connector ...

Page 154: ...05SR 5 m Approx 1 3 kg R88A CAGB010SR 10 m Approx 2 4 kg R88A CAGB015SR 15 m Approx 3 5 kg R88A CAGB020SR 20 m Approx 4 6 kg R88A CAGB030SR 30 m Approx 6 9 kg R88A CAGB040SR 40 m Approx 9 2 kg R88A CAGB050SR 50 m Approx 11 4 kg 70 L Servo Drive Servomotor R88D GN R88M G 12 7 dia 37 3 dia No A B C D FG Signal Servo Drive Red White Blue Green Yellow Servomotor Cable AWG14 4C UL2501 Straight plug N M...

Page 155: ...88A CAGC010SR 10 m Approx 2 4 kg R88A CAGC015SR 15 m Approx 3 5 kg R88A CAGC020SR 20 m Approx 4 6 kg R88A CAGC030SR 30 m Approx 6 9 kg R88A CAGC040SR 40 m Approx 9 2 kg R88A CAGC050SR 50 m Approx 11 4 kg 70 L 37 3 dia 12 7 dia Servo Drive Servomotor R88M G R88D GN No A B C D Phase U Phase V Phase W FG Signal Servo Drive Red White Blue Green Yellow M5 crimp terminals Servomotor Cable AWG14 4C UL250...

Page 156: ...5SR 5 m Approx 2 2 kg R88A CAGD010SR 10 m Approx 4 2 kg R88A CAGD015SR 15 m Approx 6 3 kg R88A CAGD020SR 20 m Approx 8 3 kg R88A CAGD030SR 30 m Approx 12 4 kg R88A CAGD040SR 40 m Approx 16 5 kg R88A CAGD050SR 50 m Approx 20 5 kg 15 6 dia 40 5 dia 70 L Servo Drive Servomotor R88D GN R88M G No A B C D Phase U Phase V Phase W FG Signal Servo Drive M5 crimp terminals Servomotor Straight plug N MS3106B...

Page 157: ... 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 R88A CAGB030B 30 m Approx 6 8 kg R88A CAGB040B 40 m Approx 9 1 kg R88A CAGB050B 50 m Approx 11 3 kg Servo Drive Servomotor R88D GN R88M G L 70 L 70 5 4 d i a 10 4 dia No G H A F Brake Brake NC Black Brown I B E D C Ground Ground NC Cable AWG20 2C UL2464 Cable AWG14 4C UL2463 M4 crimp t...

Page 158: ...15B 15 m Approx 3 5 kg R88A CAGC020B 20 m Approx 4 6 kg R88A CAGC030B 30 m Approx 6 8 kg R88A CAGC040B 40 m Approx 9 1 kg R88A CAGC050B 50 m Approx 11 3 kg Servo Drive Servomotor R88D GN R88M G L 70 37 3 dia 10 4 dia L 70 5 4 d i a No G H A F Brake Brake NC I B E D C Ground Ground NC Cable AWG20 2C UL2464 Cable AWG14 4C UL2463 Crimp terminals M4 M5 Black Brown Phase U Phase V Phase W Blue Green Ye...

Page 159: ...pprox 4 5 kg R88A CAGD015B 15 m Approx 6 7 kg R88A CAGD020B 20 m Approx 8 8 kg R88A CAGD030B 30 m Approx 13 1 kg R88A CAGD040B 40 m Approx 17 4 kg R88A CAGD050B 50 m Approx 21 8 kg Servo Drive Servomotor R88D GN R88M G L 70 43 7 dia 14 7 dia L 70 5 4 d i a No A B C D Brake Brake NC E F G H I Ground Ground NC Cable AWG20 2C UL2464 Cable AWG10 4C UL2463 Crimp terminals M4 M5 Black Brown Phase U Phas...

Page 160: ...rox 1 5 kg R88A CAGB010BR 10 m Approx 2 8 kg R88A CAGB015BR 15 m Approx 4 2 kg R88A CAGB020BR 20 m Approx 5 5 kg R88A CAGB030BR 30 m Approx 8 2 kg R88A CAGB040BR 40 m Approx 10 9 kg R88A CAGB050BR 50 m Approx 13 6 kg Servo Drive Servomotor R88D GN R88M G L 70 L 70 6 1 d i a 12 7 dia No G H A F Brake Brake NC Phase U Servo Drive I B E D C Phase W Ground Ground NC Phase V Servomotor M4 crimp termina...

Page 161: ...5BR 15 m Approx 4 2 kg R88A CAGC020BR 20 m Approx 5 5 kg R88A CAGC030BR 30 m Approx 8 2 kg R88A CAGC040BR 40 m Approx 10 9 kg R88A CAGC050BR 50 m Approx 13 6 kg Servo Drive Servomotor R88D GN R88M G L 70 37 3 dia 12 7 dia L 70 6 1 d i a No G H A F Brake Brake NC Phase U Signal Servo Drive I B E D C Phase W Ground Ground NC Phase V Servomotor Crimp terminals M4 M5 Straight plug N MS3106B20 18S Japa...

Page 162: ...pprox 4 7 kg R88A CAGD015BR 15 m Approx 7 0 kg R88A CAGD020BR 20 m Approx 9 2 kg R88A CAGD030BR 30 m Approx 13 7 kg R88A CAGD040BR 40 m Approx 18 2 kg R88A CAGD050BR 50 m Approx 22 7 kg Servo Drive Servomotor R88D GN R88M G L 70 43 7 dia 15 6 dia L 70 6 1 d i a No A B C D Brake Brake NC Phase U Signal Servo Drive E F G H I Phase W Ground Ground NC Phase V Servomotor Crimp terminals M4 M5 Red White...

Page 163: ... 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 R88A CAGA030B 30 m Approx 1 2 kg R88A CAGA040B 40 m Approx 1 6 kg R88A CAGA050B 50 m Approx 2 1 kg Servo Drive Servomotor R88D GN R88M G 5 4 dia 50 50 L No A B Brake Brake Cable AWG20 2C UL2464 M4 crimp terminals Black Brown Servo Drive Signal Servomotor Servomot...

Page 164: ...E005B 5 m Approx 0 3 kg R88A CAGE010B 10 m Approx 0 5 kg R88A CAGE015B 15 m Approx 0 7 kg R88A CAGE020B 20 m Approx 0 9 kg R88A CAGE030B 30 m Approx 1 3 kg R88A CAGE040B 40 m Approx 1 7 kg R88A CAGE050B 50 m Approx 2 1 kg Servo Drive Servomotor R88D GN R88M G 70 L 5 4 dia No A B Brake Brake Cable AWG20 2C UL2464 M4 crimp terminals Straight plug N MS3106B14S 2S Japan Aviation Electronics Cable clam...

Page 165: ...g 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 20 m Approx 0 9 kg R88A CAGA030BR 30 m Approx 1 3 kg R88A CAGA040BR 40 m Approx 1 8 kg R88A CAGA050BR 50 m Approx 2 2 kg Servo Drive Servomotor R88D GN R88M G 6 1 dia 50 50 L No A B Brake Brake Signal Servo Drive Black White Servomotor M4 crimp terminals Servomotor Connector Connec...

Page 166: ...t Device After confirming the startup of the Servo Drive initiate communications with the host device Note that irregular signals may be received from the host interface during startup For this reason take appropriate initialization measures such as clearing the receive buffer Personal computer Servo Drive R88D GN 2000 38 No Personal computer RTS 7 CTS 8 RXD 2 GND 5 TXD 3 FG Shell Cable AWG28 3C U...

Page 167: ...ectors These connectors are used for encoder cables Use them when preparing an encoder cable yourself Dimensions R88A CNW01R for Servo Drive s CN2 Connector This connector is a soldering type Use the following cable Applicable wire AWG16 max Insulating cover outer diameter 2 1 mm dia max Outer diameter of sheath 6 7 dia 0 5 mm 43 6 39 t 18 Connector plug 10136 3000PE Sumitomo 3M Connector case 103...

Page 168: ...m dia max Panel Mounting Hole Connector housing 172161 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK 1 Applicable panel thickness 0 8 to 2 0 mm Connector housing 172160 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK 1 Applicable panel thickness 0 8 to 2 0 mm ABS 14 0 15 4 14 55 1 6 4 6 5 35 14 55 2 28 3 35 19 1 8 4 16 0 4 23 7 0 4 14 0 15 8 4 ...

Page 169: ...rake cable yourself Panel Mounting Hole Connector housing 172159 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm Connector housing 172157 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm 10 35 1 6 2 5 5 35 10 35 2 28 3 35 14 9 23 7 0 4 9 8 0 15 4 11 8 0 4 9 8 0 15 2 ...

Page 170: ...oth ends FNY W6003 Cable Models Connection Configuration and Dimensions MECHATROLINK II Communications Cable MECHATROLINK II termination resistor Model Model Length L MECHATROLINK II cable FNY W6003 A5 0 5 m FNY W6003 01 1 m FNY W6003 03 3 m FNY W6003 05 5 m FNY W6003 10 10 m FNY W6003 20 20 m FNY W6003 30 30 m MECHATROLINK II termination resistor FNY W6022 L with ferrite core 8 21 46 ...

Page 171: ... a typical connection between a host device and the Servo Drive using a MECHATROLINK II communications cable Note 1 Cable length between nodes L1 L2 Ln should be 0 5 m or longer Note 2 Total cable length should be L1 L2 Ln 50 m 0 1 2 3 4 5 6 7 8 9 A BCD E NC Unit L1 L2 Ln Termination resistor ...

Page 172: ...21 19 POT 20 33 BATCOM 34 BAT 35 OUTM1COM 36 OUTM1 16 ALMCOM 15 ALM Servo Drive DEC NOT 11 11 EXT1 EXT2 5 4 3 EXT3 12 12 Shell FG 24VIN STOP POT BATCOM BAT OUTM1COM OUTM1 ALMCOM ALM DEC NOT EXT1 EXT2 EXT3 FG 0V 24VIN 0V 24VIN 0V Blue Red 1 Blue Black 1 Pink Red 1 Pink Black 1 Green Red 1 Green Black 1 Orange Red 1 Orange Black 1 Gray Red 1 Gray Black 1 Blue Red 2 Blue Black 2 Pink Red 2 Green Red ...

Page 173: ... the Servo Drive s control I O connector CN1 to a terminal block XW2B 20G4 M3 screw terminal block Dimensions Use 0 30 to 1 25 mm2 wire AWG22 to AWG16 The wire inlet is 1 8 mm height 2 5 mm width Strip the insulation from the end of the wire for 6 mm as shown below Flat cable connector MIL connector Terminal block 45 3 38 1 20 5 Two 3 5 dia 45 15 5 29 5 3 5 3 5 67 5 5 08 2 2 20 20 19 19 1 1 Precau...

Page 174: ...m with a tightening torque of 0 59 N m Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1 25 to 2 0 mm2 Fork Terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1 25 to 2 0 mm2 Flat cable connector MIL connector 3 5 2 2 20 20 19 19 1 1 7 3 8 5 7 7 112 5 3 5 29 5 15 5 45 3 43 5 20 5 45 Terminal block Two 3 5 dia Precautions for C...

Page 175: ...s with the following dimensions When connecting wires and crimp terminals to a terminal block tighten them with a tightening torque of 0 7 N m Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 Fork Terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 B1 B2 B3 B4 B5 B 6 B7 B8 B9 B10 79 Two 4 5 dia 57 17 6 39 39 1 6 40 4 5 Precauti...

Page 176: ... use Note 1 The absolute encoder backup battery is not required when using a Servomotor with an incremental encoder Note 2 Connect the absolute encoder backup battery to only one of either the connector terminal block or absolute encoder backup battery cable Note 3 Use cable clips with double sided adhesive tape to secure the absolute encoder backup battery in place 24V 0V 24V 24V STOP POT EXT1 EX...

Page 177: ...s Ambient operating temperature and humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature and humidity 20 to 80 C 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 5 9 m s2 max Item Specifications Type Hand held Cable length 1 5 m Connectors Mini DIN 8 pin MD connector Display Seven segment LED display Outer diameter 62 ...

Page 178: ... rise Heat radiation condition Thermal switch output specifications R88A RR080100S 100 Ω 80 W 20 W Aluminum 250 250 Thickness 3 0 Operating tempera ture 150 C 5 NC contact Rated output 30 VDC 50 mA max Model Resistance Nominal capacity Regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR22047S 47 Ω 220 W 70 W Aluminum 350 350 Thic...

Page 179: ...G3AX DL2004 3 2 A 10 7 mH Approx 1 0 kg Single phase R88D GN02L ML2 R88D GN04H ML2 3G3AX DL2007 6 1 A 6 75 mH Approx 1 3 kg Single phase R88D GN04L ML2 R88D GN08H ML2 R88D GN10H ML2 3G3AX DL2015 9 3 A 3 51 mH Approx 1 6 kg Single phase R88D GN15H ML2 3G3AX DL2022 13 8 A 2 51 mH Approx 2 1 kg Single phase R88D GN08H ML2 R88D GN10H ML2 R88D GN15H ML2 3G3AX AL2025 10 0 A 2 8 mH Approx 2 8 kg Three ph...

Page 180: ......

Page 181: ... Main Circuit and Servomotor Connector Specifications 4 20 4 3 Wiring Conforming to EMC Directives 4 26 Wiring Method 4 26 Selecting Connection Components 4 31 4 4 Regenerative Energy Absorption 4 44 Calculating the Regenerative Energy 4 44 Servo Drive Regenerative Energy Absorption Capacity 4 47 Absorbing Regenerative Energy with an External Regeneration Resistor 4 48 Connecting an External Regen...

Page 182: ...osive gases Altitude 1 000 m max Ambient Temperature Control Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as the control box will cause the Servo Drive s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Drive s ambient temp...

Page 183: ...life Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installation is complete If the cover is left on during operation Servo Drive s heat dissipation is blocked which may result in malfunction Take measures during i...

Page 184: ... If an axial load greater than that specified is applied to a Servomotor it will reduce the service life of the motor bearings and may break the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of prec...

Page 185: ...ad exceeding specifications to be placed on the motor shaft If an excessive radial load is applied the motor shaft and bearings may be damaged Set up a movable pulley between the motor shaft and the load shaft so that the belt tension can be adjusted Water and Drip Resistance The protective structure for the Servomotors is as follows IP65 except for through shaft parts and cable outlets Pulley Bel...

Page 186: ...0 14 28 4 A435 BC5102 E1 R88M G40030 14 28 4 A435 BC5102 E1 R88M G75030 19 8 30 4 A435 BC1141 E1 R88M GP10030 8 9 22 4 A435 BC5101 E1 R88M GP20030 14 28 4 A435 BC5102 E1 R88M GP40030 14 28 4 A435 BC5102 E1 R88M G1K030 20 35 7 A435 AC1012E2 R88M G1K530 20 35 7 A435 AC1012E2 R88M G2K030 20 35 7 A435 AC1012E2 R88M G3K030 24 38 7 A435 AC1251E1 RA0 R88M G4K030 24 38 7 A435 AC1251E1 RA0 R88M G5K030 24 3...

Page 187: ...afts are coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the shaft to a load Do not apply commercial power directly to the Servomotor Doing so may result in fire Do not dismantle or repair the product Doing so may result in electric shock or injury WARNING ...

Page 188: ...tood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 4 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque for Aluminum 5 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Note Always use the torque given in the table above The Servomotor may slip or other problems may occur if the specified torqu...

Page 189: ...rface is flat and that there are no burrs on the tap sections and then bolt on the mounting flanges Mounting Flange Bolt Tightening Torque for Aluminum R88G HPG 11A 14A 20A 32A 50A 65A Number of bolts 4 4 4 4 4 4 Bolt size M3 M5 M8 M10 M12 M16 Mounting PCD mm 46 70 105 135 190 260 Tightening torque N m 1 4 6 3 26 1 51 5 103 255 E D C A B F ...

Page 190: ...sure it does not fall over If the Decelerator cannot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 3 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque 4 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Note Always use the torque given in the table above The Servomotor may slip or oth...

Page 191: ...requires another company s decelerator to be used in combination with an OMNUC G Series Servomotor select the decelerator so that the load on the motor shaft i e both the radial and thrust loads is within the allowable range Refer to Characteristics on page 3 18 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable in...

Page 192: ...N6B MECHATROLINK II Communications Connector 2 3 1 4 5 R88D GN ML2 R88M G Use a robot cable when the cable must be flexible Programmable Controllers SYSMAC CJ1 SYSMAC CS1 CJ1W NCF71 CS1W NCF71 6 6 1 1 1 Motion Control Unit Cable for Connector Terminal Block Connector Terminal Block Connector Terminal Block and Cable Control I O Connector Power Cable Encoder Cable Servo Drive Servo Drive CN2 Encode...

Page 193: ...W R88A CRGA C The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m 20 m 30 m 40 m or 50 m Example model number for a 3 m cable R88A CRGA003C 50 to 750 W R88A CRGB C 1 to 5 kW R88A CRGC N 3 000 r min Flat Servomotors 100 to 400 W R88A CRGA C 100 to 400 W R88A CRGB C 2 000 r min Servomotors 1 500 r min Servomotors 1 to 7 5 kW R88A CRGC N 1 000 r min Servomotors 900 W to 6 kW R8...

Page 194: ...S R88A CAGB B 2 kW R88A CAGC S R88A CAGC B 3 to 5 kW R88A CAGD S R88A CAGD B 3 000 r min Flat Servomotors 100 to 400 W R88A CAGA S R88A CAGA S For Power Connector R88A CAGA B For Brake Connector 2 000 r min Servomotors 1 500 r min Servomotors 1 to 1 5 kW R88A CAGB S R88A CAGB B 2 kW R88A CAGC S R88A CAGC B 3 to 5 kW R88A CAGD S R88A CAGD B 7 5 kW R88A CAGE S R88A CAGE S For Power Connector R88A CA...

Page 195: ...e Servo Drive s control I O connector CN1 is prepared by the user Servomotor type Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes 3 000 r min Servomotors 50 to 750 W R88A CAGA SR R88A CAGA SR For Power Connector R88A CAGA BR For Brake Connector 1 to 1 5 kW R88A CAGB SR R88A CAGB BR 2 kW R88A CAGC SR R88A CAGC BR 3 to 5 kW R88A CAGD SR R88A CAGD BR 3 000 r min F...

Page 196: ... to convert the Servo Drive s control I O Connector CN1 signals to a terminal block Connector Terminal Block Cable Comments XW2B 20G4 XW2B 20G5 XW2D 20G6 XW2Z J B33 The digits in the model number indicate the cable length 1 m and 2 m Example model number for a 2 m cable XW2Z 200J B33 ...

Page 197: ...unt of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 5 The models GNA5L ML2 to GN02L ML2 and GN01H ML2 to GN04H ML2 do not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load i...

Page 198: ...ion is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply Regeneration resistor Servo error display User control device Control Cable Encoder Cable N...

Page 199: ...n is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply Ground to 100 Ω or less Regeneration resistor Servo error display User control device Control...

Page 200: ...ge an External Regeneration Resistor must be connected to B1 B2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes The brake is not affected by the polarity of the power supply Regeneration resistor Servo error display User control device Control Cable Encoder Cable Noise filter 1 Ground ...

Page 201: ... 50 60Hz L2 L3 L1C Control circuit power supply input R88D GN L ML2 Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GN H ML2 Single phase 200 to 240 VAC 170 to 264V 50 60 Hz L2C Symbol Name Function B1 External Regeneration Resistor connection terminals 50 to 400 W These terminals normally do not need to be connected If there is high regenerative energy connect an External Regeneration Resis...

Page 202: ...ase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C B1 External Regeneration Resistor connection terminals 2 to 5 kW Normally B2 and B3 are connected If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 B3 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sure to wire ...

Page 203: ...eration Resistor between B1 and B2 if necessary B2 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sure to wire them correctly V White W Blue Green Yellow Frame ground This is the ground terminal Ground to 100 Ω or less Symbol Name Function NC Do not connect L1C Control circuit power supply input R88D GN75H ML2 Single phase 200 to 230 VAC 170 to 253 V 50 6...

Page 204: ...current A 1 2 1 7 2 5 4 6 Wire size AWG18 Frame ground GR Wire size AWG14 Screw size M4 Torque N m 1 2 Model R88D GN01H ML2 GN02H ML2 GN04H ML2 GN08H ML2 GN10H ML2 Item Unit Power supply capacity kVA 0 5 0 5 0 9 1 3 1 8 Main circuit power supply input L1 and L3 or L1 L2 and L3 1 Rated current A 1 3 2 0 3 7 5 0 3 3 1 7 5 4 1 1 Wire size AWG18 AWG16 Screw size Torque N m Control circuit power supply...

Page 205: ... 0 1 10 2 15 2 23 7 35 0 Wire size AWG14 AWG12 AWG10 AWG8 Screw size M5 Torque N m 2 0 Control circuit power supply input L1C and L2C Rated current A 0 07 0 1 0 12 0 12 0 14 Wire size AWG18 Screw size M5 Torque N m 2 0 Servomotor connection terminals U V W and GR 2 Rated current A 9 4 13 4 18 6 33 0 47 0 Wire size AWG14 AWG12 AWG8 AWG6 Screw size M5 Torque N m 2 0 Frame ground GR Wire size AWG14 A...

Page 206: ...izes 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots Pry the slot open using the lever that comes with the Servo Drive as in Fig A Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the screwdriver and press down firmly to open the slot as in Fig B 4 With the slot held open insert the end of the wire After insertin...

Page 207: ...lled on power supply lines Shielded cables must be used for all I O signal lines and encoder lines 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 filters installed The shields of all cables must be directly connected to a ground plate Wiring Method R88D GNA5L ML2 GN01L ML2 GN02L ML2 GN04L ML2 GN01H ML2 GN02H ML2 ...

Page 208: ...of Servo Drive and Servomotor must be used Symbol Name Manufacturer Model Remarks SG Surge absorber Okaya Electric Industries Co Ltd RAV781BWZ 4 Single phase 100 VAC RAV781BXZ 4 Three phase 200 VAC NF Noise filter Okaya Electric Industries Co Ltd SUP EK5 ER 6 Single phase 100 200 VAC 5 A 3SUP HQ10 ER 6 Three phase 200 VAC 10A 3SUP HU30 ER 6 Three phase 200 VAC 30 A 3SUP HL50 ER 6B Three phase 200 ...

Page 209: ...und line 1 5 m No No Frame ground Noise filter Frame ground line 1 5 m No No AC power supply Switch box Power supply line 1 5 m No No Servo Drive model Noise Filters for the Power Supply Input Model Rated current Phases Maximum leakage current 60 Hz Manufacturer R88D GNA5L ML2 SUP EK5 ER 6 5 A Single 1 0 mA at 250 VAC Okaya Electric Industries Co Ltd R88D GN01L ML2 R88D GN02L ML2 R88D GN04L ML2 3S...

Page 210: ...bottom and sides so that the surfaces will be electrically conductive If assembly is required strip the paint off the joint areas or mask them during painting to make them electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws Do not leave any conductive part unconnected Ground all Units within the case to the cas...

Page 211: ... Wiring Conforming to EMC Directives System Design 4 A B Case Door Control panel Door interior view Cross sectional view of A B Oil resistant gasket Conductive gasket Door Oil resistant gasket Conductive gasket ...

Page 212: ...ated current greater than the total effective load current of all the Servomotors The rated current of the power supply input for each Servomotor is provided in Main Circuit and Servomotor Connector Specifications on page 4 20 Add the current consumption of other controllers and any other components when selecting the NFB Inrush Current The following table lists the Servo Drive inrush currents Wit...

Page 213: ...r cable length and the insulation Note 2 The resistor plus capacitor method provides a yardstick to measure the leakage current that may flow through the human body when the Servomotor or Servo Drive is not grounded correctly The above leakage current is for normal temperature and humidity The leakage current depends on the temperature and humidity Servo Drive model Input power Leakage current Res...

Page 214: ... the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 μs If pulses are wide either decrease the current or change to a larger capacity surge absorber Dimensions Equalizing Circuits Manufacturer Model Surge immunity Type Remarks Okaya Electric Industries Co Ltd R A V 781BWZ 4 700 V 20 2 500 A Block Single phase 100 200 VAC Okaya E...

Page 215: ...dustriesCo Ltd R88D GN01L ML2 R88D GN02L ML2 R88D GN04L ML2 3SUP HQ10 ER 6 10 A 3 5 mA at 500 VAC R88D GN01H ML2 SUP EK5 ER 6 5 A 1 mA at 250 VAC R88D GN02H ML2 R88D GN04H ML2 R88D GN08H ML2 3SUP HQ10 ER 6 10 A 3 5 mA at 500 VAC R88D GN10H ML2 3SUP HU30 ER 6 30 A 3 5 mA at 500 VAC R88D GN15H ML2 R88D GN20H ML2 R88D GN30H ML2 3SUP HL50 ER 6B 50 A 8 mA at 500 VAC R88D GN50H ML2 R88D GN75H ML2 105 11...

Page 216: ...se can also be reduced by using 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter Model Rated current Rated voltage Leakage current Manufacturer SUP EK5 ER 6 5 A 250 V 1 0 mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd 105 115 5 5 43 70 52 10 95 M4 M3 M4 Ground terminal Cover mounting screw Cover Noise Filter 120 90 1 0 18 13 286 3 0 240 150 270 255 1 0 M6 M6 Two 5 5 7 dia Two 5 5 dia...

Page 217: ...dings is two turns 4 Also used on the Servo Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a frame ground line Dimensions Model Manufacturer Application 3G3AX ZCL1 1 OMRON Servo Drive output and power cable 3G3AX ZCL2 2 OMRON Servo Drive output and power cable ESD R 47B 3 NEC TOKIN Servo Drive output and power ...

Page 218: ...ics 10 100 10000 1000 100 10 1 0 1 1 1000 3G3AX ZCL2 3G3AX ZCL1 10000 1000 100 10 1 10 100 1 1000 ESD R 47B ZCAT3035 1330 10 100 1000 1000 100 10 20 40 60 80 100 1 10 100 0 1 4T 15T Frequency kHz Impedance Ω Frequency kHz Impedance Ω Frequency MHz Impedance Ω Frequency MHz Impedance Ω ...

Page 219: ... relays At power shutoff the surge voltage is the lowest but the reset time takes longer Used for 24 48 VDC systems Use a fast recovery diode with a short re verse recovery time e g RU2 of Sanken Electric Co Ltd Thyristor or varistor Thyristors and varistors are used for loads with large induction coils as in electro magnetic brakes solenoids etc and when reset time is an issue The surge voltage a...

Page 220: ...ion and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filters Do not place the Encoder Cable with the following cables in the same duct Control Cables for brakes solenoids clutches and valves Dimensions Impedance Characteristics Manufacturer Product ...

Page 221: ...ontrol power supply wiring is long noise resistance can be improved by adding 1 μF laminated ceramic capacitors between the control power supply and ground at the Servo Drive input section or the controller output section For open collector specifications keep the length of wires to within two meters Reactors to Reduce Harmonic Current Harmonic Current Countermeasures The Reactor is used for suppr...

Page 222: ...ies below 200 kHz use an isolation transformer and a noise filter Note 2 To attenuate noise at high frequencies over 30 MHz use a ferrite core and a high frequency noise filter with a feed through capacitor Note 3 If multiple Servo Drives are connected to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drives Manufacturer...

Page 223: ...ical general purpose noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to the PWM output of the Servo Drive a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Drive could be damaged Dimensions 3G3AX NF001 NF002 Manufacturer Model Rated current Remarks OMRON 3G3AX NF001 6 A For inverter ...

Page 224: ...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 220 200 180 100 182 170 140 M6 M6 230 3G3AX NF006 220 200 180 100 182 170 140 M8 M8 237 C B A P F E Six O Two N 50 30 50 H J Four 6 5 dia ...

Page 225: ... connecting an External Regeneration Resistor Calculating the Regenerative Energy Horizontal Axis In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative The regenerative energy values for each region can be derived from the following equations Note Due to the loss of winding resistance and PWM the actua...

Page 226: ...gy Absorption Capacity on page 4 47 For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption Capacity ...

Page 227: ...ative Energy Absorption Capacity on page 4 47 For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerative Energy Absorption...

Page 228: ...f regeneration is proportional to the square of the rotation speed Extend the deceleration time to decrease the regenerative energy produced per time unit Extend the operation cycle i e the cycle time to decrease the average regeneration power Note These are the values at 100 VAC for 100 VAC models and at 200 VAC for 200 VAC models Servo Drive model Regenerative energy J that can be absorbed by in...

Page 229: ...d by heat Attach radiator plates suitable for the heat radiation conditions External Regeneration Resistor Performance Specifications Model Resistance Nominal capacity Regeneration ab sorption at 120 C Heat radiation condition Thermal switch output specifications R88A RR08050S 50 Ω 80 W 20 W Aluminum 250 250 Thickness 3 0 Operating tempera ture 150 C 5 NC contact Rated output 30 VDC 50 mA max R88A...

Page 230: ...er supply is shut OFF when the contacts open The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series...

Page 231: ...that the main circuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch Servo Drive B1 B2 External Regeneration Resistor θ Thermal Switch Output Precauti...

Page 232: ...R08050S R88A RR080100S R88A RR22047S R88A RR22047S Resistance 2 50 Ω 100 Ω 25 Ω 50 Ω 47 Ω 94 Ω Connection method Regeneration absorption capacity 1 140 W 280 W 560 W Model R88A RR22047S R88A RR22047S R88A RR22047S Resistance 2 23 5 Ω 47 Ω 23 5 Ω Connection method Regeneration absorption capacity 1 180 W 360 W 1440 W Model R88A RR50020S R88A RR50020S R88A RR50020S Resistance 2 20 Ω 10 Ω 10 Ω Connec...

Page 233: ...put Signals 5 23 5 13 Sequence Output Signals 5 25 5 14 Backlash Compensation 5 27 5 15 Overrun Protection 5 29 5 16 Gain Switching 5 31 5 17 Speed Feed forward 5 38 5 18 Torque Feed forward 5 39 5 19 Speed Feedback Filter Selection 5 40 5 20 P Control Switching 5 41 5 21 Torque Command Filter Time Constant 5 42 5 22 Notch Filter 5 43 5 23 Adaptive Filter 5 45 5 24 Instantaneous Speed Observer 5 4...

Page 234: ...Decelera tion Constant Sets the angular deceleration command units s2 for positioning operations 5 82 Pn10E Moving Average Time Sets the moving average time for the position command Reduces the angular acceleration when starting and stop ping and when approaching and leaving target speed 5 82 Pn209 Deviation Counter Overflow Level Sets the level to detect the deviation counter overflow in command ...

Page 235: ...d command ratio 5 38 Damping Control Sets the vibration frequencies 1 2 and vibration filters 1 2 for damping control 5 50 Moving Average Time Sets the moving average time for the position command Reduces the acceleration when starting and stopping and when approaching and leaving target speed 5 20 Soft Limit Sets the maximum position command and position feed back current value during position co...

Page 236: ...M RE Receive Encoder Signal Electronic Gear Pn205 Numerator Pn206 Denominator Pn10E Moving Average Speed FF Pn015 FF Amount Pn016 Time Constant Deviation Counter Pn010 No 1 Pn018 No 2 Notch Filter Pn01D Filter 1 Frequency Pn01E Filter 1 Width Pn028 Filter 2 Frequency Pn029 Filter 2 Width Pn02A Filter 2 Depth Pn02F Adaptive Filter Torque Command Filter Pn014 Filter Pn01C Filter 2 Torque Limit Pn003...

Page 237: ... the detection width for the speed conformity output width VCMP 5 75 Pn062 Rotation Speed for Motor Rotation Detection Sets the rotations for the motor rotation detection output TGON signal 5 75 Pn011 Pn019 Speed Loop Gain 1 2 Adjusts the speed loop responsiveness The larger the value the faster the response is 5 67 Pn012 Pn01A Speed Loop Integration Time Constant 1 2 Sets the speed loop integrati...

Page 238: ...commands without performing speed PI calculations Sets the torque command ratio 5 39 Soft Start Sets the soft acceleration and deceleration for the speed command 5 18 Torque Limit Limits the output torque 5 16 P Control Switching Switches from PI control to P control 5 41 Speed Feedback Filter Selection Changes the time constant of the detection filter for the feedback speed to reduce resonance of...

Page 239: ...otch Filter Pn01D Filter 1 Frequency Pn01E Filter 1 Width Pn028 Filter 2 Frequency Pn029 Filter 2 Width Pn02A Filter 2 Depth Pn02F Adaptive Filter Torque Command Filter Pn014 Filter Pn01C Filter 2 Torque Limit PCL NCL Torque Limit Pn003 Selection Pn05E No 1 Torque Limit Pn05F No 2 Torque Limit Torque Monitor IM Speed Monitor SP Torque PI Processor Current Feedback Receive Encoder Signal Speed Comm...

Page 240: ...imit Selection Selects speed limit control from the network or through internal parameter Pn053 5 74 Pn003 Torque Limit Selection Selects torque limit from the network or through parameter settings 5 87 Pn05E No 1 Torque Limit Sets the No 1 Servomotor output torque limit 5 75 Pn05F No 2 Torque Limit Sets the No 2 Servomotor output torque limit 5 75 Pn01D Notch Filter 1 Frequency Sets the notch fil...

Page 241: ...rque Command Filter Time Constant Increase to decrease machine resonance 5 42 Notch Filter Sets the machine specific resonance frequency 5 43 Speed Limit Limits the Servomotor speed during torque control 5 22 Torque Limit Limits the maximum output torque during torque control 5 16 Speed Feedback Filter Selection Selects the speed detection filter 5 40 ...

Page 242: ...Constant 1 Pn019 Speed Gain 2 Pn01A Integration Time Constant 2 Pn020 Inertia Ratio Speed Detection Filter Pn013 Filter 1 Pn01B Filter 2 Speed Command Monitor Speed Monitor SP Torque Monitor IM Torque PI Processor Receive Encoder Signal Current Feedback Torque Limit Pn003 Selection Pn05E No 1 Torque Limit Pn05F No 2 Torque Limit Torque Limit PCL NCL Notch Filter Pn01D Filter 1 Frequency Pn01E Filt...

Page 243: ...rohibit Input Error alarm code 38 occurs when Pn004 2 and either Forward Drive Prohibit input or Reverse Drive Prohibit input turns OFF After stopping a command in the direction of the drive prohibit input will cause a command warning Parameter No Parameter name Explanation Reference page Pn004 Drive Prohibit Input Selection Chooses whether to enable or disable this function when POT NOT turns OFF...

Page 244: ...motor is stopped If the brake is applied while the Servomotor is rotating the brake disk may be damaged or wear out and cause damage to the Servomotor bearings and encoder Parameter No Parameter name Explanation Reference page Pn06A Brake Timing when Stopped Sets the delay time from the Servo OFF command to the Brake Interlock BKIR signal OFF and power stoppage during a servo lock stop 5 78 Pn06B ...

Page 245: ...y assigning it to the general purpose outputs on CN1 Note The brake attraction and release time varies depending on the brake on the Servomotor For details refer to 3 2 Servomotor Specifications on page 3 17 Run Command RUN ON OFF Dynamic Brake Relay ON OFF Servomotor ON OFF Break Release Request via Servo Control ON OFF Approx 2 ms Approx 2 ms 1 to 5 ms Approx 40 ms Brake Interlock Output BKIR 3 ...

Page 246: ...is used by assigning it to the general purpose outputs on CN1 In the example above a release request was not issued from the network 4 t1 is either the Brake Timing during Operation Pn06B setting or the time for the Servomotor speed to drop below approximately 30 r min whichever occurs first Note The Servomotor will not change to Servo ON until it stops even if the Servo ON input is turned ON whil...

Page 247: ...erlock BKIR signal is used by assigning it to the general purpose outputs on CN1 Note 2 The above operation timing is applied because of the Missing Phase alarm and Main Circuit Low Voltage alarm when the power is turned OFF while the Servomotor is rotating Alarm OFF ON 0 5 to 5 ms Approx 2 ms Servomotor Dynamic Brake Relay Brake Interlock Output BKIR 2 Normal Alarm output ON OFF Deenergized ON OF...

Page 248: ...R signal is used by assigning it to the general purpose outputs on CN1 Note Servo OFF status occurs Servomotor is de energized after the alarm reset To go to Servo ON status issue the Servo ON command again after the alarm reset according to the operation timing shown above Alarm Reset ON OFF 120 ms Reset OFF ON OFF Run Command RUN ON OFF ON READY ON OFF Approx 40 ms OFF ON OFF ON OFF ON Operation...

Page 249: ...ue limit is 0 to 300 and the standard default setting is 300 except for the following combinations of Servo Drives and Servomotors Parameter No Parameter name Explanation Reference page Pn003 Torque Limit Selection Selects the torque limit by various parameters and from the network 5 87 Pn05E No 1 Torque Limit Sets the No 1 Servomotor output torque limit 5 75 Pn05F No 2 Torque Limit Sets the No 2 ...

Page 250: ...it values and input signals from the network Limit in forward direction PCL is OFF Pn05E PCL is ON Pn05F Limit in reverse direction NCL is OFF Pn05E NCL is ON Pn05F 4 Forward Use Pn05E as limit Reverse Use Pn05F as limit Only in speed control torque limits can be switched by torque limit values from the network as below Limit in forward direction Use Pn05E or MECHATROLINK II command option command...

Page 251: ...n Reference page Pn058 Soft Start Acceleration Time Sets the acceleration time for the speed command Set the time it takes to accelerate from 0 r min to the Servomotor s maximum speed multiplied by 500 5 74 Pn059 Soft Start Deceleration Time Sets the deceleration time for the speed command Set the time it takes to decelerate from the Servomotor s maximum speed to 0 r min multiplied by 500 5 74 ta ...

Page 252: ...00 000 1 000 000 0 2 s Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and deceleration time The setting must be increased in order to reduce the acceleration time Setting example using a 17 bit Absolute Encoder When the setting is 100 10 000 command units s2 target speed is 2 400 r min and the electronic gear ratio of G1 G2 is 64 1 the accelerati...

Page 253: ...10 ms Parameters Requiring Settings Parameter No Parameter name Explanation Reference page Pn10E Moving Average Time Sets the moving average time for the position command Note If the Moving Average Time is set speed commands may not be executed seamlessly when switching the control modes and when switching between interpolation feed motions and positioning motions motions wherein the command wavef...

Page 254: ...xample using a 17 bit Absolute Encoder To make one turn using a setting unit of 10 000 Parameter No Parameter name Explanation Reference page Pn205 Electronic Gear Ratio 1 Numerator Sets the numerator for the electronic gear ratio Setting this parameter to 0 automatically sets the encoder resolution as the numerator 131 072 for a 17 bit absolute encoder and 10 000 for a 2 500 p r incremental encod...

Page 255: ...tings Parameter No Parameter name Explanation Reference page Pn053 Speed Limit Sets the speed limit when torque control is used This value is the same for both forward and reverse directions The setting must be less than the maximum rotation speed of the Servomotor 5 74 Pn05B Speed Limit Selection Select to perform speed limit by the Speed Limit Pn053 or the smaller value of either the speed limit...

Page 256: ...this signal is enabled and pin 1 is not connected to pin 2 an Emergency Stop Input error alarm code 87 occurs Set this signal to be enabled or disabled in the Emergency Stop Input Setting Pn041 Factory default Enable 3 EXT3 External Latch Signal 3 This external signal input latches the current value feedback pulse counter The position data is obtained the moment the input is turned ON Minimal sign...

Page 257: ...T3 2 STOP 1 24VIN Reverse Torque Limit Input Forward Torque Limit Input General purpose Input 1 External Latch 1 External Latch 2 External Latch 3 12 to 24 VDC 19 POT Forward Drive Prohibit Input 20 NOT Reverse Drive Prohibit Input 21 DEC Origin Proximity 22 IN0 General purpose Input 0 23 IN2 General purpose Input 2 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 7kΩ 1kΩ 4 ...

Page 258: ...ction Selects the function for general purpose output 2 OUTM2 5 83 Pn114 General purpose Output 3 Function Selection Selects the function for general purpose output 3 OUTM3 5 83 Pin No Symbol Name Function Interface 15 ALM Alarm Output The output is OFF when an alarm is generated in the Servo Drive 16 ALMCOM 29 OUTM2 General purpose Output 2 READY This is a general purpose output The function for ...

Page 259: ...ut Always OFF 1 INP1 Positioning Completed 1 output assignment 2 VCMP Speed Conformity Signal output assignment 3 TGON Servomotor Rotation Speed Detection output assignment 4 READY Servo Ready output assignment 5 CLIM Current Limit Detection output assignment 6 VLIM Speed Limit Detection output assignment 7 BKIR Brake Interlock output assignment 8 WARN Warning Signal output assignment 9 INP2 Posit...

Page 260: ... reverse operations Compensation will however be performed on the first reverse operation after the initial backlash compensation Once backlash compensation has been performed it will not be performed again as long as operation continues in the same direction Note 5 When the Servo OFF status occurs while backlash compensation is performed the backlash compensation amount will be cleared by presett...

Page 261: ...5 28 5 14 Backlash Compensation Operating Functions 5 Compensation in the forward direction Compensation in the reverse direction Pn101 OMNUC G Series Servomotor Pn101 OMNUC G Series Servomotor ...

Page 262: ...Parameter name Explanation Refer ence page Pn026 Overrun Limit Setting Sets the Servomotor s allowable operating range for the position command input range Setting range 0 to 100 rotations An overrun limit error alarm code 34 will occur if the set value is exceeded 5 70 Conditions under which the overrun limit will operate Operating mode Position Control Mode is used Others 1 The servo is ON 2 The...

Page 263: ... input position command and the range of rotations set in Pn026 will be added to both sides of the position command input range Left Side Operation Servo ON When the position command to the left is input the position command input range will further increase Servo motor Load Servomotor s allowable operating range Range for generating alarm code 34 Range for generating alarm code 34 Pn026Pn026 Serv...

Page 264: ...r the responsiveness at stops and during operation needs to be changed Gain switching is used when realtime autotuning does not work effectively in such cases as follows When the load inertia fluctuates in 200 ms or less When the Servomotor rotation speed does not exceed 500 r min or the load torque does not exceed 50 of the rated torque When external force is constantly applied as with a vertical...

Page 265: ...nt for the torque command filter 5 68 Pn018 Position Loop Gain 2 Sets the 2nd position loop responsiveness 5 68 Pn019 Speed Loop Gain 2 Sets the 2nd speed loop responsiveness 5 68 Pn01A Speed Loop Integration Time Constant 2 Adjusts the speed loop integration time constant 2 5 68 Pn01B Speed Feedback Filter Time Constant 2 Selects the speed detection filter time constant 5 68 Pn01C Torque Command ...

Page 266: ...ing Pn031 3 Switching by an amount of change in torque command The torque command change amount angular acceleration and deceleration speed command is set in units of 0 05 166 μs Gain Switch is canceled if the change amount vibrates and fails to meet the switching time The change amount is approximately 6 units when switching 4 in 2 ms 0 33 change in 166 μs Gain 1 Gain 1 Gain 2 Gain switch command...

Page 267: ...the gain based on the accumulated value in the deviation counter Gain Switch Setting Pn031 7 Switching based on position command pulses received Switches the gain when one or more position command pulse exists Speed command or actual Servomotor speed Pn034 Pn033 Pn034 Pn032 Gain 1 Gain 1 Gain 2 Position deviation amount Pn034 Pn033 Pn034 Pn032 Gain 1 Gain 1 Gain 2 Pn032 Position command Gain 1 Gai...

Page 268: ... Time Pn035 When switching the gain the speed loop gain speed loop integration time constant torque command filter time constant and speed detection filter will change at the same time but switching is made by the time set to reduce vibration or resonance in the machine caused by changing gain from low to high The switching time is in units of 166 μs of the internal cycle If the position loop gain...

Page 269: ... 2 x x x x 2 Switching from the network x x x O 3 Amount of change in torque command O O 0 05 O 0 05 O 4 Always Gain 1 x x x x 5 Speed command O O r min O r min O 6 Amount of position deviation O O pulse O pulse O 7 Position command pulses received O x x O 8 Positioning Completed Signal INP1 OFF O x x O 9 Actual Servomotor speed O O r min O r min O 10 Combination of position command pulses receive...

Page 270: ...witch Setting Pn031 changes as follows O Supported x Not supported Pn031 setting Switching condition Gain Switch Time Pn032 Gain Switch Level Setting Pn033 Gain Switch Hysteresis Setting Pn034 0 Always Gain 1 x x x 1 Always Gain 2 x x x 2 Switching from network x x x 3 Amount of change in torque command O O 0 05 O 0 05 ...

Page 271: ...o large Increase the feed forward amount but not so much that it causes overshooting The feed forward filter is the first order lag filter Set this filter according to the acceleration and deceleration time The figure above shows step response but the positioning time will be delayed accordingly if acceleration or deceleration occurs Parameter No Parameter name Explanation Reference page Pn015 Spe...

Page 272: ... amount by the speed command calculation Parameters Requiring Settings There are no parameters to set This is set by command from the network To control during acceleration and deceleration differential operations will be required for the speed command via the host controller Speed Feedback Torque Feed forward Current Feedback Notch Filter Torque Command Filter Torque Command TFF Torque Limit Torq...

Page 273: ...neous Speed Observer Setting is enabled Pn027 1 Pn013 and Pn01B are disabled and processed as 0 Parameters Requiring Settings The settings and cut off frequencies of Pn013 and Pn01B are as follows Parameter No Parameter name Explanation Reference page Pn013 Speed Feedback Filter Time Constant Selects the speed detection filter time constant Normally use a setting of 0 Setting range 0 to 5 5 67 Pn0...

Page 274: ...from PI control to P control Switching to P control reduces the servo rigidity and eliminates vibration The absence of the integration time results in greater speed and position deviations due to external forces and load torques Parameters Requiring Settings There are no parameters to set This is set by command from the network ...

Page 275: ...the servo rigidity decreases Depending on the machine optimize the setting for this filter as well as the notch filter explained in the next section Parameters Requiring Settings Parameter No Parameter name Explanation Reference page Pn014 Torque Command Filter Time Constant Sets the time constant for the torque command filter Setting range 0 to 25 ms units 0 01 ms 5 68 Pn01C Torque Command Filter...

Page 276: ...s wider by increasing this value Setting range 0 to 4 normally use a setting of 2 5 68 Pn028 Notch Filter 2 Frequency Sets the frequency of notch filter 2 Enabled from 100 to 1499 Hz disabled at 1500 Hz 5 71 Pn029 Notch Filter 2 Width Selects the width of the frequency of notch filter 2 The notch width becomes wider by increasing this value Setting range 0 to 4 normally use a setting of 2 5 71 Pn0...

Page 277: ...eliminates a designated component of a frequency A notch filter is used to eliminate resonance occurring in a machine Depth Fc fw Cut off frequency Fc Frequency Hz Width fw fw 0 db 3 db Notch Filter 1 Notch Filter 2 Characteristics after filtering Machine resonance Notch Filter ...

Page 278: ...the Pn02F table No Parameters Requiring Settings If the Adaptive Filter Table Number Display Pn02F has stopped changing completed a setting of 2 will be retained assuming that the resonance point does not change Write the data to the EEPROM if the results are to be saved Parameter No Parameter name Setting Explanation Reference page Pn023 Adaptive Filter Selection Adaptive filter Adaptive operatio...

Page 279: ...er the first servo ON or when the Realtime Autotuning Machine Rigidity Selection Pn022 is increased but this is not a problem if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take the following measures in any order you can Write the parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine ...

Page 280: ...ncy Pn01D to 1 500 when disabling the adaptive filter using the above table Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn022 F 6 1426 28 607 50 258 Disabled when Pn022 F 7 1372 29 584 51 248...

Page 281: ...ompletion Range 1 Set this parameter when using an absolute encoder 5 75 The instantaneous speed observer may not function properly or may not be effective under the following conditions Conditions under which the instantaneous speed observer does not function properly Control Mode In Torque Control Mode Operates in position and speed control modes Resonating load status If there s a large resonan...

Page 282: ... so 3 Set the Instantaneous Speed Observer Setting Pn027 Set the Instantaneous Speed Observer Setting Pn027 to 1 The speed detection method will switch to the Instantaneous Speed Observer If the machine operating noise or vibration becomes louder or the torque monitor waveform fluctuates significantly return the setting to 0 and make sure the inertia ratio and adjustment parameters are correct If ...

Page 283: ...ion frequency changes depending on position R88D GN ML2 Notch Filter Pn01D Pn01E Pn028 Pn029 Pn02A Pn02F 1 SM RE 1 MECHATRO LINK II MECHATRO LINK II Vibration Filter Pn02B Frequency 1 Pn02C Filter 1 Pn02D Frequency 2 Pn02E Filter 2 Electronic Gear Pn205 Numerator Pn206 Denominator Pn10E Moving Average Speed FF Pn015 FF Amount Pn016 Time Constant Deviation Counter Pn010 No 1 Pn018 No 2 Torque Comma...

Page 284: ...ve filter operation depend on the filter type se lected with the Vibration Filter Selection Pn024 Set to 0 if the damping control is not used See Note 1 5 71 Pn02C Vibration Filter 1 Setting Decrease this setting if torque saturation occurs when set ting the Vibration Frequency 1 Pn02B Increase it to make the operation faster Normally use a setting of 0 The setting range depends on the filter type...

Page 285: ...ing range 10 0 to 200 0 Hz Disabled when set to 0 to 99 Adaptive filter can be used Low pass type Vibration frequency setting range 1 0 to 200 0 Hz Disabled when set to 0 to 9 Adaptive filter cannot be used forcibly set to disabled Switching mode selection No switching Both Vibration Frequency 1 and 2 are enabled Switching with command direction Selects Vibration Frequency 1 in forward direction P...

Page 286: ...uration occurs Decrease this setting if torque saturation occurs when setting the Vibration Frequency 1 Pn02B Increase it to make the movement faster Normally use a setting of 0 The setting range depends on the filter type selected with the Vibration Filter Selection Pn024 as shown below if Vibration Filter 1 is enabled Normal type Setting range 200 to 2000 Setting range 100 Pn02B Pn02C Pn02B 2 or...

Page 287: ...rameter If the low pass type filter is selected the Adaptive Filter Selection Pn023 is forcibly set to 0 and cannot be used If the low pass type filter is selected when the adaptive filter is operating correctly the resonance that has been suppressed will reappear and noise or vibration may occur Setting Filter type Switching mode 0 Normal type No switching Both filter 1 and filter 2 are enabled 1...

Page 288: ...et or check parameters Go to Parameter Setting Mode Press the key and then press the key once Select the Parameter Type Switch to the Parameter Setting Display Set the parameter number Pn Display the parameter setting Change the parameter setting Save the changed setting to memory and return to Parameter Setting Mode Operating Procedures for 16 bit Positioning Parameters 1 Displaying Parameter Set...

Page 289: ...ter Setting Display Press the key to return to the Parameter Type Selection Display Key operation Display example Explanation Set the number of the parameter to be set or checked Key operation Display example Explanation Press the key to display the setting The selected parameter number appears in the sub window Key operation Display example Explanation Use the keys to change the setting The decim...

Page 290: ...the keys to select 32 bit parameters Key operation Display example Explanation Press the key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display Key operation Display example Explanation Set the number of the parameter to be set or checked Key operation Display example Explanation Press the key to display the setting The selected parameter number ...

Page 291: ...ng operation is not required if you are only checking a parameter setting Key operation Display example Explanation Use the keys to change the setting The decimal point will flash for the digit that can be set Press the key to save the new setting Key operation Display example Explanation Press the key to return to Parameter Setting Mode k1k0k0k0k0 0k0 Hk k k k k 0k0 Hk k k k k 0k0 k1k0k0k0k0 0k0 ...

Page 292: ...y to display Parameter Setting Mode Key operation Display example Explanation Press the keys to select the servo parameter Key operation Display example Explanation Press the key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display Key operation Display example Explanation Set the number of the parameter to be set or checked Key operation Display e...

Page 293: ...Mode The following operation is not required if you are only checking a parameter setting Key operation Display example Explanation Use the keys to change the setting The decimal point will flash for the digit that can be set Press the key to save the new setting Key operation Display example Explanation Press the key to return to Parameter Setting Mode k k1k0k0k0 1k0 k k1k0k0k0 1k0 pknk_k k1k0 sk...

Page 294: ... be enabled Note 1 Parameters marked with RT are automatically set during realtime autotuning To set these parameters manually disable realtime autotuning by setting the Realtime Autotuning Mode Selection Pn021 to 0 before changing the parameter Note 2 Parameter No is the number for MECHATROLINK II communications and CX Drive The Parameter Unit shows only the last two digits Parameter numbers in t...

Page 295: ...tecting the zero position on the encoder after the control power is turned ON 2 Indicates the electrical angle from 0 to FF hex 0 is the position where the inductive voltage on the U phase reaches the position peak The angle increases when the Servomotor turns forward The count continues from 0 after exceeding FF 3 Indicates the number total of MECHATROLINK II communications errors from 0 to FF he...

Page 296: ...n command value 1 whichever is smaller Limit in reverse direction Use Pn05F or MECHATROLINK II command option command value 2 whichever is smaller 5 Forward Use Pn05E as limit Reverse Use Pn05F as limit Only in speed control torque limits can be switched by torque limit values and input signals from the network as follows Limit in forward direction PCL is OFF Pn05E PCL is ON Pn05E or MECHATROLINK ...

Page 297: ...he sequence set in the Stop Selection for Drive Prohibition Input Pn066 when both POT and NOT inputs are enabled When both POT and NOT inputs are OPEN the Drive Prohibit Input Error alarm code 38 will occur 1 Both POT and NOT inputs disabled 2 When either POT or NOT input becomes OPEN the Drive Prohibit Input Error alarm code 38 will occur Pn No Parameter name Setting Explanation Default setting U...

Page 298: ...s are debug functions Set to enable 0 when not debugging bits 0 3 MECHATROLINK II Communications Alarms Mask MSK COM ALM bit0 0 Communications error alarm code 83 enabled 1 Communications error alarm code 83 disabled bit1 0 Watchdog data error alarm code 86 enabled 1 Watchdog data error alarm code 86 disabled bits 4 7 MECHATROLINK II Communications Warnings Mask MSK COM WARNG bit4 0 Data setting w...

Page 299: ...etion Status DEN 0V Issuing 5V Issuance complete 11 Outputs the Gain Selection Status 0V Gain 2 5V Gain 1 008 Torque Monitor IM Selection Selects the output to the Analog Torque Monitor IM on the front panel Note This monitor output has a delay due to filtering The Operating Direction Setting Pn043 does not affect this monitor output Thus forward rotation is always positive and reverse rotation is...

Page 300: ... position control responsive ness and shortens stabilization time Oscillation or overshoot will occur if set too high Adjust for optimum responsiveness 400 0 1 1 s 0 to 30000 B 011 Speed Loop Gain RT Sets the speed loop responsiveness If the Inertia Ratio Pn020 is set correctly this parameter is set to the Servomotor response frequency Increasing the gain increases the speed control respon sivenes...

Page 301: ...alue Setting 10000 disables integration 500 0 1 ms 1 to 10000 B 01B Speed Feedback Filter Time Constant 2 RT Sets the speed detection filter when using gain 2 switch ing Same function as Pn013 Normally use a setting of 0 When Instantaneous Speed Observer Setting Pn027 is enabled this parameter will be disabled 0 0 to 5 B 01C Torque Command Filter Time Constant 2 RT Sets the first order lag filter ...

Page 302: ...time Autotuning Machine Rigidity Selection Sets the machine rigidity for realtime autotuning Increasing this value increases the responsiveness If the value is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start by making small changes in the value and gradually increase the value while monitoring machine operation Cannot be set to 0 when us...

Page 303: ... Low pass type No switching 4 5 Switching with command direction 025 Normal Mode Autotuning Operation Setting Sets the operating pattern for normal mode autotuning 0 0 to 7 B Number of rotations Rotation direction 0 Repeat cycles of 2 rotations Forward and Reverse Alternating 1 Reverse and Forward Alternating 2 Forward only 3 Reverse only 4 Repeat cycles of single rotation Forward and Reverse Alte...

Page 304: ... depth thereby reducing the phase lag 0 0 to 99 B 02B Vibration Frequency 1 Sets the vibration frequency 1 for damping control to suppress vibration at the end of the load Measure and set the frequency of the vibration The frequency setting range depends on the filter type selected in the Vibration Filter Selection Pn024 Normal type Setting frequency range 10 0 to 200 0 Hz Disabled when set to 0 t...

Page 305: ...ses Gain 1 Pn010 to Pn014 PI P operation is switched from MECHATROLINK II 1 The gain is switched between Gain 1 Pn010 to Pn014 and Gain 2 Pn018 to Pn01C For details refer to 5 16 Gain Switching on page 5 31 031 Gain Switch Setting RT Sets the trigger for gain switching The details depend on the control mode For details refer to 5 16 Gain Switching on page 5 31 2 0 to 10 B 0 Always Gain 1 1 Always ...

Page 306: ...is not established Do not try to establish the network while using jog operation Otherwise command alarm alarm code 27 will occur 200 r min 0 to 500 B 03E Reserved Do not change 0 03F Reserved Do not change 0 040 Reserved Do not change 0 041 Emergency Stop Input Setting Enables the Emergency Stop Input STOP Note If this function is disabled the response status will always be 0 disabled 1 0 to 1 C ...

Page 307: ...rameter is limited by the Overspeed Detection Level Setting Pn073 50 r min 20000 to 20000 B 054 Reserved Do not change 0 055 Reserved Do not change 0 056 Reserved Do not change 0 057 Reserved Do not change 0 058 Soft Start Acceleration Time Sets the acceleration time for speed control mode Acceleration time s from 0 r min to maximum speed r min Set value 2 ms 0 2 ms 0 to 5000 B 059 Soft Start Dece...

Page 308: ...rvomotor speed is less than the set speed Note This setting has a hysteresis of 10 r min 20 r min 10 to 20000 A 062 Rotation Speed for Motor Rotation Detection Sets the threshold level for the speed reached TGON signal Speed reached is determined when the absolute value of the Servomotor speed is greater than the setting speed Note Speed reached detection has a hysteresis of 10 r min 50 r min 10 t...

Page 309: ...ioning operation within the Servo Drive When the main power supply is turned back ON Servo ON will resume Restart the positioning operation after performing the positioning opera tion and recovering from Servo OFF 1 Causes an error due to main power supply undervoltage alarm code 13 This parameter is disabled if Pn06D 1 000 If Pn06D is set too long and the voltage between P and N in the main power...

Page 310: ...nd generation process will be retained and after deceleration is complete positioning operation will be activated Note 2 When the Servomotor rotation speed is 30 r min or less stopped the deceleration mode will not be activated even if the drive prohibit input is enabled Note 3 When the parameter is set to 2 and an operation command in the drive prohibited direction is received after stopping a co...

Page 311: ... decelera tion and after stopping when the Servo is turned OFF The relationship between set values operation and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF Pn067 0 0 to 7 B 06A Brake Timing When Stopped Sets the duration from when the Brake Interlock BKIR signal turns OFF to when the Servomotor is de energized when the RUN command is t...

Page 312: ...E Emergency Stop Torque Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection for Drive Prohibition Input Pn066 is set to 2 When this parameter is set to 0 the normal torque limit will be set The maximum value of the setting range depends on the Servomotor 0 0 to 300 B 06F Reserved Do not change 0 070 Reserved Do not change 0 071 Reserved Do not c...

Page 313: ...eserved Do not change 0 07A Reserved Do not change 0 07B Reserved Do not change 0 07C Reserved Do not change 0 07D Reserved Do not change 0 07E Reserved Do not change 0 07F Reserved Do not change 0 Pn No Parameter name Setting Explanation Default setting Unit Setting range Attribute ...

Page 314: ...2 Compensates in positive direction during rotation in negative direction Compensates in negative direction during rotation in negative direction 103 Reserved Do not change 0 104 Soft Limit Enables or disables the soft limit When enabled the soft limit values are set in Forward Software Limit Pn201 and Reverse Software Limit Pn202 Note The response value for limit signals disabled by this setting ...

Page 315: ...when switching the control mode and when switching between interpolation feed motions and positioning motions motions wherein the command waveforms are generated inside the Servo Drive 0 0 1 ms 0 to 5100 B 10F Origin Return Mode Settings Sets the direction for origin return 0 0 to 1 B 0 Positive direction 1 Negative direction 110 Origin Return Approach Speed 1 Sets the operating speed for origin r...

Page 316: ...n all control modes 6 VLIM output Turn ON when the Servomotor speed reaches the speed limit for torque control Unde fined when not using torque control 7 BKIR output Turn ON with the release timing of the brake release signal in all control modes 8 WARN output Turn ON when a warning is issued in all control modes 9 INP2 output Turn ON when the position deviation is equal to or less than the Positi...

Page 317: ...s NSOT will turn ON 1 Note1 Be sure to set the limits so that Forward Software Limit Reverse Software Limit Note2 NSOT is not turned ON when origin return is incomplete 500000 Com mand units 1073741823 to 1073741823 A 203 Final Distance for External Input Positioning Sets the distance to travel after detecting the latch signal input position when performing external input positioning The operation...

Page 318: ...ic gear ratio Setting this parameter to 0 automatically sets the en coder resolution as the numerator 131072 for a 17 bit absolute encoder or 10000 for a 2 500 p r incremental encoder Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter setting alarm alarm code 93 will occur if the ratio is set outside of this range 1 0 to 131072 C 206 Electronic Gear Ratio 2 Denom...

Page 319: ...ues for user parameters listed as Reserved The attribute indicates when the changed setting for the parameter will be enabled Attribute Timing when changes will be enabled A Always enabled after change B Change prohibited during Servomotor operation and command issuance It is not known when changes made during Servomotor operation and command issuance will be enabled C Enabled when the control pow...

Page 320: ...rom the network Limit in forward direction PCL is OFF Pn05E PCL is ON Pn05F Limit in reverse direction NCL is OFF Pn05E NCL is ON Pn05F 4 Forward Use Pn05E as limit Reverse Use Pn05F as limit Only in speed control torque limits can be switched by torque limit values from the network as follows Limit in forward direction Use Pn05E or MECHATROLINK II command option command value 1 whichever is small...

Page 321: ... alarm code 83 disabled bit1 0 Watchdog data error alarm code 86 enabled 1 Watchdog data error alarm code 86 disabled bits 4 7 MECHATROLINK II Communications Warnings Mask MSK COM WARNG bit4 0 Data setting warning warning code 94h enabled 1 Data setting warning warning code 94h disabled bit5 0 Command warning warning code 95h enabled 1 Command warning warning code 95h disabled bit6 0 ML II communi...

Page 322: ...on these values Thus if the value is too large and not suitable for the load vibration or resonance may occur If this occurs lower the setting Pn No Parameter name Setting range Unit Default setting Attribute Pn021 Realtime Autotuning Mode Selection 0 to 7 0 B Setting Realtime Autotuning Degree of change in load inertia 0 Disabled 1 Horizontal axis mode Almost no change 2 Gradual changes 3 Sudden ...

Page 323: ... 0 0 0 0 0 Pn018 Position Loop Gain 2 190 380 460 570 730 840 1050 1260 Pn019 Speed Loop Gain 2 90 180 220 270 350 400 500 600 Pn01A Speed Loop Integration Time Constant 2 1 2 3 7 1000010000100001000010000100001000010000 4 5 6 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 Pn01C Torque Command Filter Time Constant 2 1 253 126 103 84 65 57 45 38 ...

Page 324: ...6 2 13 2 11 2 10 2 10 2 Pn015 Speed Feed forward Amount 300 300 300 300 300 300 300 300 Pn016 Feed forward Filter Time Constant 50 50 50 50 50 50 50 50 Pn017 Reserved 0 0 0 0 0 0 0 0 Pn018 Position Loop Gain 2 1570 1820 2410 2930 3560 4400 5240 6490 Pn019 Speed Loop Gain 2 750 900 1150 1400 1700 2100 2100 3100 Pn01A Speed Loop Integration Time Constant 2 1 2 3 7 10000100001000010000 10000 10000100...

Page 325: ...tion filter type and switching mode Filter type Normal type Vibration frequency setting range 10 0 to 200 0 Hz Adaptive filter can be used Low pass type Vibration frequency setting range 1 0 to 200 0 Hz Adaptive filter cannot be used forcibly set to disabled Pn No Parameter name Setting range Unit Default setting Attribute Pn023 Adaptive Filter Selection 0 to 2 0 B Conditions under which the adapt...

Page 326: ...tive Filter Selection Pn023 to 0 and set the number in this parameter to the notch filter Or set the Adaptive Filter Selection Pn023 to 2 to retain the Adaptive Filter Table Number The Adaptive Filter Table is shown on the next page Setting Filter type Switching mode 0 Normal type No switching Both filter 1 and filter 2 are enabled 1 2 Switching with command direction 3 Low pass type No switching ...

Page 327: ...n Pn023 to 0 and then enable it again Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn022 F 6 1426 28 607 50 258 Disabled when Pn022 F 7 1372 29 584 51 248 Disabled when Pn022 F 8 1319 30 562 5...

Page 328: ...d and either Forward or Reverse Drive Prohibit Input POT or NOT is turned ON receiving an operation command jog operation or normal mode autotuning via RS232 will cause a Drive Prohibit Input Error alarm code 38 A Drive Prohibit Input Error alarm code 38 will also occur if either POT or NOT is turned ON while operating on an operation command received via RS232 Sets the operational conditions duri...

Page 329: ...e but free the motor when stopped 3 Use free run to decelerate and free the motor when stopped Pn No Parameter name Setting range Unit Default setting Attribute Pn069 Stop Selection with Servo OFF 0 to 7 0 B Setting Explanation 0 and 4 Use dynamic brake to decelerate and remain stopped with dynamic brake 1 and 5 Use free run to decelerate and remain stopped with dynamic brake 2 and 6 Use dynamic b...

Page 330: ......

Page 331: ...bsolute Encoder Setup 6 6 6 3 Using the Parameter Unit 6 8 Names of Parts and Functions 6 8 6 4 Setting the Mode 6 9 Changing the Mode 6 9 Monitor Mode 6 10 Parameter Setting Mode 6 17 Parameter Write Mode 6 23 Normal Mode Autotuning 6 24 Auxiliary Function Mode 6 25 Copy Mode 6 28 6 5 Trial Operation 6 31 Preparation for Trial Operation 6 31 Trial Operation with CX Drive 6 31 ...

Page 332: ...ems and then turn ON the power supply Check the display to see whether there are any internal errors in the Servo Drive If using a Servomotor with an absolute encoder first set up the ab solute encoder 6 2 Preparing for Operation Setting functions By means of the user parameters set the functions according to the operating conditions 5 26 User Pa rameters Trial operation First test operation witho...

Page 333: ...H ML2 30H ML2 50H ML2 75H ML2 three phase 200VAC input Main circuit power supply Three phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Checking Terminal Block Wiring The main circuit power supply inputs L1 L3 or L1 L2 L3 must be properly connected to the terminal block The control circuit power supply inputs L1C L2C must be ...

Page 334: ...rning the power ON Note 2 The setting range for the node address setting rotary switch is 1 to 31 The actual node address used on the network will be the sum of the rotary switch setting and the offset value of 40h If the rotary switch setting is not between 1 and 31 a node address setting error alarm code 82 will occur Rotary Switch Set Value Description 1 to 31 Node address Set value 40h 41h Nod...

Page 335: ...ALM output will take approximately 2 seconds to turn ON after the power has been turned ON Do not attempt to detect an alarm using the Host Controller during this time if power is turned ON while the Host Controller is connected LED Display Description OFF No communications Flashing green Asynchronous communications established Lit green Synchronous communications established Flashing red Recovera...

Page 336: ... Supply All OFF All ON approx 0 6 s Node Address Display nA Node Address approx 0 6 s Rotary switch setting for MSD 0 LSD 3 Time set by the Power ON Address Display Duration Setting Pn006 Normal Display when the Default Display Pn001 is set to 0 Main Power Supply ON and Network Established Servo ON Alarm Issued Alarm Display Warning code 2 s Normal Display approx 4 s Alarm code flashes in decimal ...

Page 337: ... occur when the absolute encoder is cleared from the Parameter Unit or CX Drive This is for safety purposes not an indication of failure Note that the one turn data cannot be cleared Absolute Encoder Setup Procedure for the Parameter Unit 1 Turn ON the power supply and align to the origin Turn ON the power supply perform the origin alignment operation and move the machine to the origin position 2 ...

Page 338: ...upply to the Servo Drive and then turn it back ON ekrkrkokrk k sktkakrktk k fkiknkikskh k k k k k k k eknkck k k k eknkck k k k Hold down the Increment key for approx 3 seconds The number of dashes on the display will increase Clearing the absolute encoder will be started Clearing will be finished almost immediately Note If you attempt to clear an incremental encoder Error will be displayed ...

Page 339: ...lay 2 Digits Displays the parameter type servo 16 bit or 32 bit In Parameter Setting Mode displays the 2 digit parameter number Mode Key Switches between the following six modes Monitor Mode Normal mode autotuning Parameter Setting Mode Auxiliary Function Mode Parameter Write Mode Copy Mode Increment Decrement Key Increases or decreases parameter numbers or set values Shift Key Shifts the digit be...

Page 340: ...ing the Mode Operation 6 6 4 Setting the Mode Changing the Mode pknk_krk0k0 k 1k6 Parameter Unit default display 1k6kbkikktkp Monitor Parameter Setting Parameter Write Normal Mode Autotuning Auxiliary Function Copy ...

Page 341: ...ses Not used Not used Automatic Servomotor recognition enabled disabled display Communications method display Position deviation 8 pulses 1000 r min Torque output 100 Position control display Input signal No 0 enabled No current errors No current warnings 30 of allowable regeneration energy Overload load ratio 28 Inertia ratio 100 Total feedback pulses 50 Total command pulses 10 Automatic Servomot...

Page 342: ...s in the deviation counter unit pulse Accumulated pulses in reverse rotation are displayed with Servomotor Speed Displays the Servomotor speed unit r min Speeds in reverse rotation are displayed with Torque Output Displays the percentage of Servomotor torque output When the rated toque output for the Servomotor is used 100 is displayed Torque outputs in reverse rotation are displayed with Control ...

Page 343: ...gin Proximity Input 21 06 EXT1 External Latch Signal 1 5 07 EXT2 External Latch Signal 2 4 08 EXT3 External Latch Signal 3 3 0A STOP Emergency Stop input 2 0B IN2 External General purpose Input 2 23 0C PCL Forward Torque Limit Input 7 0D NCL Reverse Torque Limit Input 8 0E IN0 External General purpose Input 0 22 0F IN1 External General purpose Input 1 6 Input signal No 00 ON Output signal No 1A OF...

Page 344: ... Speed Conformity 09 TGON Servomotor Rotation Speed Detection 0F INP2 Positioning Completed 2 Output If the decimal point is at the right of the signal number the signal number can be changed If the decimal point is at the right of the input output indication you can switch between inputs and outputs Move the flashing decimal point with the Shift key Switches between inputs and outputs Press the I...

Page 345: ...e can be viewed in the alarm history The display will flash when an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for alarm 0 will be the same Alarm code is displayed if no alarms have occurred Current alarm Alarm 0 newest alarm Alarm 13 oldest alarm ...

Page 346: ...verspeed error 14 Overcurrent 44 Absolute encoder one turn counter error 15 Servo Drive overheat 45 Absolute encoder multi turn counter error 16 Overload 47 Absolute encoder status error 18 Regeneration overload 48 Encoder phase Z error 21 Encoder communications error 49 Encoder PS signal error 23 Encoder communications data error 82 Node address setting error 24 Deviation counter overflow 83 Comm...

Page 347: ...er of pulses Hold down the key for 5 s or longer to reset the total pulses to 0 Automatic Servomotor Recognition No warning Warning Overload 85 or more of the alarm level for overload Absolute encoder battery voltage dropped to 3 2 V or less Fan lock Abnormal cooling fan speed Over regeneration 85 or more of the alarm level for regeneration overload The alarm level will be 10 of the operating rati...

Page 348: ...eter Setting Mode Key operation Display example Explanation Confirm that 16 bit Parameter is selected Key operation Display example Explanation Press the key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display Key operation Display example Explanation Use the and keys to set the parameter number If the parameter number is large the setting can be ...

Page 349: ... to Parameter Setting Mode Some parameters will be displayed with an r before the number when the display returns to Parameter Setting Mode To enable the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM When the setting for a parameter is saved the new setting will be used for control Make gradual rather than l...

Page 350: ...de Key operation Display example Explanation Press the and keys to select 32 bit parameters Key operation Display example Explanation Press the key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display Key operation Display example Explanation Use the and keys to set the parameter number If the parameter number is large the setting can be made more ...

Page 351: ...peration Display example Explanation Press the key to return to Parameter Setting Mode Some parameters will be displayed with an r before the number when the display returns to Parameter Setting Mode To enable the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM When the setting for a parameter is saved the new...

Page 352: ...y operation Display example Explanation Press the and keys to select the servo parameter Key operation Display example Explanation Press the key to go to the Parameter Setting Display Press the key to return to the Parameter Type Selection Display Key operation Display example Explanation Use the and keys to set the parameter number If the parameter number is large the setting can be made more qui...

Page 353: ...n to Parameter Setting Mode Some parameters will be displayed with an r before the number when the display returns to Parameter Setting Mode To enable the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM When the setting for a parameter is saved the new setting will be used for control Make gradual rather than ...

Page 354: ...rs will be enabled only after the power has been turned OFF and ON again Turn OFF the Servo Drive power supply and then turn it ON again is displayed if there is a writing error Write the data again Key operation Display example Explanation Press the key to return to the Parameter Write Mode Display If a write error occurs write the data again If write errors continue to occur there may be a fault...

Page 355: ...d The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase The Servomotor will start and normal mode autotuning will begin This display indicates a normal completion will be displayed if a tuning error has occurred Key operation Display example Explanation Press the key to return to Normal Mode Autotuning For details on normal mode autotuning refer ...

Page 356: ...Monitor Mode Press the key four times to display Auxiliary Function Mode Key operation Display example Explanation Press the key to switch to Alarm Reset Mode Press and hold the key until is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase Alarm reset will start This display indicates a normal completion will be displayed if the al...

Page 357: ...tes a normal completion will be displayed if the absolute encoder reset could not be performed Check whether an unsupported encoder is connected and then perform the procedure again Key operation Display example Explanation Press the key to return to Auxiliary Function Mode The absolute encoder can be reset only for systems that use an absolute encoder Do not disconnect the Parameter Unit from the...

Page 358: ...or 5 s or longer The bar indicator will increase This completes preparations for jog operation Press and hold the key until Sev_on is displayed The decimal point will move to the left when the key is pressed for 3 s or longer The Servo will turn ON Forward operation will be performed while the key is pressed and reverse operation will be performed while the key is pressed The Servomotor will stop ...

Page 359: ...ing Copying Key operation Display example Explanation The item set for the Default Display Pn001 is displayed Press the key to display Monitor Mode Press the key five times to display Copy Mode Key operation Display example Explanation Press the key to switch to Copy Mode Press and hold the key until EEPCLR is displayed The bar indicator will increase when the key is pressed for 3 s or longer The ...

Page 360: ...ise or EEPROM fault in the Parameter Unit Key operation Display example Explanation The item set for the Default Display Pn001 is displayed Press the key to display Monitor Mode Press the key five times to display Copy Mode Press the key to switch to the copy display for copying from the Param eter Unit to the Servo Drive Key operation Display example Explanation Press the key to switch to Copy Mo...

Page 361: ...ple Explanation Press the key to return to Copy Mode If is displayed before completion repeat the procedure from the beginning Press the key to clear the error If errors are repeatedly displayed the following may be the cause cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Do not disconnect the Parameter Unit from the Servo Drive...

Page 362: ...cuits as well Make sure that there are no loose connections Power Supply Voltage Make sure that the voltage corresponds to the rated voltage Motor Installation Make sure that the Servomotor has been securely installed Disconnection from Mechanical System If necessary make sure that the Servomotor has been disconnected from the mechanical system Brake Make sure that the brake has been released Tria...

Page 363: ...Adjustment 7 1 Gain Adjustment Methods 7 1 Gain Adjustment Procedure 7 2 7 2 Realtime Autotuning 7 3 Realtime Autotuning Setting Method 7 4 Machine Rigidity Setting Method 7 4 7 3 Normal Mode Autotuning 7 9 Setting the Parameters 7 9 7 4 Manual Tuning 7 14 Basic Settings 7 14 ...

Page 364: ...in realtime and automatically sets the optimal gain according to the estimated load inertia 7 3 Normal mode autotuning Normal mode autotuning automatically sets the appropriate gain by operating the Servomotor with the command pattern generated automatically by the Servo Drive and estimating the load inertia from the torque required at that time 7 9 Manual adjustment Manual tuning Manual tuning is...

Page 365: ...celerator s output Use gears with small backlash The specific vibration resonance frequency of the mechanical system has a large impact on gain adjustment The responsiveness of the servo system cannot be set high for machines with a low resonance frequency low machine rigidity Start of adjustment Yes Yes No No Realtime autotuning Normal mode autotuning Use automatic adjustment Is command input pos...

Page 366: ... described in the following table If realtime autotuning does not function properly use normal mode autotuning or manual tuning Conditions under which realtime autotuning does not function properly Load inertia If the load inertia is too small or too large compared with the rotor inertia i e less than 3 times more than 20 times or more than the applicable load inertia ratio If the load inertia cha...

Page 367: ...with the normal pattern To improve the response increase the machine rigidity number and then check the response again If vibration occurs enable the adaptive filter If the filter is already enabled lower the machine rigidity number and make adjustments 3 If there is no problem with the operation turn the servo OFF and disable the Realtime Autotuning Mode Selection Pn021 by setting it to 0 The ada...

Page 368: ...rite the parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Selection Pn022 Manually set the notch filter Once unusual noise or vibration occurs the Inertia Ratio Pn020 may have changed to an extreme value In this case also take the measures described above Out of the results of realtime autotuning the Inertia Ratio Pn020 is automatically saved to ...

Page 369: ...ng Parameter Pn021 Press the key Press the key Press the key Press the key Press the key Press the key Select the number of the parameter to be set by using the and keys Pn021 is selected in this example Change the value by using the and keys Setting Parameter Pn022 Select Pn022 by using the key Default setting Increase the value by using the key Decrease the value by using the key Writing to EEPR...

Page 370: ... 0 0 Pn018 Position Loop Gain 2 190 380 460 570 730 840 1050 1260 Pn019 Speed Loop Gain 2 90 180 220 270 350 400 500 600 Pn01A Speed Loop Integration Time Constant 2 1 2 3 7 1000010000100001000010000100001000010000 4 5 6 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0 0 Pn01C Torque Command Filter Time Constant 2 1 253 126 103 84 65 57 45 38 Pn020 ...

Page 371: ...2 11 2 10 2 10 2 Pn015 Speed Feed forward Amount 300 300 300 300 300 300 300 300 Pn016 Feed forward Filter Time Constant 50 50 50 50 50 50 50 50 Pn017 Reserved 0 0 0 0 0 0 0 0 Pn018 Position Loop Gain 2 1570 1820 2410 2930 3560 4400 5240 6490 Pn019 Speed Loop Gain 2 750 900 1150 1400 1700 2100 2100 3100 Pn01A Speed Loop Integration Time Constant 2 1 2 3 7 10000100001000010000 10000 100001000010000...

Page 372: ...tern Set the operating pattern using the Normal Mode Autotuning Operation Setting Pn025 Setting Number of rotations Direction of rotation 0 Two rotations Repeat Multiple Times Forward and Reverse Alternating 1 Reverse and Forward Alternating 2 Forward only 3 Reverse only 4 One rotation Repeat Multiple Times Forward and Reverse Alternating 5 Reverse and Forward Alternating 6 Forward only 7 Reverse ...

Page 373: ...er and then check the response again If vibration occurs lower the machine rigidity number and make adjustments The setting parameters are the same as in Realtime Autotuning RTAT Parameter Tables on page 7 7 3 Execute normal mode autotuning Move the load to a position where it will not interfere with the operation performed according to the operation pattern For reciprocating movement 1 or 2 rotat...

Page 374: ...t to 0 the Servomotor will rotate twice in the forward reverse directions for about 15 seconds This cycle is repeated up to 5 times There is no problem if operation ends before 5 cycles are completed Repeat Step 2 Select the machine rigidity to Step 4 Execute normal mode autotuning until the satisfying response can be obtained 5 Save the gain adjustment value Once the satisfying response is obtain...

Page 375: ...is too small there may be problems with the operation Actuating the network during normal mode autotuning will cause a command error alarm code 27 Do not actuate the network while executing normal mode autotuning The position data is initialized after normal mode autotuning If the load inertia is less than 3 times the rotor inertia or greater than the applicable load inertia 20 to 30 times greater...

Page 376: ...ilter Time Constant 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 Pn018 Position Loop Gain 2 190 380 460 570 730 840 1050 1260 1570 1820 2410 2930 3560 4400 5240 6490 Pn019 Speed Loop Gain 2 90 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2100 3100 Pn01A Speed Loop Integration Time Constant 2 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 Pn01B Speed F...

Page 377: ...ckly 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 actual Servomotor speed command speed torque and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device Set the type of signal to be output and the output voltage level by...

Page 378: ...ake extreme adjustment or changes to settings Doing so will result in unstable operation and may lead to injuries Adjust the gain in small increments while checking Servomotor operation Increase the Speed Loop Gain Pn011 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time Constant Pn012 but not so much that it causes hunting when the servo is lock...

Page 379: ...n the servo is locked End of adjustment Yes No End of adjustment Does hunting vibration occur when the Servomotor is rotated Reduce the Speed Loop Gain Pn011 Write the data to EEPROM in the parameter write mode Never make extreme adjustment or changes to settings Doing so will result in unstable operation and may lead to injuries Adjust the gain in small increments while checking Servomotor operat...

Page 380: ...tant 20 0ms Pn01A Pn014 Torque Command Filter Time Constant 0 80ms Pn01C Application Inertia Rigidity Position Loop Gain 1 s Speed Loop Gain Hz Speed Loop Integration Time Con stant Torque Command Filter Time Constant 0 01 ms Ball screw horizontal Large Low 20 140 35 160 Ball screw horizontal Medium Medium 40 80 20 100 Ball screw horizontal Small High 80 60 15 80 Ball screw vertical Large Low 20 1...

Page 381: ...up the positioning process increase the Position Loop Gain If the Position Loop Gain is too large overshooting or vibrations may occur In this case reduce the Position Loop Gain If the vibration is occurring in the Speed Loop or the Current Loop adjusting the Position Loop does not stop the vibration The response to Position Loop Gain adjustment is shown below High Position Loop Gain causes oversh...

Page 382: ...eed Loop Gain but not so much that it causes vibrations Since the Speed Loop Gain is related to the Speed Loop Integration Time Constant Pn012 increasing the Integration Time Constant can also increase the Speed Loop Gain Low Speed Loop Gain causes a slower response and large overshooting Increase the Speed Loop Gain High Speed Loop Gain increases the likelihood of vibration Vibration and resonanc...

Page 383: ...vides a smoother current flow thus reducing the amount of vibration The default value of the Filter Time Constant is 80 0 8 ms Increase the value to reduce vibration An increase in value however will cause a slower response Use 1 25 of the Speed Loop Integration Time Constant Pn012 as a reference for setting The Torque Command Filter also reduces vibration due to machine rigidity The Torque Comman...

Page 384: ... Limit Pn053 or the MECHATROLINK II speed limit value will be used When the Servomotor speed approaches the speed limit value the control method will switch from torque control using torque commands from MECHATROLINK II to speed control using the speed limit value determined via MECHATROLINK II or the Speed Limit Pn053 To ensure the stable operation during the speed limit parameters need to be adj...

Page 385: ...roubleshooting 8 7 Error Diagnosis Using the Displayed Alarm Codes 8 7 Error Diagnosis Using the Displayed Warning Codes 8 14 Error Diagnosis Using the Operating Status 8 15 8 4 Overload Characteristics Electronic Thermal Function 8 20 Overload Characteristics Graphs 8 20 8 5 Periodic Maintenance 8 21 Servomotor Service Life 8 21 Servo Drive Service Life 8 22 Replacing the Absolute Encoder Battery...

Page 386: ...7 V 50 60 Hz R88D GN H ML2 Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure so be sure that the power supply is correct Check the voltage of the sequence input power supply 24 VIN Terminal CN1 pin 1 Within the range of 11 to 25 VDC If the voltage is outside of this range there is a risk of operation failure so be sure th...

Page 387: ...cing the Servomotor 1 Replace the Servomotor 2 Perform origin position alignment for position control When the Servomotor is replaced the Servomotor s origin position phase Z may deviate so origin alignment must be performed Refer to the Position Controller s manual for details on performing origin alignment 3 Set up the absolute encoder If a Servomotor with an absolute encoder is used the absolut...

Page 388: ...k error allowing you to check the network status Alarm type Description Protective function that allows the alarm to be reset and leaves record in the alarm history PR Protective function that does not allow the alarm to be reset and requires the control power supply to be turned OFF and turned ON again after resolving the problem X Protective function that does not leave record in the alarm histo...

Page 389: ... the setting of the Overspeed Detection Level Setting Pn073 27 PR Command error The operation command resulted in an error 29 Internal deviation counter overflow The value of the internal deviation counter internal control unit exceeded 227 134217728 34 Overrun limit error The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting Pn026 with respect to the position comm...

Page 390: ...not received according to the transmission cycle 86 Watchdog data error Synchronization data exchanged between the master and slave nodes during each MECHATROLINK II communications cycle resulted in an error 87 X Emergency stop input error The emergency stop input became OPEN 90 Transmission cycle setting error The transmission cycle setting error when the MECHATROLINK II CONNECT command is receiv...

Page 391: ...e Warning Detection Function Warning Details High 94h 148 Data setting warning Command argument setting is out of the range Parameter write failure Command settings are wrong and others 95h 149 Command warning Command output conditions are not satisfied Received unsupported command Subcommand output conditions are not satisfied 96h 150 ML II communications warning One or more MECHATROLINK II commu...

Page 392: ...Servo Drive has failed Measure and check the line voltages between L1 L2 and L3 of the main power supply Input a correct voltage Remove the phase advance capacitor 1 Measure the resistance for the external regeneration resistor between terminals B1 and B2 of the Servo Drive and check that the reading is normal Replace it if disconnected 2 Provide the necessary regeneration resistance and wattage 3...

Page 393: ...ature has exceeded the specified value Radiation performance has dropped 2 There is excessive load 1 Reduce the Servo Drive s ambient temperature and improve the cooling conditions 2 Increase the capacity of the Servo motor Reduce the effective load ratio for example with a longer acceleration deceleration time 16 Overload The effective values of the torque commands have exceeded the over load lev...

Page 394: ...imes thereby activating the error detection function No response to request from the Servo Drive Check that the encoder line is properly connected Check that there is no damage to the encoder due to incorrect connections Replace the Servomotor and check again 23 Encoder communications data error Communications error occurred for the data from the encoder Mainly a data error due to noise The encode...

Page 395: ...onic gear ratio is not too large and the acceleration deceleration is not too small 2 Do not actuate the network while executing normal mode autotuning and jog operation 3 Alarm code 27 is issued when clearing the multi turn data on the absolute encoder via RS 232 communications This is for safety purposes not an error When executing the multi turn clear command via the network an alarm will not b...

Page 396: ...d below the specified value 3 0 V or less Connect the power supply for the battery and clear the absolute encod er Refer to Absolute Encoder Setup on page 6 6 Initial setup of the absolute encoder must be performed to clear the alarm 41 Absolute encoder counter overflow error The multi turn counter of the encoder exceeded the specified value Check the setting for the Operation Switch When Using Ab...

Page 397: ...lave node Check the MECHATROLINK II communications cable for disconnec tion or wiring problem Check the connection of the terminator termination resistor Check the MECHATROLINK II communications cable for excessive noise and that the cable is laid proper ly Also check the FG wiring for the Ser vo Drive Increase the consecutive communica tions error detection count in the Com munications Control Pn...

Page 398: ...sued while MECHATROLINK II was in asynchronous communications mode Check the command sent from the master node 93 Parameter setting error The electronic gear ratio parameter is set outside the allowable setting range Less than 1 100 or greater than 100 1 Check the parameter setting 95 Servomotor non conformity The combination of the Servomotor and Servo Drive is not appropriate Use the Servomotor ...

Page 399: ...tatus of POT NOT input and operation command 150 96h ML II communications warning One or more MECHATROLINK II communications error occurred Refer to the countermeasures for Communications error on page 8 12 alarm code 83 144 90h Overload warning 85 of the overload alarm trigger level has been exceeded Refer to Overload on page 8 8 145 91h Regeneration overload 85 of the regeneration overload alarm...

Page 400: ...be controlled from the host controller Normal status Normal status LED COM is lit in green Synchronous communica tions on the MECHATROLINK II communications actuated Controllable status Normal status Normal status LED COM is flashing in red Recoverable alarm related to MECHATROLINK II communications Reset and actuate the network again from the host controller Check the network wiring Check the wir...

Page 401: ... set to 0 Input the position and speed data to start the Servomotor Cannot tell whether the Servomotor is rotating Check that the speed command from the host controller is not too slow Check the speed command from the host controller The holding brake is working Check the brake interlock BKIR signal and the 24 VDC power supply For a Servomotor with brake check that its holding brake is released by...

Page 402: ... worn down The Servomotor is overheating The load is too large Measure the torque using the front panel IM or a tool Slow down the acceleration deceleration Lower the speed and measure the load The heat radiation condi tions for the Servomotor have worsened Check that the specified heat radiation conditions are satisfied For a Servomotor with a brake check the load ratio Improve the heat radiation...

Page 403: ...brake is disabled Check if the dynamic brake is disabled or has failed If disabled enable it If there is a failure or disconnection of the resistor replace the Servomotor Overshootswhen starting or stopping The Position Loop Gain Pn010 is too large Review the Position Loop Gain Pn010 Adjust the gain to avoid overshooting Poor balance between the Speed Loop Integration Time Constant Pn012 and the S...

Page 404: ...p Gain Pn011 Use CX Drive and analog monitors SP IM to measure the response and adjust the gain The Speed Feedback Filter Time Constant Pn013 does not match the load Check the Speed Feedback Filter Time Constant Pn013 The parameter is usually set to 0 Increase the Speed Feed back Filter Time Constant Pn013 and operate Vibration occurs due to low mechanical rigidity Check whether the vibration fre ...

Page 405: ...w the characteristics of the load ratio and the electronic thermal function s operation time When the torque command 0 and a constant torque command is continuously applied after three or more times the overload time constant has elapsed the overload time t s will be t s Overload time constant s loge 1 Overload level Torque command 2 The overload time constant s depends on the Servomotor The stand...

Page 406: ...for components is listed below Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient Servomotor operating temperature of 40 C shaft loads within the allowable range rated operation rated torque and rated r min and proper installation as described in this manual The oil seal can be replaced The radial loads during operation rotation...

Page 407: ... the power ON time be reduced as much as possible to lengthen the service life of the Servo Drive The life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 50 The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with n...

Page 408: ...y battery errors may occur due to voltage delay in the battery Replacing the Battery If a battery alarm occurs the absolute encoder battery must be replaced Replace the battery with the control power supply to the Servo Drive ON If the battery is replaced with the control power supply to the Servo Drive OFF data held in the encoder will be lost Once the absolute encoder battery has been replaced c...

Page 409: ...cement battery 2 Remove the battery box cover 3 Put the battery into the battery box 4 Close the cover to the battery box R88A BAT01G Raise the hooks to remove the cover Attach the connector Insert the battery Make sure that the connector wiring does not get caught when closing the cover to the battery box ...

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Page 411: ...Chapter 9 Appendix 9 1 Parameter Tables 9 1 ...

Page 412: ...ter No is the number for MECHATROLINK II communications and CX Drive The Parameter Unit shows only the last two digits Parameter numbers in the 100s specify 16 bit parameters and numbers in the 200s specify 32 bit parameters A Always enabled after change B Change prohibited during Servomotor operation and command issuance It is not known when changes made during Servomotor operation and command is...

Page 413: ... Reserved Do not change 1 001 Default Display Selects the data to be displayed on the 7 segment LED display on the front panel 0 0 to 4 A 0 Normal status Servo OFF 00 Servo ON 1 Mechanical angle 0 to FF hex 2 Electrical angle 0 to FF hex 3 Cumulative count for MECHATROLINK II communication errors 0 to FF hex 4 Rotary switch setting node address loaded at startup in decimal 5 to 32767 Reserved Do n...

Page 414: ... whichever is smaller Limit in reverse direction Use Pn05F or MECHATROLINK II command option command value 2 whichever is smaller 5 Forward Use Pn05E as limit Reverse Use Pn05F as limit Only in speed control torque limits can be switched by torque limit values and input signals from the network as follows Limit in forward direction PCL is OFF Pn05E PCL is ON Pn05E or MECHATROLINK II command option...

Page 415: ...ts the duration to display the node address when the control power is turned ON 30 ms 0 to 1000 C 0 to 6 600ms 7 to 1000 set value 100 ms 007 Speed Monitor SP Selection Selects the output to the Analog Speed Monitor SP on the front panel Forward rotation is always positive and reverse rotation is always negative 3 0 to 11 A 0 Actual Servomotor speed 47 r min 6 V 1 Actual Servomotor speed 188 r min...

Page 416: ...nges from the host controller via the network 1 Prohibits parameter changes from the host controller via the network Attempting to change a parameter via the network when prohibited triggers the Command Warning warning code 95h 00B Operation Switch When Using Absolute Encoder Selects how the absolute encoder is used This parameter is disabled when using an incre mental encoder 0 0 to 2 C 0 Use as ...

Page 417: ...en using gain 2 switching 200 0 1 1 s 0 to 30000 B 019 Speed Loop Gain 2 RT Sets the speed loop gain when using gain 2 switch ing 800 0 1 Hz 1 to 30000 B 01A Speed Loop Integration Time Constant 2 RT Sets the speed loop integration time constant when using gain 2 switching Same function as Pn012 Set 9999 to stop integration operation while retaining the integration value Setting 10000 disables int...

Page 418: ...d 1 Adaptive filter enabled Adaptive operation performed 2 Adaptive filter enabled Adaptive operation will not be performed i e retained 024 Vibration Filter Selection Selects the vibration filter type and the switching mode Filter type selection Normal type Vibration frequency setting range 10 0 to 200 0 Hz Low pass type Vibration frequency setting range 1 0 to 200 0 Hz Switching mode selection N...

Page 419: ... to 4 B 02A Notch Filter 2 Depth Selects the notch depth of notch filter 2 for resonance suppression Increasing the value decreases the notch depth thereby reducing the phase lag 0 0 to 99 B 02B Vibration Frequency 1 Sets the vibration frequency 1 for damping control to suppress vibration at the end of the load Measure and set the frequency of the vibration 0 0 1 Hz 0 to 2000 B 02C Vibration Filte...

Page 420: ...Switch Level Setting RT Sets the judgment level to switch between Gain 1 and Gain 2 when the Gain Switch Setting Pn031 is set to 3 5 6 9 or 10 The unit for the setting depends on the condition set in the Gain Switch Setting Pn031 600 0 to 20000 B 034 Gain Switch Hysteresis Setting RT Sets the hysteresis of the judgment level for the Gain Switch Level Setting Pn033 when the Gain Switch Setting Pn03...

Page 421: ...ved Do not change 0 048 Reserved Do not change 0 049 Reserved Do not change 0 04A Reserved Do not change 0 04B Reserved Do not change 0 04C Reserved Do not change 0 04D Reserved Do not change 0 04E Reserved Do not change 0 04F Reserved Do not change 0 050 Reserved Do not change 0 051 Reserved Do not change 0 052 Reserved Do not change 0 053 Speed Limit Sets the speed limit for torque control mode ...

Page 422: ...sitioning Completion 2 INP2 is selected 100 Com mand units 0 to 10000 A 064 Motor Phase Current Offset Re adjustment Setting Enables or disables the offset component readjust ment function of the Motor Phase Current Detector CT for Servo ON command inputs The readjust ment is made when control power is turned ON 0 0 to 1 A 0 Disabled only when turning ON control power 1 Enabled when turning ON con...

Page 423: ...rake to decelerate and remain stopped with dynamic brake 1 and 5 Use free run to decelerate and remain stopped with dynamic brake 2 and 6 Use dynamic brake to decelerate but free the motor when stopped 3 and 7 Use free run to decelerate and free the motor when stopped 068 StopSelectionfor Alarm Generation Sets the deceleration process and stop status after an alarm is issued by the protective func...

Page 424: ...hen the main power supply continues to shut off The main power OFF detection will be disabled if this parameter is set to 1000 35 2 ms 35 to 1000 C 06E Emergency Stop Torque Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection for Drive Prohibition Input Pn066 is set to 2 When this parameter is set to 0 the normal torque limit will be set The max...

Page 425: ...Parameter Tables Appendix 9 07D Reserved Do not change 0 07E Reserved Do not change 0 07F Reserved Do not change 0 Pn No Parameter name Setting Explanation Default Setting Unit Setting Range Attribute Set value ...

Page 426: ...ables or disables the soft limit 0 0 to 3 A 0 Enable both the Forward Reverse Software Limits Pn201 and Pn202 1 Disable the Forward Software Limit Pn201 enable the Reverse Software Limit Pn202 2 Enable the Forward Software Limit Pn201 disable the Reverse Software Limit Pn202 3 Disable both the Forward Reverse Soft ware Limits Pn201 and Pn202 105 Origin Range Sets the threshold for detecting the or...

Page 427: ...nds 0 0 1 ms 0 to 5100 B 10F Origin Return Mode Settings Sets the direction for origin return 0 0 to 1 B 0 Positive direction 1 Negative direction 110 Origin Return Approach Speed 1 Sets the operating speed for origin return from when the origin proximity signal is turned ON to when it is turned OFF and the latch signal is detected 50 100 Com mand units s 1 to 32767 B 111 Origin Return Approach Sp...

Page 428: ...l modes 6 VLIM output Turn ON when the Servomotor speed reaches the speed limit for torque control 7 BKIR output Turn ON with the release timing of the brake release signal in all control modes 8 WARN output Turn ON when a warning is issued in all control modes 9 INP2 output Turn ON when the position deviation is equal to or less than the Positioning Completion Range 2 Pn063 for position control 1...

Page 429: ...tus NSOT will turn ON 1 Note1 Be sure to set the limits so that Forward Software Limit Reverse Software Limit Note2 NSOT is not turned ON when origin return is incomplete 500000 Com mand units 1073741823 to 1073741823 A 203 Final Distance for External Input Positioning Sets the distance to travel after detecting the latch signal input position when performing external input positioning The operati...

Page 430: ...o Setting this parameter to 0 automatically sets the encoder resolution as the numerator 131072 for a 17 bit absolute encoder or 10000 for a 2 500 p r incremental encoder Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter setting alarm alarm code 93 will occur if the ratio is set outside of this range 1 0 to 131072 C 206 Electronic Gear Ratio 2 Denominator Sets t...

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Page 432: ... 15 Copy Mode 6 28 D Damping Control 5 50 Decelerator dimensions 2 47 Decelerator installation conditions 4 7 Decelerator specifications 3 32 Decelerators 2 7 Decelerators for 1 000 r min Servomotors Backlash 3 Max 2 53 3 37 Decelerators for 2 000 r min Servomotors Backlash 3 Max 2 51 3 35 Decelerators for 3 000 r min Flat Servomotors Backlash 15 Max 2 59 3 41 Decelerators for 3 000 r min Flat Ser...

Page 433: ...dimensions 2 23 Moving Average Time 5 20 Moving Average Time Pn10E 5 82 N no fuse breakers 4 31 Noise filter 4 34 4 35 4 36 4 42 noise filters for brake power supply 4 35 noise filters for Servomotor output 4 42 noise filters for the power supply input 4 34 Normal Mode Autotuning 6 24 7 9 Normal Mode Autotuning Operation Setting Pn025 5 70 5 93 Notch Filter 5 43 Notch Filter 1 Frequency Pn01D 5 68...

Page 434: ...vomotor and Decelerator Combinations 2 44 Servomotor characteristics 3 18 Servomotor connector specifications CNB 3 7 4 20 Servomotor general specifications 3 17 Servomotor installation conditions 4 3 Servomotor models 2 2 Servomotor power cable 3 49 Servomotor Power Cables Robot Cables 2 19 Servomotor Power Cables Standard Cables 2 15 Servomotor service life 8 21 Soft Limit Pn104 5 81 Soft Start ...

Page 435: ...ter 1 Setting Pn02C 5 71 Vibration Filter 2 Setting Pn02E 5 72 Vibration Filter Selection Pn024 5 70 5 92 Vibration Frequency 1 Pn02B 5 71 Vibration Frequency 2 Pn02D 5 71 W Wire Sizes 4 24 wiring conforming to EMC Directives 4 26 ...

Page 436: ...mber on the front and back covers of the man ual The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content and pages 01 July 2008 Original production Cat No I566 E1 01 Revision code ...

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Page 438: ...3 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yin Cheng Zhong Road PuDong New Area Shanghai 200120 China Tel 86 21 5037 2222 Fax 86 21 5037 2200 Control Devices Division H Q Motion Control Department Shi...

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