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Omron OMNUC G5 R88D-KN series, User Manual

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Omron OMNUC G5 R88D-KN series User Manual Download Page 385

10-34

10-9 Friction Torque Compensation Function

OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  10

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Operation Example

The friction torque compensation is applied to the input direction of the position command as
shown in the drawing below.

The Torque Command Value Offset (Pn607) reduces the variations of positioning operations
due to the movement directions when a certain amount of unbalanced load torque is always
applied to the motor at the vertical axis by setting the torque command.
The Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609)
are loads that require a large amount of dynamic friction torque due to the radial load, such as
the belt drive axis. By setting the friction torque for each rotation direction for all parameters,
you can reduce the deterioration and inconsistencies of positioning stabilization time due to
dynamic friction.
 

Precautions for Correct Use

You can use the unbalanced load compensation and the dynamic friction compensation together or
separately. Take note that the following use limit is applied upon CONTROL mode switching or
servo ON.

During torque control

The unbalanced load compensation and the dynamic friction compensation will be 0 regardless
of the parameter setting.

During speed control with Servo-OFF state

The load compensation is enabled based on Pn607 when the servo is turned OFF.The dynamic
friction compensation will be 0 regardless of the parameter setting.

When the servo is turned ON during position control or full closing control

The unbalanced load compensation and the dynamic friction compensation values is held until
the first position command is input.When the position command is input, the unbalanced load
compensation is updated based on Pn607. Also, based on the command direction, the dynamic
friction compensation value is updated according to parameters Pn608 or Pn609.

Command speed

Time

Motor
de-energized  

Motor
de-energized  

Motor power supply

Pn607 

(Torque command

value offset)

Forward direction

Reverse direction

Pn608 

(Forward direction torque offset)

Pn609 

(Reverse direction

torque offset)

Summary of Contents for OMNUC G5 R88D-KN series

Page 1: ...Cat No I572 E1 01 USER S MANUAL OMNUC G5SERIES R88M K AC Servomotors R88D KN ML2 AC Servo Drives AC SERVOMOTORS SERVO DRIVES WITH BUILT IN MECHATROLINK II COMMUNICATIONS ML2 A B ML2 A B ...

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: ...cal knowledge certified electricians or individuals having equivalent or more knowledge and also being qualified for one of the following Those in charge of introducing FA equipment Those designing FA systems Those managing FA sites Notes This manual contains the information you need to know to correctly use the OMNUC G5 Series and peripheral equipment Before using the OMNUC G5 Series read through...

Page 4: ...n 1 If this product is combined with other product the customer must check the standards and regulations applicable to such combination The customer must also check the compatibility of this product with any system machinery or device used by the customer If the above actions are not taken OMRON shall not assume any responsibility regarding the compatibility of this product 2 If the product is use...

Page 5: ...nexpected losses 4 Specification Change The product specifications and accessories explained in the catalog operation manual etc are subject to change if necessary for the reasons of improvement etc Contact your OMRON sales representative to check the actual specifications of this product 5 Scope of Service The price of this product excludes costs of service such as dispatching engineers If you ha...

Page 6: ...avoid in order to use the product safely Precautions for Correct Use This symbol indicates an item you should perform or avoid in order to prevent inoperative malfunction or any negative effect on performance or function Reference This symbol indicates an item that helps deepen your understanding of the product or other useful tip Explanation of Symbols Example of symbols This symbol indicates dan...

Page 7: ...y may result Before carrying out wiring or inspection turn OFF the power supply and wait for at least 15 minutes Electric shock may result Do not damage pull stress strongly or pinch the cables or place heavy articles on them Electric shock stopping of product operation or burn damage may result Never touch the rotating part of the motor during operation Injury may result Never modify the product ...

Page 8: ...rooves with bare hands if a motor with shaft end key grooves is being used Injury may result Use the motor and Servo Drive in the specified combination Fire or equipment damage may result Do not store or install the product in the following environment Location subject to direct sunlight Location where the ambient temperature exceeds the specified level Location where the relative humidity exceeds...

Page 9: ...tion When transporting the product do not hold it by the cables or motor shaft Injury or failure may result Do not overload the products Follow the instruction on the product label Injury or failure may result Use the motor eye bolts only when transporting the motor Do not use them to transport the machine Injury or failure may result Caution ...

Page 10: ...ng If simple twisted wires are connected directly to the protective ground terminal fire may result Only use the power supply voltage specified in this manual Burn damage may result In locations where the power supply infrastructure is poor make sure the rated voltage can be supplied Equipment damage may result Provide safety measures such as a breaker to protect against short circuiting of extern...

Page 11: ...start the operation Injury may result Do not use the built in brake of the motor for normal braking operation Failure may result Do not operate the Servomotor when an excessive load inertia is installed Failure may result Install safety devices to prevent idle running or lock of the electromagnetic brake or the gear head or leakage of grease from the gear head Injury damage or taint damage may res...

Page 12: ...wing location to provide handling warnings When handling the product be sure to observe the instructions provided on this label Instructions on Warning Label Disposal When disposing of the battery insulate it using tape etc and dispose of it by following the applicable ordinance of your local government Dispose of the product as an industrial waste Warning label display location R88D KN02H ML2 ...

Page 13: ...y must be prepared by the customer If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Specifications Connector for Main circuit power supply terminals and Control circuit power supply terminals Connector for External Regeneration Resistor connection terminals and Motor connection terminals Safety connect...

Page 14: ...s type Manual Revision History The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left hand corner of the front or back cover Example Revision symbol Revision date Description of revision and revised page 01 November 2009 First print I572 E1 01 Revision symbol ...

Page 15: ...ation methods regarding the Servo Drive Servomotor and Decelerator as well as the performance of External Regeneration Resistors and so on Chapter 5 BASIC CONTROL Mode This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting Chapter 6 Applied Functions This chapter gives outline of applied functions such as electronic gears gain switchi...

Page 16: ...licable Standards 1 7 EC Directives 1 7 UL and cUL Standards 1 7 Functional Safety 1 7 Chapter2 Standard Models and External Dimensions 2 1 Servo System Configuration 2 1 2 2 How to Read Model 2 3 Servo Drive 2 3 Servomotor 2 4 2 3 Standard Model List 2 5 Servo Drive Model List 2 5 Servomotor Model List 2 6 Servo Drive and Servomotor Combination List 2 10 Cables and Peripheral Devices Model List 2...

Page 17: ... Monitor Cable Specifications 3 68 MECHATROLINK II Communications Cable Specifications 3 70 Control Cable Specifications 3 72 3 5 External Regeneration Resistor Specifications 3 77 External Regeneration Resistor Specifications 3 77 3 6 Reactor Filter Specifications 3 79 Specifications 3 79 3 7 MECHATROLINK II Repeater Unit Specifications 3 80 Specifications 3 80 Repeater Unit Part Names 3 81 Conne...

Page 18: ...ns 6 1 Sequence I O Signal 6 1 Input Signals 6 1 Output Signals 6 4 6 2 Forward and Reverse Drive Prohibition Functions 6 6 Parameters Requiring Settings 6 6 6 3 Overrun Protection 6 9 Operating Conditions 6 9 Parameters Requiring Settings 6 9 Operation Example 6 10 6 4 Backlash Compensation 6 11 Parameters Requiring Settings 6 11 6 5 Brake Interlock 6 13 Parameters Requiring Settings 6 13 Operati...

Page 19: ...tor Setting Parameters 8 31 8 6 Extended Parameters 8 42 8 7 Special Parameters 8 52 Chapter9 Operation 9 1 Operational Procedure 9 1 9 2 Preparing for Operation 9 2 Items to Check Before Turning ON the Power Supply 9 2 Turning on the Power Supply 9 4 Checking the Displays 9 5 Absolute Encoder Setup 9 6 9 3 Trial Operation 9 7 Preparation for Trial Operation 9 7 Trial Operation by Using the CX Dri...

Page 20: ... 10 35 Operating Conditions 10 35 Parameters Requiring Settings 10 35 Operating Procedure 10 35 10 11 Feed forward Function 10 36 Parameters Requiring Settings 10 36 Operating Procedure 10 37 10 12 Instantaneous Speed Observer Function 10 39 Operating Conditions 10 39 Parameters Requiring Settings 10 39 Operating Procedure 10 40 Chapter11 Error and Maintenance 11 1 Error Processing 11 1 Preliminar...

Page 21: ...19 Table Of Contents OMNUC G5 Series AC Servo Drives Users Manual Built in MECHATROLINK II communications type Appendix A 1 Parameter List A 1 Index ...

Page 22: ......

Page 23: ...type 1 This chapter explains the features of this product name of each part and applicable EC directives and UL standards 1 1 Outline 1 1 1 2 System Configuration 1 3 1 3 Names and Functions 1 4 1 4 System Block Diagrams 1 6 1 5 Applicable Standards 1 7 Features and System Configuration ...

Page 24: ...vomotor s operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses Therefore you can use the Servo Drive s various control parameters and monitor data on a host controller and unify the system data for management Achievement of Accurate Positioning by Full Closing Control Feedbacks from the external encoder...

Page 25: ...Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal In addition the settings can be made easily merely by just setting the damping frequency and filter values and you are assured of stable operation even if the set values are inappropriate ...

Page 26: ...iguration OMNUC G5 Series AC Servo Drive R88D KNx ML2 OMNUC G5 Series AC Servomotor R88M Kx INC ABS MECHATRO LINK II Controller MECHATROLINK MECHATROLINK II Type Type Programmable Controller SYSMAC CS1 Position Control Unit CS1W NCx71 Controller MECHATROLINK MECHATROLINK II II Type Type Programmable Controller SYSMAC CJ1 Position Control Unit CJ1W NCx71 MECHATRO LINK II ...

Page 27: ... Display area Rotary switches for node address setting MECHATROLINK II status LED indicator MECHATROLINK II communications connector USB connector CN7 Analog monitor connector CN5 Motor connection terminals U V and W Control circuit power supply terminals L1C and L2C Main circuit power supply terminals L1 L2 and L3 External Regeneration Resistor connection terminals B1 B2 and B3 Protective ground ...

Page 28: ...MECHATROLINK II Communications Status LED Indicator P 9 4 Control I O Connector CN1 Used for command input signals and I O signals Encoder Connector CN2 Connector for the encoder installed in the Servomotor External Encoder Connector CN4 Connector for an encoder signal used during full closing control Analog Monitor Connector CN5 2 analog outputs to monitor values like motor rotation speed torque ...

Page 29: ... Gate drive SW power supply main circuit control Internal control power supply GR L2C L1C L3 L2 L1 FUSE FUSE FUSE CN A 15 V G1 5 V 2 5 V 1 5 V 12 V E5 V G2 3 3 V Overcurrent detection Current detection Voltage detection Regeneration control Relay drive GR Control interface CN2 CN4 CN5 CN7 B1 B2 B3 CN B U V W MPU ASIC Position speed and torque calculation control area PWM control CN8 Encoder Extern...

Page 30: ...0 V and the rated number of motor rotation speed is 3 000 r min Functional Safety EC directive Product Applicable standards Low voltage command AC Servo Drive EN 61800 5 1 AC Servomotor EN60034 1 5 EMC directives AC Servo Drive AC Servomotor EN 55011 class A group 1 IEC61800 3 EN61000 6 2 Standard Product Applicable standards File number UL standards AC Servo Drive UL508C E179149 AC Servomotor UL1...

Page 31: ... models of Servo Drive Servomotor and peripheral equipment as well as the external dimensions and mounting dimensions 2 1 Servo System Configuration 2 1 2 2 How to Read Model 2 3 2 3 Standard Model List 2 5 2 4 External and Mounting Dimensions 2 17 2 5 EMC Filter Dimensions 2 48 Standard Models and External Dimensions ...

Page 32: ...II Communications Cable CX One FA Integrated Tool Package CX Programmer and CX Position and CX Motion Support Software CX One FA Integrated Tool Package Including CX Drive CX Drive WS02 DRVC1 Support Software Controller SYSMAC Position Control Unit Built in MECHATROLINK II Communications type Programmable Controller SYSMAC CJ CS Position Control Unit NC CJ1W NCx71 CS1W NCx71 FNY W6022 MECHATROLINK...

Page 33: ...gnals Power Cables Without Brake R88A CAxxxxxS With Brake R88A CAxxxxxB Without Brake R88A CAxxxxxSR With Brake R88A CAxxxxxBR Standard Cables Robot Cable 750 W or less R88A CRKxxxxC 7 5k W or more R88A CRKCxxxN 750W or less R88A CRKxxxxCR 7 5kW or more R88A CRKCxxxNR Standard Cables Robot cables Encoder Cables Brake Cables 50 to 750 W max Standard Cables R88A CAKAxxxB Robot Cable R88A CAKAxxxBR U...

Page 34: ...Servo Drives and Servomotors Servo Drive The Servo Drive model can be identified by the Servo Drive type applicable Servomotor capacity power supply voltage etc R88D KN01H ML2 OMNUC G5 Series Servo Drive Drive Type Power Supply Voltage Network type ML2 MECHATROLINK II Communications Maximum Applicable Servomotor Capacity A5 01 02 04 08 10 15 20 30 50 50 W 100 W 200 W 400 W 750 W 1 kW 1 5 kW 2 kW 3...

Page 35: ... Rated Rotation Speed Motor Type Blank Cylinder type 050 100 200 400 600 750 900 1K0 1K5 2K0 3K0 4K0 5K0 50 W 100 W 200 W 400 W 600 W 750 W 900 W 1 kW 1 5 kW 2 kW 3 kW 4 kW 5 kW 10 20 30 1 000 r min 2 000 r min 3 000 r min Applied Voltage F H L C T S 400 VAC incremental encoder specifications 200 VAC incremental encoder specifications 100 VAC incremental encoder specifications 400 VAC absolute enc...

Page 36: ...below lists the Servo Drive models Specifications Model Single phase 100 VAC 50 W R88D KNA5L ML2 100 W R88D KN01L ML2 200 W R88D KN02L ML2 400 W R88D KN04L ML2 Single phase 3 phase 200 VAC 100 W R88D KN01H ML2 200 W R88D KN02H ML2 400 W R88D KN04H ML2 750 W R88D KN08H ML2 1 kW R88D KN10H ML2 1 5 kW R88D KN15H ML2 3 phase 200 VAC 2 kW R88D KN20H ML2 3 kW R88D KN30H ML2 5 kW R88D KN50H ML2 3 phase 4...

Page 37: ...88M K10030T S2 200 W R88M K20030H R88M K20030H S2 R88M K20030T R88M K20030T S2 400 W R88M K40030H R88M K40030H S2 R88M K40030T R88M K40030T S2 750 W R88M K75030H R88M K75030H S2 R88M K75030T R88M K75030T S2 1 kW R88M K1K030H R88M K1K030H S2 R88M K1K030T R88M K1K030T S2 1 5 kW R88M K1K530H R88M K1K530H S2 R88M K1K530T R88M K1K530T S2 2 kW R88M K2K030H R88M K2K030H S2 R88M K2K030T R88M K2K030T S2 3 ...

Page 38: ...30H BS2 R88M K1K030T B R88M K1K030T BS2 1 5 kW R88M K1K530H B R88M K1K530H BS2 R88M K1K530T B R88M K1K530T BS2 2 kW R88M K2K030H B R88M K2K030H BS2 R88M K2K030T B R88M K2K030T BS2 3 kW R88M K3K030H B R88M K3K030H BS2 R88M K3K030T B R88M K3K030T BS2 4 kW R88M K4K030H B R88M K4K030H BS2 R88M K4K030T B R88M K4K030T BS2 5 kW R88M K5K030H B R88M K5K030H BS2 R88M K5K030T B R88M K5K030T BS2 400 V 750 W R...

Page 39: ...S2 2 kW R88M K2K020F R88M K2K020F S2 R88M K2K020C R88M K2K020C S2 3 kW R88M K3K020F R88M K3K020F S2 R88M K3K020C R88M K3K020C S2 4 kW R88M K4K020F R88M K4K020F S2 R88M K4K020C R88M K4K020C S2 5 kW R88M K5K020F R88M K5K020F S2 R88M K5K020C R88M K5K020C S2 200 V 1 kW R88M K1K020H B R88M K1K020H BS2 R88M K1K020T B R88M K1K020T BS2 1 5 kW R88M K1K520H B R88M K1K520H BS2 R88M K1K520T B R88M K1K520T BS2...

Page 40: ...T R88M K2K010T S2 3 kW R88M K3K010H R88M K3K010H S2 R88M K3K010T R88M K3K010T S2 400 V 900 kW R88M K90010F R88M K90010F S2 R88M K90010C R88M K90010C S2 2 kW R88M K2K010F R88M K2K010F S2 R88M K2K010C R88M K2K010C S2 3 kW R88M K3K010F R88M K3K010F S2 R88M K3K010C R88M K3K010C S2 200 V 900 kW R88M K90010H B R88M K90010H BS2 R88M K90010T B R88M K90010T BS2 2 kW R88M K2K010H B R88M K2K010H BS2 R88M K2K...

Page 41: ...88D KN02L ML2 400 W R88M K40030L x R88M K40030S x R88D KN04L ML2 Single phase 3 phase 200 V 50 W R88M K05030H x R88M K05030T x R88D KN01H ML2 100 W R88M K10030H x R88M K10030T x R88D KN01H ML2 200 W R88M K20030H x R88M K20030T x R88D KN02H ML2 400 W R88M K40030H x R88M K40030T x R88D KN04H ML2 750 W R88M K75030H x R88M K75030T x R88D KN08H ML2 1 kW R88M K1K030H x R88M K1K030T x R88D KN15H ML2 1 5 ...

Page 42: ...e 400 V 400 W R88M K40020F x R88M K40020C x R88D KN06F ML2 600 W R88M K60020F x R88M K60020C x R88D KN06F ML2 1 kW R88M K1K020F x R88M K1K020C x R88D KN10F ML2 1 5 kW R88M K1K520F x R88M K1K520C x R88D KN15F ML2 2 kW R88M K2K020F x R88M K2K020C x R88D KN20F ML2 3 kW R88M K3K020F x R88M K3K020C x R88D KN30F ML2 4 kW R88M K4K020F x R88M K4K020C x R88D KN50F ML2 5 kW R88M K5K020F x R88M K5K020C x R88...

Page 43: ...l Regeneration Resistors and reactors Encoder Cables Flexible Cables Specifications Model 100 V and 200 V For 3 000 r min motors of 50 to 750 W for both absolute encoders and incremental encoders 1 5 m R88A CRKA001 5CR E 3 m R88A CRKA003CR E 5 m R88A CRKA005CR E 10 m R88A CRKA010CR E 15 m R88A CRKA015CR E 20 m R88A CRKA020CR E 100 V and 200 V 3 000 r min motors of 1 0 kW or more For 2 000 r min mo...

Page 44: ...1 000 r min motors of 900 W 1 5 m R88A CAGB001 5SR E R88A CAGB001 5BR E 3 m R88A CAGB003SR E R88A CAGB003BR E 5 m R88A CAGB005SR E R88A CAGB005BR E 10 m R88A CAGB010SR E R88A CAGB010BR E 15 m R88A CAGB015SR E R88A CAGB015BR E 20 m R88A CAGB020SR E R88A CAGB020BR E 400 V For 3 000 r min motors of 750 W to 2 kW For 2 000 r min motors of 400 W to 2 kW For 1 000 r min motors of 900 W 1 5 m R88A CAGB00...

Page 45: ... MECHATROLINK II Communications Cables MECHATROLINK II Repeater Units Specifications Model MECHATROLINK II Communications 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 Terminating Resistor FNY W6022 Specifications Model MECHATROLINK II Repeater Unit FNY REP2000 ...

Page 46: ...C BS Specifications Model 2 000 mA h 3 6 V R88A BAT01G Specifications Model Analog monitor cable 1 m R88A CMK001S Specifications Model Motor connector for encoder cable 100 V and 200 V For 3 000 r min of 50 to 750 W R88A CNK02R 100 V and 200 V For 3 000 r min of 1 to 5 kW For 2 000 r min 1 000 r min 400 V For 3 000 r min 2 000 r min and 1 000 r min R88A CNK04R Control I O connector CN1 R88A CNW01C...

Page 47: ...h 150 C thermal sensor R88A RR080100S Regeneration process capacity 70 W 47 with 170 C thermal sensor R88A RR22047S Regeneration process capacity 180 W 20 with 200 C thermal sensor R88A RR50020S Specifications Model R88D KNA5L ML2 KN01H ML2 3G3AX DL2002 R88D KN01L ML2 KN02H ML2 3G3AX DL2004 R88D KN02L ML2 KN04H ML2 3G3AX DL2007 R88D KN04L ML2 KN08H ML2 KN10H ML2 3G3AX DL2015 R88D KN15H ML2 3G3AX D...

Page 48: ...ions and the mounting dimensions of Servo Drives Servomotors and peripheral devices Servo Drive Dimensions The dimensional description starts with a Servo Drive of the smallest motor capacity which is followed by the next smallest and so on Single phase 100 VAC R88D KNA5L ML2 KN01L ML2 50 to 100 W Single phase 3 phase 200 VAC R88D KN01H ML2 KN02H ML2 100 to 200 W Wall Mounting External dimensions ...

Page 49: ...Drives Users Manual Built in MECHATROLINK II communications type 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 40 7 180 170 150 5 2 R26 7 φ5 2 2 5 132 19 5 2 5 40 7 φ5 2 70 Square hole 170 ...

Page 50: ... Dimensions Single phase 3 phase 100 VAC R88D KN02L ML2 200 W Single phase 3 phase 200 VAC R88D KN04H ML2 400 W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 55 150 132 150 43 6 55 140 70 φ5 2 55 47 7 φ5 2 180 170 150 7 5 2 R2 6 2 5 132 19 5 2 5 7 170 70 φ5 2 Square hole ...

Page 51: ...sions Single phase 3 phase 100 VAC R88D KN04L ML2 400 W Single phase 3 phase 200 VAC R88D KN08H ML2 750 W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 172 4 65 150 150 140 50 7 5 65 70 φ5 2 65 40 20 φ5 2 R2 6 20 40 5 2 180 170 150 172 4 2 5 19 5 2 5 170 20 70 φ5 2 Square hole ...

Page 52: ...mensions Single phase 3 phase 200 VAC R88D KN10H ML2 KN15H ML2 900 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 86 150 172 4 φ5 2 140 150 70 8 5 85 70 170 40 10 R2 6 R2 6 φ5 2 φ5 2 170 180 150 86 85 60 40 10 5 2 5 2 40 10 19 5 2 5 172 4 70 φ5 2 Square hole 2 5 ...

Page 53: ...W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 86 85 50 17 5 42 5 5 2 5 2 φ5 2 R2 6 R2 6 198 188 168 17 5 50 5 2 5 2 42 5 φ5 2 R2 6 R2 6 195 3 5 70 25 188 168 86 50 17 5 φ5 2 86 85 50 17 5 42 5 5 2 5 2 198 188 168 17 5 50 5 2 5 2 42 5 φ5 2 φ5 2 R2 6 R2 6 R2 6 R2 6 195 30 7 2 5 2 5 70 25 188 50 17 5 φ5 2 S...

Page 54: ...ECHATROLINK II communications type 2 Standard Models and External Dimensions 3 phase 200 VAC R88D KN30H ML2 KN50H ML2 3 to 5 kW Wall Mounting External dimensions Mounting dimensions R2 6 R2 6 φ5 2 R2 6 R2 6 φ5 2 130 100 15 65 5 2 5 2 220 240 250 5 2 5 2 65 100 15 213 70 3 φ5 2 50 240 100 130 15 220 ...

Page 55: ...ECHATROLINK II communications type 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions R2 6 R2 6 φ5 2 R2 6 R2 6 φ5 2 130 100 15 65 5 2 5 2 220 240 250 5 2 5 2 65 100 15 213 40 7 2 5 2 5 70 φ5 2 50 240 100 130 15 Square hole ...

Page 56: ...hase 400 VAC R88D KN06F ML2 KN10F ML2 600 W to 1 0 kW 3 phase 400 VAC R88D KN15F ML2 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 92 150 172 4 150 140 70 14 5 70 φ5 2 92 60 40 10 φ5 2 φ5 2 170 180 150 5 2 5 2 10 40 R2 6 172 70 4 2 5 19 5 2 5 40 18 6 94 170 158 φ5 2 Square hole ...

Page 57: ...C R88D KN20F ML2 2 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions φ5 2 R2 6 R2 6 φ5 2 25 180 50 94 168 195 1 5 94 85 50 17 5 42 5 5 2 5 2 5 2 5 2 50 17 5 168 188 198 70 φ5 2 φ5 2 R2 6 R2 6 φ5 2 25 188 50 2 5 195 30 7 94 85 50 5 2 17 5 42 5 168 188 198 5 2 17 5 50 5 2 2 5 5 2 70 φ5 2 Square hole ...

Page 58: ...N30F ML2 KT50F ML2 3 to 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions φ5 2 R2 6 φ5 2 R2 6 100 5 2 5 2 65 15 15 130 100 65 5 2 5 2 220 240 250 50 240 220 130 100 15 213 3 70 φ5 2 φ5 2 5 2 R2 6 φ5 2 R2 6 250 240 220 100 15 5 2 5 2 65 5 2 65 130 100 15 40 7 2 5 213 2 5 50 240 100 15 70 φ5 2 Square hole ...

Page 59: ...llest and so on 3 000 r min Motors 100 V and 200 V 50 W 100 W without Brake R88M K05030H S2 K10030L S2 R88M K05030T S2 K10030S 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 INC ABS M3 depth 6 φ8h6 φ30h7 25 14 12 5 3h9 3 6 2 25 LL LM 6 3 1 5 min Boss insertion position only for the ones with oil seal 2 LN R3 7 R4 2 2...

Page 60: ...ote The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS M3 depth 6 25 14 12 5 3h9 3 6 2 R3 7 R4 2 2 φ4 3 φ46 0 2 40 40 LL LM Motor connector φ8h6 φ30h7 25 3 6 2 1 5 min Boss insertion position only for the ones with oil seal LN Shaft end specifications with key and tap Brake connector Encoder connector Model Dimensions mm...

Page 61: ...S φSh6 φ50h7 30 20 200 W 25 400 W 22 5 400 W 5 400 W 4 200 W 8 5 11 LL LM 30 3 6 5 φ70 0 2 60 60 Shaft end specifications with key and tap 1 5 min Boss insertion position only for the ones with oil seal 4h9 200 W 5h9 400 W M4 depth 8 200 W M5 depth 10 400 W 18 200 W 4 φ4 5 Motor connector Encoder connector Model Dimensions mm LL LM S R88M K20030x 79 5 56 5 11 R88M K40030x 99 76 14 INC ABS 30 20 20...

Page 62: ... model number 750 W with Brake R88M K75030H B S2 R88M K75030T 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 INC ABS Shaft end specifications with key and tap 35 25 22 6h9 15 5 6 112 2 35 86 2 8 3 φ19h6 φ70h7 Motor connector Encoder connector 80 80 4 φ6 φ90 0 2 M5 depth 10 INC ABS Motor connector Brake connector En...

Page 63: ... 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 LM KB1 KB2 R88M K1K030x 141 97 66 119 R88M K1K530x 159 5 115 5 84 5 137 5 R88M K2K030x 178 5 134 5 103 5 156 5 R88M K1K030x Bx 168 124 66 146 R88M K1K530x Bx 186 5 142 5 84 5 164 5 R88M K2K030x Bx 205 5 161 5 103 5 183 5 INC ABS INC ABS LM KB2 KB1...

Page 64: ...H B S2 R88M K3K030T 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 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 112 55 LL 113 60 3 12 φ22h6 φ110h7 120 120 4 φ9 φ145 φ162 41 45 55 M3 through M5 depth 12 φ22h6 φ110h7 8h9 7 18 Shaft end specifications with key and tap Model Dimensions mm LL LM KB...

Page 65: ... S2 K5K030T 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 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 65 LL 118 60 6 12 φ24h6 φ110h7 130 130 4 φ9 φ165 φ145 51 55 65 M3 through M8 depth 20 φ24h6 φ110h7 8h9 7 20 Shaft end specifications with key and tap Model Dimensions mm LL LM KB1 KB2 R8...

Page 66: ...The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 55 LL 101 without brake 103 with brake 60 3 10 φ19h6 φ95h7 100 100 4 φ9 φ115 φ135 42 45 55 M3 through M5 depth 12 φ19h6 φ95h7 6h9 6 15 5 Shaft end specifications with key and tap Model Dimensions mm LL LM KB1...

Page 67: ...F B S2 R88M K3K030C 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 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 112 55 LL 113 60 3 12 φ22h6 φ110h7 120 120 4 φ9 φ145 φ162 41 45 55 M3 through M5 depth 12 φ22h6 φ110h7 8h9 7 18 Shaft end specifications with key and tap Model Dimensions mm LL LM KB...

Page 68: ... S2 K5K030C 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 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 65 LL 118 60 6 12 φ24h6 φ110h7 130 130 4 φ9 φ165 φ145 51 55 65 M3 through M8 depth 20 φ24h6 φ110h7 8h9 7 20 Shaft end specifications with key and tap Model Dimensions mm LL LM KB1 KB2 R8...

Page 69: ...nd tap are indicated with S2 at the end of the model number Model Dimensions mm LL LR LM S KB1 KB2 R88M K1K020x 138 55 94 22 60 116 R88M K1K520x 155 5 55 111 5 22 77 5 133 5 R88M K2K020x 173 55 129 22 95 151 R88M K3K020x 208 65 164 24 127 186 R88M K1K020x Bx 163 55 119 22 60 141 R88M K1K520x Bx 180 5 55 136 5 22 77 5 158 5 R88M K2K020x Bx 198 55 154 22 95 176 R88M K3K020x Bx 233 65 189 24 127 211 ...

Page 70: ...K5K020T 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 LM KB1 KB2 R88M K4K020x 177 133 96 155 R88M K5K020x 196 152 115 174 R88M K4K020x Bx 202 158 96 180 R88M K5K020x Bx 221 177 115 199 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 70 LL 140 60 176 176 70 55 50 M3 thr...

Page 71: ...60020F 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 LM KB1 KB2 R88M K40020x 131 5 87 5 56 5 109 5 R88M K60020x 141 97 66 119 R88M K40020x Bx 158 5 114 5 53 5 136 5 R88M K60020x Bx 168 124 63 146 INC ABS INC ABS 100 100 4 φ9 Encoder connector Motor and brake connector 101 without brake 103 w...

Page 72: ...2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 LR LL 116 1 to 2 kW without brake 118 3 kW without brake 118 1 to 3 kW with brake 60 130 130 45 1 to 2 kW 55 3 kW 41 1 to 2 kW 51 3 kW LR M3 through M5 depth 12 1 0 to 2 0 kW M8 depth 20 3 0 kW 8h9 7 18 1 to 2 kW 20 3 kW Shaft end specifications with key and tap 6 12 φSh6 φ110h7 4 φ9 φ165 φ145 φ...

Page 73: ...K5K020C 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 LM KB1 KB2 R88M K4K020x 177 133 96 155 R88M K5K020x 196 152 115 174 R88M K4K020x Bx 202 158 96 180 R88M K5K020x Bx 221 177 115 199 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 70 LL 140 60 176 176 70 55 50 M3 thr...

Page 74: ... K90010H B S2 R88M K90010T 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 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 77 5 55 LL 116 60 130 130 45 41 55 M3 through 8h9 7 18 Shaft end specifications with key and tap 6 12 φ22h6 φ110h7 4 ø9 φ165 φ145 φ22h6 φ110h7 M5 depth 12 Model Dimensions mm ...

Page 75: ...e The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 80 LL 140 60 176 176 80 55 50 M3 through Shaft end specifications with key and tap 3 2 18 φ35h6 φ35h6 φ114 3h7 4 φ13 5 φ200 φ233 φ114 3h7 M12 depth 25 10h9 8 30 Model Dimensions mm LL LM KB1 KB2 R88M K2K010...

Page 76: ...0010C 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 INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 55 LL 60 130 130 45 41 55 M3 through M5 depth 12 8h9 7 18 Shaft end specifications with key and tap 6 12 φ22h6 φ110h7 4 ø9 φ165 φ145 φ22h6 φ110h7 116 without brake 118 with brake Model Dimensi...

Page 77: ...e The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number INC ABS INC ABS Encoder connector Motor and brake connector LM KB2 KB1 80 LL 140 60 176 176 80 55 50 M3 through Shaft end specifications with key and tap 3 2 18 φ35h6 φ35h6 φ114 3h7 4 φ13 5 φ200 φ233 φ114 3h7 M12 depth 25 10h9 8 30 Model Dimensions mm LL LM KB1 KB2 R88M K2K010...

Page 78: ...nd External Dimensions External Regeneration Resistor 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 ϕ3 0 75 mm 2 ϕ1 5 0 3 mm 2 20 t1 2 200 220 230 62 48 4 2 6 Thermal switch output 500 ϕ3 0 75 mm 2 ϕ1 5 0 3 mm 2 360 386 402 43 25 10 78 76 40 5 2 ...

Page 79: ...sions 2 5 EMC Filter Dimensions H W D drive mounts M1 M2 output flexes Filter model External dimensions Mount dimensions H W D M1 M2 R88A FIK102 RE 190 42 44 180 20 R88A FIK104 RE 190 57 30 180 30 R88A FIK107 RE 190 64 35 180 40 R88A FIK114 RE 190 86 35 180 60 R88A FIK304 RE 190 86 40 180 60 R88A FIK306 RE 245 94 40 235 60 R88A FIK312 RE 290 130 45 280 100 ...

Page 80: ... Built in MECHATROLINK II communications type 2 Standard Models and External Dimensions MECHATROLINK II Repeater Units FNY REP2000 160 77 30 150 5 5 50 15 12 150 15 50 12 14 10 6 5 5 4 8 4 8 4 8 φ4 8 φ4 8 20 1 1 97 34 4 50 150 14 150 M4 tap M4 tap Bottom Mounting Back Mounting ...

Page 81: ... as the general specifications characteristics encoder specifications of the Servomotors 3 1 Servo Drive Specifications 3 1 3 2 Overload Characteristics Electronic Thermal Function 3 31 3 3 Servomotor Specifications 3 32 3 4 Cable and Connector Specifications 3 57 3 5 External Regeneration Resistor Specifications 3 77 3 6 Reactor Filter Specifications 3 79 3 7 MECHATROLINK II Repeater Unit Specifi...

Page 82: ...ions Ambient operating temperature and operating humidity 0 to 55C 90 RH max with no condensation Storage ambient temperature and humidity 20 to 65C 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 10 to 60 Hz and at an acceleration of 5 88 m s2 or less Not to be run continuously at the resonance point Impact resistance Acceleration of 19 6 m ...

Page 83: ...A 0 9 KVA Power supply voltage Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz Rated current 1 4 A 2 6 A 4 3 A 7 6 A Control circuit Power supply voltage Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz 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 0 kg Approx 1 6 kg Maximum applicable motor capac...

Page 84: ...ingle phase or 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz Rated current 1 3 A 2 4 1 3 1 A 4 1 2 4 1 A 6 6 3 6 1 A 9 1 5 9 1 A 14 2 8 1 1 A Control circuit Power supply voltage Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 0 kg Approx 1 6 kg Approx 1 8 kg Approx 1 8 kg Maximum applicable motor capacity 100 W 200 W 400 ...

Page 85: ... V 50 60 Hz Rated current 11 8 A 15 1 A 21 6 A Control circuit Power supply voltage Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz PWM frequency 6 0 kHz Weight Approx 2 7 kg Approx 4 8 kg Approx 4 8 kg Maximum applicable motor capacity 2 kW 3 kW 5 kW Applicable motor 3 000 r min type K2K030H K3K030H K4K030H K5K030H K2K030T K3K030T K4K030T K5K030T 2 000 r min type K2K020H K3K020H K4K020H K5K020H...

Page 86: ...circuit Power supply voltage 24 VDC 20 4 to 27 6 V PWM frequency 6 0 kHz Weight Approx 1 9 kg Approx 1 9 kg Approx 1 9 kg Approx 2 7 kg Approx 4 7 kg Approx 4 7 kg Maximum applicable motor capacity 600 W 1 kW 1 5 kW 2 kW 3 kW 5 kW Applicable motor 3 000 r min type K75030F K1K030F K1K530F K2K030F K3K030F K4K030F K5K030F K75030C K1K030C K1K530C K2K030C K3K030C K4K030C K5K030C 2 000 r min type K40020...

Page 87: ...d exceeded the maximum number of rotations Electronic gear setting error The set value for the Electronic Gear Ratio Pn009 to Pn010 is not appropriate Error counter overflow Error counter value based on the encoder pulse reference exceeded 227 134217728 Safety input error Either the Safety input 1 or 2 is off or both of them are off Interface I O setting error An error was detected in the interfac...

Page 88: ...communications cycles occurred continuously and exceeded the number of times set in the Communications Control Pn800 Transmission cycle error During the MECHATROLINK II communications synchronization frames SYNC were not received in conformity with the transmission cycles Watchdog data error An error occurred in the synchronization data that was exchanged between the master and slave nodes during ...

Page 89: ... to 264 V 50 60 Hz R88D KNxH ML2 50 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz Note Single phase should connect to L1 or L3 L2 L3 L1C Control circuit power supply input R88D KNxL ML2 Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KNxH ML2 Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2C Symbol Name Function...

Page 90: ...88D KNxH ML2 2 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz Note Single phase should connect to L1 or L3 L2 L3 L1C Control circuit power supply input R88D KNx ML2 Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C Symbol Name Function U Motor connection terminals Phase U These are the output terminals to the Servomotor Be sure to wire them correctly V Phase V W Phase W Symbol Name Function B...

Page 91: ...n the ground screws to the torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 Symbol Name Function L1 Main circuit power supply input R88D KNxH ML2 3 to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2 L3 L1C Control circuit power supply input R88D KNxH ML2 Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C B1 External Regeneration Resistor connection terminals Normally B2 and B3 are short ci...

Page 92: ...r supply input R88D KNxF ML2 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L2 L3 Symbol Name Function U Motor connection terminals Phase U These are the output terminals to the Servomotor Be sure to wire them correctly V Phase V W Phase W Symbol Name Function B1 External Regeneration Resistor connection terminals Normally B2 and B3 are short circuited If there is high regenerative ene...

Page 93: ... 0 V Symbol Name Function L1 Main circuit power supply input R88D KNxH ML2 3 to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2 L3 B1 External Regeneration Resistor connection terminals Normally B2 and B3 are short circuited 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 NC Do not connec...

Page 94: ...en a backup battery is connected General purpose input 1 ALM Alarm output General purpose output 1 General purpose output 2 ALMCOM 3 4 OUTM1 OUTM1COM OUTM2COM 1 2 OUTM2 25 26 12 IN7 11 IN6 10 IN5 9 IN4 8 IN3 7 IN2 5 IN1 6 24 VIN General purpose input 7 General purpose input 6 General purpose input 5 General purpose input 4 General purpose input 3 General purpose input 2 12 to 24 VDC Maximum servic...

Page 95: ...prohibition Input 9 IN4 General purpose input 4 Origin Proximity Input 10 IN5 General purpose input 5 External Latch Signal 3 11 IN6 General purpose input 6 External Latch Signal 2 12 IN7 General purpose input 7 External Latch Signal 1 13 IN8 General purpose input 8 Monitor Input 0 14 BAT Backup battery input Backup battery connection terminals when the absolute encoder power is interrupted Connec...

Page 96: ...rcuits Name Model Manufacturer Plug 10126 3000PE Sumitomo 3M Cable Case 10326 52A0 008 1 3 5 7 9 11 13 2 4 6 8 10 12 14 16 18 20 22 24 26 15 17 19 21 23 25 IN2 IN1 OUTM1 BAT BATGND OUTM2 ALMCOM ALM IN8 IN3 IN4 IN5 IN6 IN7 OUTM1COM GND OUTM2COM General purpose Output 2 Common General purpose Input 2 General purpose Output 1 General purpose Output 1 Common 24 VIN Absolute encoder backup battery inpu...

Page 97: ...mains in servo free state If the Emergency Stop Input STOP is ON during the motor is energized the Force alarm input error Alarm No 87 0 occurs It is allocated to the pin 5 at factory setting Precautions for Safe Use Turn OFF the Emergency Stop Input STOP at the same time when you turn OFF the main power When the main power becomes OFF due to an external emergency stop reason the motor continues r...

Page 98: ...ignal Selection 1 to 10 Pn400 to Pn409 can change the theory and allocation for the respective Input terminals CN1 to 7 and 8 Origin Proximity Input DEC This is the deceleration signal at origin searches When the Origin Proximity Input is ON while the Servomotor travels at the origin search feed speed it decelerates to the origin search approach speed When the first origin input is entered after t...

Page 99: ...es within the torque limit In factory setting the inputs are not allocated Backup Battery Inputs BAT Function They are the backup battery connection terminals used when the absolute encoder power is interrupted Normally the battery is connected to the battery holder for the absolute encoder battery cable Do not connect anything to these terminals Precautions for Correct Use Be sure not to connect ...

Page 100: ...eady completed output READY turns ON only when all of these conditions are met The MPU initialization is completed The Main power is established No alarm exists MECHATROLINK II communications are established The servo is synchronized Phase alignment 3 The Brake Interlock Output BKIR turns ON when the OR condition is met a release request by the servo control and by the MECHATROLINK II communicatio...

Page 101: ... It outputs the external brake timing signal as set by the Brake Timing when Stopped Pn437 the Brake Timing During Operation Pn438 and the Brake Release Speed Setting Pn439 In factory setting the Outputs are allocated to Pin 1 and 2 Positioning Completion Output 1 INP1 and Positioning Completion Output 2 INP2 The INP1 turns ON when the error counter accumulated pulse is less than or equal to the P...

Page 102: ...as set by the No 1 Torque Limit Pn013 or the No 2 Torque Limit Pn522 The output is always OFF except in the POSITION CONTROL mode including the FULL CLOSING CONTROL mode and the Speed Control mode In factory setting the output is not allocated Zero Speed Detection Output ZSP It turns ON when the motor rotation speed goes below the value set by the Zero Speed Detection Pn434 The output is effective...

Page 103: ...tting the output is not allocated Position Command Status Output PCMD The output turns ON when a position command is entered during the POSITION CONTROL mode The output is always OFF except in the POSITION CONTROL mode including the FULL CLOSING CONTROL mode In factory setting the output is not allocated Speed Limiting Output VLIMT The output turns ON when the motor rotation speed reaches the limi...

Page 104: ... BAT Battery 5 PS Encoder phase S input Encoder signal I O serial signal 6 PS Encoder phase S input Shell FG Frame ground Frame ground Name Model Manufacturer Drive connector 53460 0629 Molex Japan Cable connector 55100 0670 Pin number Symbol Name Function and interface 1 E5V External encoder power supply output Use at 5 2 V 5 and at or below 250 mA 2 E0V This is connected to the control circuit g...

Page 105: ...er input EXZ EXZ 9 10 4 7 kΩ 1 0 kΩ Shell FG FG GND External encoder power supply output 52 V 5 250 mA max Serial number Pin number Symbol Name Function and interface 1 E5V External encoder power supply output External encoder power supply 5 2 VDC 5 250 mA max If the above capacity is to be exceeded provide a separate power supply 2 E0V 3 EXS External encoder signal Serial interface This is an ext...

Page 106: ...der Specifications Pn323 1 52 V 5 250 mA max Phase Z Photocoupler input EXZ EXZ 9 10 4 7 kΩ 1 0 kΩ Phase A Photocoupler input EXA EXA GND E5V 5 V E0V 6 5 2 1 1 0 kΩ Phase B Photocoupler input EXB EXB 7 8 4 7 kΩ 4 7 kΩ 1 0 kΩ Shell FG FG 5 V 0 V PA PA PB PB PC PC FG Drive side CN4 External encoder side Power supply area EXS EXS GND E5V 5 V E0V 2 3 4 1 Shell FG Drive side CN4 FG FG Serial number Mag...

Page 107: ...ATROLINK II communications type 3 Specifications Serial Communications Type Absolute Encoder Specifications Pn323 2 EXS REQ SD REQ SD EXS GND GND E5V 5 V E0V 2 3 7 8 4 1 Shell Shell FG Drive side CN4 FG FG Serial number Absolute encoder by Mitutoyo Corporation ABS ST771A ST773A 5 V 3 4 11 1 2 13 ...

Page 108: ...1 000 r min You can use Pn416 and Pn417 to change the item and unit You can use Pn421 to change the output method 2 AM2 Analog monitor output 2 Outputs the analog signal for the monitor Default setting Motor rotation speed 1 V 1 000 r min You can use Pn418 and Pn419 to change the item and unit You can use Pn421 to change the output method 3 GND Analog monitor ground Ground for analog monitors 1 2 ...

Page 109: ...s checking error status and error history and parameter saving and loading can be performed Precautions for Correct Use Use a commercially available USB cable that is shield equipped with a ferrite core for noise immunity and supporting for USB2 0 The Mini B type USB cable can be used Pin number Symbol Name Function and interface 1 VBUS USB signal terminal Use this function for computer communicat...

Page 110: ... or less Maximum output current 50 mADC Shell Pin Number Symbol Name Function and interface 1 Reserved Do not connect 2 3 SF1 Safety input 1 Inputs 1 and 2 for operating the STO function which are 2 independent circuits This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor 4 SF1 5 SF2 Safety input 2 6 SF2 7 EDM EDM output A monitor si...

Page 111: ... Drive External power supply 12 VDC 5 to 24 VDC 5 Signal level ON level 10 V or more OFF level 3 V max 4 7 kΩ 1 0 kΩ SF1 4 SF1 3 SF2 6 SF2 5 Photocoupler input 4 7 kΩ 1 0 kΩ Photocoupler input External power supply 12 to 24 VDC Maximum service voltage 30 VDC or less Maximum output current 50 mA max Di Surge voltage prevention diode Use a high speed diode 7 EDM 8 EDM Di 10 Ω Servo Drive X ...

Page 112: ... out Overload Characteristics Graphs The following graphs show the characteristics of the load ratio and electronic thermal function s operation time When the torque command 0 and a constant torque command is continuously applied after 3 or more times the overload time constant has elapsed the overload time t s is t s Overload time constant s log e 1 Overload level Torque command 2 The overload ti...

Page 113: ...ng humidity 0 to 40 C 20 to 85 RH with no condensation Storage ambient temperature and humidity 20 to 65 C 20 to 85 RH with no condensation Guaranteed maximum temperature of 80 C 72 hours at normal temperature Operating and storage atmosphere No corrosive gases Vibration resistance 1 Acceleration of 49 m s2 24 5 m s2 max in X Y and Z directions when the motor is stopped Impact resistance Accelerat...

Page 114: ...ut brake kW s 10 1 19 8 28 9 62 3 With brake kW s 9 4 18 7 25 3 57 8 Mechanical time constant Without brake ms 1 43 1 03 0 61 0 48 With brake ms 1 54 1 09 0 70 0 52 Electrical time constant ms 0 82 0 91 3 0 3 4 Allowable radial load 3 N 68 68 245 245 Allowable thrust load 3 N 58 58 98 98 Weight Without brake kg Approx 0 31 Approx 0 45 Approx 0 78 Approx 1 2 With brake kg Approx 0 51 Approx 0 65 Ap...

Page 115: ...e 3 Specifications Model R88M Item Unit 100 VAC K05030H K10030L K20030L K40030L K05030T K10030S K20030S K40030S Brake specifications Allowable angular acceleration rad s2 30 000 max Speed of 2 800 r min or more must not be changed in less than 10 ms Brake limit 10 million times min Rating Continuous Insulation class Type B ...

Page 116: ...3 1 07 0 58 0 43 With brake ms 1 54 1 13 0 66 0 46 Electrical time constant ms 0 82 0 90 3 2 3 4 Allowable radial load 3 N 68 68 245 245 Allowable thrust load 3 N 58 58 98 98 Weight Without brake kg Approx 0 31 Approx 0 46 Approx 0 79 Approx 1 2 With brake kg Approx 0 51 Approx 0 66 Approx 1 2 Approx 1 6 Radiator plate dimensions material 100 80 t10 AI 130 120 t12 AI Applicable drives R88D KN01H M...

Page 117: ...1 8 Mechanical time constant Without brake ms 0 37 0 61 0 49 With brake ms 0 42 0 71 0 55 Electrical time constant ms 5 3 5 8 6 3 Allowable radial load 3 N 490 490 490 Allowable thrust load 3 N 196 196 196 Weight Without brake kg Approx 2 3 Approx 3 5 Approx 4 4 With brake kg Approx 3 1 Approx 4 5 Approx 5 4 Radiator plate dimensions material 170 160 t12 AI 320 300 t20 AI Applicable drives R88D KN...

Page 118: ...nt Without brake ms 0 44 0 41 0 51 0 50 With brake ms 0 48 0 49 0 56 0 54 Electrical time constant ms 6 7 11 12 13 Allowable radial load 3 N 490 490 784 784 Allowable thrust load 3 N 196 196 343 343 Weight Without brake kg Approx 5 3 Approx 8 3 Approx 11 0 Approx 14 0 With brake kg Approx 6 3 Approx 9 4 Approx 12 6 Approx 16 0 Radiator plate dimensions material 380 350 t30 A Applicable drives R88D...

Page 119: ...t Without brake ms 0 67 0 60 0 49 0 45 With brake ms 0 8 0 70 0 55 0 49 Electrical time constant ms 5 9 5 8 6 5 6 6 Allowable radial load 3 N 490 490 490 490 Allowable thrust load 3 N 196 196 196 196 Weight Without brake kg Approx 3 1 Approx 3 5 Approx 4 4 Approx 5 3 With brake kg Approx 4 1 Approx 4 5 Approx 5 4 Approx 6 3 Radiator plate dimensions material 320 300 t20 AI Applicable drives R88D K...

Page 120: ...nical time constant Without brake ms 0 40 0 51 0 50 With brake ms 0 49 0 56 0 54 Electrical time constant ms 12 13 13 Allowable radial load 3 N 490 784 784 Allowable thrust load 3 N 196 343 343 Weight Without brake kg Approx 8 3 Approx 11 0 Approx 14 0 With brake kg Approx 9 4 Approx 12 6 Approx 16 0 Radiator plate dimensions material 380 350 t30 AI Applicable drives R88D KN30F ML2 KN50F ML2 KN50F...

Page 121: ...reference value measured with a surge suppressor CR50500 by Okaya Electric Industries Co Ltd 6 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co 7 Direct current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation Torque Rotation Speed Characteristics for 3 000 r min Motors 3 000 r min motor 100 VAC The following graphs show the characteristics with a 3 m ...

Page 122: ... N m Momentary operation range Continuous operation range Power supply voltage dropped by 10 0 64 3100 4 0 0 1000 2000 3000 3200 4000 6000 r min 5000 8 0 7 1 3 4 3 0 7 1 3600 2 4 2 4 N m Momentary operation range Continuous operation range Power supply voltage dropped by 10 0 60 5 0 1000 2000 3000 4000 5000 r min 10 9 55 9 55 4200 3 18 3 18 N m Momentary operation range Continuous operation range ...

Page 123: ...e Power supply voltage dropped by 10 1 9 6 0 4 0 3800 7 5 0 1000 2000 3000 4000 5000 r min 15 14 3 14 3 3600 4 77 4 77 N m Momentary operation range Continuous operation range Power supply voltage dropped by 10 4 0 3200 10 0 1000 2000 3000 4000 5000 r min 20 19 1 6 37 6 37 19 1 3700 N m Momentary operation range Continuous operation range Power supply voltage dropped by 10 7 0 2 0 3300 Continuous ...

Page 124: ...ted torque ratio Ambient temperature C 100 75 70 10 0 20 30 40 Without brake With brake Rated torque ratio 100 75 70 10 0 20 30 40 Without brake With brake Ambient temperature C Rated torque ratio 100 80 70 10 0 20 30 40 Without brake With brake Ambient temperature C Rated torque ratio 100 90 10 0 20 30 40 With brake Ambient temperature C Rated torque ratio 100 75 10 0 20 30 40 With brake Ambient ...

Page 125: ...63 0 58 0 64 Power rate 1 Without brake kW s 49 5 76 5 105 With brake kW s 38 6 64 2 91 2 Mechanical time constant Without brake ms 0 80 0 66 0 66 With brake ms 1 02 0 80 0 76 Electrical time constant ms 9 4 10 10 Allowable radial load 3 N 490 490 490 Allowable thrust load 3 N 196 196 196 Weight Without brake kg Approx 5 2 Approx 6 7 Approx 8 0 With brake kg Approx 6 7 Approx 8 2 Approx 9 5 Radiat...

Page 126: ...omentary maximum torque 1 N m 43 0 57 3 71 6 Rated current 1 A rms 17 4 21 0 25 9 Momentary maximum current 1 A rms 74 89 110 Rotor inertia Without brake kg m2 12 9 10 4 37 6 10 4 48 0 10 4 With brake kg m2 14 2 10 4 38 6 10 4 48 8 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 0 59 0 70 0 70 Power rate 1 Without brake kW s 159 97 1 119 With brake kW s 144 94...

Page 127: ...tion voltage 4 V 24 VDC 10 Power consumption at 20 C W 22 31 31 Current consumption at 20 C A 0 90 10 1 3 10 1 3 10 Static friction torque N m 16 2 min 24 5 min 24 5 min Attraction time 5 ms 110 max 80 max 80 max Release time 5 ms 50 max 6 25 max 7 25 max 7 Backlash 1 reference value Allowable work per braking J 1470 1372 1372 Allowable total work J 2 2 106 2 9 106 2 9 106 Allowable angular accele...

Page 128: ...hout brake ms 0 70 0 62 0 79 0 66 With brake ms 0 83 0 72 1 01 0 79 Electrical time constant ms 5 7 5 9 10 10 Allowable radial load 3 N 490 490 490 490 Allowable thrust load 3 N 196 196 196 196 Weight Without brake kg Approx 3 1 Approx 3 5 Approx 5 2 Approx 6 7 With brake kg Approx 4 1 Approx 4 5 Approx 6 7 Approx 8 2 Radiator plate dimensions material 320 300 t20 AI 275 260 t15 AI Applicable driv...

Page 129: ...10 4 12 9 10 4 37 6 10 4 48 0 10 4 With brake kg m2 10 0 10 4 14 2 10 4 38 6 10 4 48 8 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 1 27 1 18 1 40 1 46 Power rate 1 Without brake kW s 105 159 97 1 119 With brake kW s 91 2 144 94 5 117 Mechanical time constant Without brake ms 0 68 0 56 0 60 0 60 With brake ms 0 78 0 61 0 61 0 61 Electrical time constant ms ...

Page 130: ...0 90 10 1 3 10 1 3 10 Static friction torque N m 13 7 min 16 2 min 24 5 min 24 5 min Attraction time 5 ms 100 max 110 max 80 max 80 max Release time 5 ms 50 max 6 50 max 6 25 max 7 25 max 7 Backlash 1 reference value Allowable work per braking J 1176 1470 1372 1372 Allowable total work J 1 5 106 2 2 106 2 9 106 2 9 106 Allowable angular acceleration rad s2 10 000 Brake limit 10 million times min R...

Page 131: ... Nippon Chemi Con Corporation 7 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co Torque Rotation Speed Characteristics for 2 000 r min Motors 2 000 r min motor 200 VAC The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M K1K020H T 1 kW R88M K1K520H T 1 5 kW R88M K2K020H T 2 kW R88M K3K020H T 3 kW R88M K4K020H T 4 kW R88M K5K020...

Page 132: ...n range Momentary operation range N m 0 1000 2000 5 10 15 14 3 4 77 4 77 14 3 2200 3000 r min 6 0 4 0 3 2 2000 Power supply voltage dropped by 10 Continuous operation range Momentary operation range N m 10 0 20 21 5 7 16 7 16 21 5 2300 1000 2000 3000 r min 10 0 6 0 4 8 2000 Power supply voltage dropped by 10 Continuous operation range Momentary operation range N m 15 0 30 28 6 9 55 9 55 28 6 2200 ...

Page 133: ...que constant 1 N m A 0 86 0 88 0 96 Power rate 1 Without brake kW s 110 120 170 With brake kW s 92 4 116 167 Mechanical time constant Without brake ms 0 66 0 75 0 63 With brake ms 0 78 0 78 0 64 Electrical time constant ms 11 18 21 Allowable radial load 3 N 686 1176 1470 Allowable thrust load 3 N 196 490 490 Weight Without brake kg Approx 6 7 Approx 14 0 Approx 20 0 With brake kg Approx 8 2 Approx...

Page 134: ...ion speed r min 2 000 Momentary maximum torque 1 N m 19 3 47 7 71 7 Rated current 1 A rms 3 8 8 5 11 3 Momentary maximum current 1 A rms 12 30 40 Rotor inertia Without brake kg m2 6 70 10 4 30 3 10 4 48 4 10 4 With brake kg m2 7 99 10 4 31 4 10 4 49 2 10 4 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 1 72 1 76 1 92 Power rate 1 Without brake kW s 110 120 170 Wit...

Page 135: ...tion voltage 4 V 24 VDC 10 Power consumption at 20 C W 19 31 34 Current consumption at 20 C A 0 79 10 1 3 10 1 4 10 Static friction torque N m 13 7 min 24 5 min 58 8 min Attraction time 5 ms 100 max 80 max 150 max Release time 5 ms 50 max 6 25 max 7 50 max 7 Backlash 1 reference value Allowable work per braking J 1176 1372 1372 Allowable total work J 1 5 106 2 9 106 2 9 106 Allowable angular accel...

Page 136: ...s of the Motor and Mechanical System OMNUC G5 Series AC Servomotors use rare earth magnets neodymium iron magnets The temperature coefficient for these magnets is approx 0 13 C As the temperature drops the motor s momentary maximum torque increases and as the temperature rises the motor s momentary maximum torque decreases The momentary maximum torque rises by 4 at a normal temperature of 20 C com...

Page 137: ...pply current 180 mA max Output signals S S Output interface RS485 compliance Item Specifications Encoder system Optical encoder 17 bits Number 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 con...

Page 138: ...emental encoders 100 V and 200 V For 3 000 r min motors of 50 to 750 W Connection configuration and external dimensions Wiring Model Length L Outer diameter of sheath Weight R88A CRKA001 5CR E 1 5 m 6 9 dia Approx 0 1 kg R88A CRKA003CR E 3 m Approx 0 1 kg R88A CRKA005CR E 5 m Approx 0 2 kg R88A CRKA010CR E 10 m Approx 0 4 kg R88A CRKA015CR E 15 m Approx 0 6 kg R88A CRKA020CR E 20 m Approx 0 8 kg L...

Page 139: ... 5 m 7 6 dia Approx 0 1 kg R88A CRKC003NR E 3 m Approx 0 2 kg R88A CRKC005NR E 5 m Approx 0 4 kg R88A CRKC010NR E 10 m Approx 0 7 kg R88A CRKC015NR E 15 m Approx 1 1 kg R88A CRKC020NR E 20 m Approx 1 5 kg L φ7 6 Drive side Motor side R88D Kx R88M Kx Symbol Drive side E5V 1 E0V 2 BAT 3 BAT 4 S 5 S 6 FG Shell Cable 1 mm2 2C 0 22 mm2 2P or AWG17 2C AWG24 2P 4 E5V Symbol Motor side 1 6 5 3 7 E0V BAT B...

Page 140: ...Connection configuration and external dimensions Wiring Model Length L Outer diameter of sheath Weight R88A CAKA001 5SR E 1 5 m 6 7 dia Approx 0 1 kg R88A CAKA003SR E 3 m Approx 0 2 kg R88A CAKA005SR E 5 m Approx 0 3 kg R88A CAKA010SR E 10 m Approx 0 5 kg R88A CAKA015SR E 15 m Approx 0 7 kg R88A CAKA020SR E 20 m Approx 1 0 kg 50 L φ6 7 Drive side Motor side R88D Kx R88M Kx 1 2 3 4 Phase U Phase V ...

Page 141: ...sions Wiring Model Length L Outer diameter of sheath Weight R88A CAGB001 5SR E 1 5 m 12 7 dia Approx 0 5 kg R88A CAGB003SR E 3 m Approx 0 8 kg R88A CAGB005SR E 5 m Approx 1 3 kg R88A CAGB010SR E 10 m Approx 2 4 kg R88A CAGB015SR E 15 m Approx 3 5 kg R88A CAGB020SR E 20 m Approx 4 6 kg 70 L φ12 7 Drive side Motor side R88D Kx R88M Kx Number A B C D Phase U Phase V Phase W FG Symbol Drive side Black...

Page 142: ...ight R88A CAGD001 5SR E 1 5 m 13 2 dia Approx 0 8 kg R88A CAGD003SR E 3 m Approx 1 4 kg R88A CAGD005SR E 5 m Approx 2 2 kg R88A CAGD010SR E 10 m Approx 4 2 kg R88A CAGD015SR E 15 m Approx 6 3 kg R88A CAGD020SR E 20 m Approx 8 3 kg 70 L φ13 2 Drive side Motor side R88D Kx R88M Kx A B C D Phase U Phase V Phase W FG Symbol Number Drive side Black 1 Black 2 Black 3 Green Yellow Cable 4 mm2 4C or AWG11...

Page 143: ... 5 m 12 5 dia Approx 0 5 kg R88A CAGB003BR E 3 m Approx 0 9 kg R88A CAGB005BR E 5 m Approx 1 5 kg R88A CAGB010BR E 10 m Approx 2 8 kg R88A CAGB015BR E 15 m Approx 4 2 kg R88A CAGB020BR E 20 m Approx 5 5 kg L 150 φ12 5 Drive side Motor side R88D Kx R88M Kx Number G H A F Brake Brake NC Phase U Symbol Drive side Black 5 Black 6 Black 1 I B E D C Phase W FG FG NC Phase V Black 3 Green Yellow Black 2 ...

Page 144: ...rox 0 6 kg R88A CAKF003BR E 3 m Approx 1 0 kg R88A CAKF005BR E 5 m Approx 1 5 kg R88A CAKF010BR E 10 m Approx 2 7 kg R88A CAKF015BR E 15 m Approx 4 0 kg R88A CAKF020BR E 20 m Approx 5 3 kg L 150 φ12 5 Drive side Motor side R88D Kx R88M Kx Number A B I D Brake Brake NC Phase U Symbol Drive side Black 5 Black 6 Black 1 E F G H C Phase W FG FG NC Phase V Black 3 Green Yellow Black 2 Motor side Cable ...

Page 145: ...rox 0 9 kg R88A CAGD003BR E 3 m Approx 1 6 kg R88A CAGD005BR E 5 m Approx 2 5 kg R88A CAGD010BR E 10 m Approx 4 7 kg R88A CAGD015BR E 15 m Approx 7 0 kg R88A CAGD020BR E 20 m Approx 9 2 kg L 150 φ13 5 Drive side Motor side R88D Kx R88M Kx Number A B I D Brake Brake NC Phase U Symbol Drive side Black 5 Black 6 Black 1 E F G H C Phase W FG FG NC Phase V Black 3 Green Yellow Black 2 Motor side Cable ...

Page 146: ...ntrol cable by yourself Dimensions Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable by yourself Dimensions R88A CNW01R Drive s CN2 side 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 0 5 mm dia 52 4 39 t 18 Connector plug model 10...

Page 147: ...max Insulating cover outer diameter 1 3 mm dia max Outer diameter of sheath 5 0 5 mm dia Adaptive motors 100 V 3 000 r min motors of 50 to 400 W 200 V 3 000 r min motors of 50 to 750 W ABS 12 5 21 5 φ13 21 16 6 8 13 2 2 11 11 4 R88A CNK04R motor side Use the following cable Applicable wire AWG20 max Outer diameter of sheath 6 5 to 8 0 dia Adaptive motors 200 V 3 000 r min motors of 1 0 to 5 0 kW 2...

Page 148: ... Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics Brake Cable Connector R88A CNK11B This connector is used for brake cables Use it when preparing a brake cable by yourself Angle plug model JN4FT02SJ1 R Japan Aviation Electronics Socket contact model ST TMH S C1B 3500 A534G Japan Aviation Electronics 17 6 28 8 φ13 32 27 6 22 12 R5 5 14 7 13 5 3 11 11 Angle plug di...

Page 149: ...munications type 3 Specifications Analog Monitor Cable Specifications Analog Monitor Cable R88A CMK001S Connection configuration and external dimensions No 1 2 Symbol Black Red White Cable AWG24 3C UL1007 3 4 5 6 Connector housing 51004 0600 Molex Japan Connector terminal 50011 8100 Molex Japan SP IM GND 1 000 mm 1 m ...

Page 150: ...cations External Encoder Connector R88A CNK41L Use this connector to connect to an external encoder in full closing control Connector plug model MUF PK10K X J S T Mfg Co Ltd Safety I O Signal Connector R88A CNK81S Use this connector to connect to safety devices 7 2 13 6 10 4 7 1 11 9 18 5 42 5 10 5 φ6 8 MAX 7 3 5 2 11 11 10 7 8 1 5 11 33 φ6 7 ...

Page 151: ...ations Cable is equipped with a connector on each end and a core Cable Types Connection Configuration and Dimensions MECHATROLINK II Communications Cable MECHATROLINK II Terminating Resistor Name Model Length L MECHATROLINK II Communications 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 Terminating ...

Page 152: ...ions Wiring This is an example to connect a host controller and the Servo Drive by the MECHATROLINK II Communications Cable Note 1 The cable between the two nodes L1 L2 or Ln must be 0 5 m or longer Note 2 The total length of the cable L1 L2 Ln must be equal to or shorter than 50 m 0 1 2 3 4 5 6 7 8 9 A BCD E NC Unit L1 L2 Ln Terminating Resistor ...

Page 153: ... L 6 t 14 R88D KNx Servo Drive Connector Terminal Block Conversion Unit XW2B 20G4 XW2B 20G5 XW2D 20G6 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 No 6 24 VIN DEC 9 7 POT 8 NOT 10 EXT1 EXT2 11 12 2 1 EXT3 BATGND 14 15 BAT BKIRCOM BKIR 4 ALM 3 ALMCOM FG No 24 V 0 V 24 V 0 V 24 V 0 V DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALM ALMCOM FG STOP STOP 5 Terminal block connector Servo Dri...

Page 154: ...e G5 series Servo Drive into a terminal block Terminal Block Models XW2B 20G4 Precautions for Correct Use Use 0 3 to 1 25 mm2 wire AWG22 to 16 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 Model Description XW2B 20G4 M3 screw terminal block XW2B 20G5 M3 5 screw terminal block XW2D 20G6 M3 screw terminal block 3 5 3 5 2 φ3 5 67 5 ...

Page 155: ...necting wires and crimp terminals to a terminal block tighten them with a tightening torque of 0 59 N m 2 1 1 2 20 19 19 20 45 3 43 5 29 5 7 8 5 7 3 3 5 7 3 5 112 5 15 5 45 2 φ3 5 20 5 Dimensions Flat cable connector MIL type plug Terminal block φ3 7 mm 3 7 mm 6 8mm max 6 8mm max Round terminal Fork terminal Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 16 0 30 to 1 25 m...

Page 156: ...ls use crimp terminals 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 79 39 1 39 57 17 6 6 40 4 5 2 φ4 5 Dimensions φ3 2mm 3 2 mm Round terminal Fork terminal 5 8 mm max 5 8 mm max Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 16 0 30 to 1 25 mm2 Fork terminals 1 25Y 3 AWG22 16 ...

Page 157: ...ackup battery of 2 8 to 4 5 V Secure the battery in place by cable clips with double sided adhesive tape Connect the battery to either the connector terminal block or the absolute encoder backup battery cable with a battery The absolute encoder backup battery is not required when the Servomotor is equipped with an incremental encoder 3 The XB contact is used to turn ON OFF the electromagnetic brak...

Page 158: ... 20 W Aluminum 250 250 Thickness 3 0 Operating temperature 150 C 5 NC contact Rated output 30 VDC 50 mA max Model Resistance value Nominal capacity Regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR080100S 100 80 W 20 W Aluminum 250 250 Thickness 3 0 Operating temperature 150 C 5 NC contact Rated output 30 VDC 50 mA max Model Re...

Page 159: ... type 3 Specifications R88A RR50020S Model Resistance value Nominal capacity Regeneration absorption for 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR50020S 20 500 W 180 W Aluminum 600 600 Thickness 3 0 Operating temperature 200 C 7 C NC contact Rated output 250 VAC 0 2 A max 24 VDC 0 2 A max ...

Page 160: ...g Single phase R88D KN01L ML2 R88D KN02H ML2 3G3AX DL2004 3 2 A 10 7 mH Approx 1 0 kg Single phase R88D KN02L ML2 R88D KN04H ML2 3G3AX DL2007 6 1 A 6 75 mH Approx 1 3 kg Single phase R88D KN04L ML2 R88D KN08H ML2 R88D KN10H ML2 3G3AX DL2015 9 3 A 3 51 mH Approx 1 6 kg Single phase R88D KN15H ML2 3G3AX DL2022 13 8 A 2 51 mH Approx 2 1 kg Single phase R88D KN08H ML2 R88D KN10H ML2 R88D KN15H ML2 R88...

Page 161: ...tor 50 m max Maximum number of connectable node Between a Controller and a Repeater Unit 14 nodes in every 50 m or 15 nodes in every 30 m Between a Repeater Unit and a Terminating Resistor 15 nodes in every 50 m or 16 nodes in every 30 m The total number of Servo Drives in upstream and downstream of a Repeater Unit must not exceed the maximum number of nodes connectable to a MECHATROLINK II Commun...

Page 162: ...in MECHATROLINK II communications type 3 Specifications Repeater Unit Part Names Power on LED POWER CN1 transmitting TX1 CN2 communicating TX2 DIP switches SW Keep all pins off while use MECHATROLINK II communications connector CN1 and CN2 Control power terminal 24 VDC and 0 VDC Protective ground terminal ...

Page 163: ...nd plural Servo Drives 15 nodes max for less than 30 m distance MECHATROLINK II MECHATROLINK II 14 nodes max for a 30 to 50 m distance 16 nodes max for less than 30 m distance 15 nodes max for a 30 to 50 m distance 100 m max equal to the maximum number of nodes connectable to a Controller 16 max for CJ1W or CS1W NCF71 RUN ERC ERH ERM MLK NCF71 UNIT No MLK 0 1 2 3 4 5 6 7 8 9 ABC ML2 A B ML2 A B ML...

Page 164: ......

Page 165: ...ethods including wiring conforming to EMC directives and regenerative energy calculation methods regarding the Servo Drive Servomotor as well as the performance of External Regeneration Resistors and so on 4 1 Installation Conditions 4 1 4 2 Wiring 4 7 4 3 Wiring Conforming to EMC Directives 4 21 4 4 Regenerative Energy Absorption 4 40 System Design ...

Page 166: ...mber can be seen properly Environment Operating Conditions The environment in which drives are operated must meet the following conditions Drives may malfunction if operated under any other conditions Operating ambient temperature 0 to 55 C Take into account temperature rises in the following individual drives themselves Operating humidity 90 RH max with no condensation Operating atmosphere No cor...

Page 167: ...citors When an electrolytic capacitor reaches its limit electrostatic capacity drops and internal resistance increases This leads to overvoltage alarms malfunctioning due to noise and damage to individual elements If a drive is always operated at the ambient temperature of 55 C and with 100 output of the rated torque and rated rotation speed its limit is expected to be approx 28 000 hours excludin...

Page 168: ...to Mechanical Systems For the allowable axial loads for motors refer to Characteristics P 3 2 If an axial load greater than that specified is applied to a motor it may reduce the limit 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 a...

Page 169: ...shaft and the load shaft so that the belt tension can be adjusted Water and Drip Resistance The protective structure for the motors is as follows IP67 or equivalent except for through shaft parts Oil water Measures Use the Servomotor with oil seal if you are using it in an environment where oil drops can attach to the through shaft part The operating conditions of the Servomotor with oil seal are ...

Page 170: ...using a real Servomotor Depending on the environment such as when the Servomotor is installed near a heating element the Servomotor temperature may rise significantly In this case take any of the following measures Lower the load ratio Review the heat radiation conditions of the Servomotor Install a cooling fan and apply forced air cooling to the Servomotor Other Precautions Take measures to prote...

Page 171: ...ration requires another company s decelerator to be used in combination with an OMNUC G5 Series motor 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 P 3 2 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable input ...

Page 172: ...E M CN2 Ground to 100 Ω or less Encoder cables Power cables DC24V XB 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 The Regeneration Resistor built in type...

Page 173: ...UC G5 Series AC Servomotor W V U B E M CN2 Encoder cables Power cables 24 VDC 3 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 The Regeneration R...

Page 174: ... Power cables 24 VDC 3 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 The Regeneration Resistor built in type KN20H ML2 shorts B2 and B3 When the...

Page 175: ...N1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 The Regeneration Resistor built in type KN30H ML2 KN50H ML2 connects B2 and B3 When the amount of reg...

Page 176: ... V U B E M CN2 Encoder cables Power cables 24 VDC 3 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 The Regeneration Resistor buit in type KN06F M...

Page 177: ...r cables 24 VDC 3 2 CN1 CN1 1 A recommended product is listed in 4 3 Wiring Confirming to EMC Directives 2 Recommended relay MY relay by OMRON 24 V type For example MY2 relay by OMRON can be used with all G5 Series motors with brakes because its rated induction load is 2 A 24 VDC 3 There is no polarity on the brakes 4 There is no Internal Regeneration Resistor with KN30F ML2 and KN50F ML2 When the...

Page 178: ... 50 60 Hz 100 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2 L3 L1C Control circuit power supply input R88D KNxL ML2 Single phase 100 to 120 VAC 85 to 132 V 50 60Hz R88D KNxH ML2 Single phase 200 to 240 VAC 170 to 264 V 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 h...

Page 179: ...D KN20H ML2 Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C Symbol Name Function U Motor 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 or less Symbol Name Function B1 External Regeneration Resistor connection terminals Normally B2 and B3 are short circ...

Page 180: ...ection terminals Normally B2 and B3 are short circuited 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 Motor 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 t...

Page 181: ...n Resistor between B1 and B2 When using N terminal make sure not to exceed the fuse s rated voltage 660 VDC 20 A B2 B3 N Symbol Name Function L1 Main circuit power supply input R88D KNxF ML2 3 to 5 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L2 L3 B1 External Regeneration Resistor connection terminals A Regeneration Resistor is not built in Connect an External Regeneration Resistor between B1 ...

Page 182: ...wire sizes for B1 and B2 Model R88D KNA5L ML2 KN01L ML2 KN02L ML2 KN04L ML2 Item Unit Power supply capacity kVA 0 4 0 4 0 5 0 9 Main circuit power supply input L1 and L3 or L1 L2 and L3 Rated current A 1 4 2 6 4 3 7 6 Wire size AWG14 to 18 Control circuit power supply input L1C and L2C Wire size AWG18 Motor connection terminals U V W and FG 1 2 Rated current A 1 2 1 7 2 5 4 6 Wire size AWG14 to 18...

Page 183: ...pply input L1C and L2C Wire size AWG18 Screw size Tightening torque N m Motor connection terminals U V W and FG 2 3 Rated current A 1 2 1 6 2 6 4 1 5 9 Wire size AWG14 to 18 AWG14 Screw size Tightening torque N m Frame ground FG Wire size AWG14 Screw size M4 Tightening torque N m 1 2 Model R88D KN15H ML2 KN20H ML2 KN30H ML2 KN50H ML2 Item Unit Power supply capacity kVA 2 3 3 3 4 5 7 5 Main circuit...

Page 184: ... 3 9 5 9 7 6 12 1 Wire size AWG14 AWG12 Screw size M5 Tightening torque N m 2 0 Control circuit power supply input L1C and L2C Wire size AWG20 to 24 AWG18 Screw size M5 Tightening torque N m 2 0 Motor connection terminals U V W and FG 1 2 Rated current A 2 9 2 9 4 7 6 7 9 4 16 5 Wire size AWG14 AWG12 Screw size M5 Tightening torque N m 2 0 Frame ground FG Wire size AWG14 AWG12 Screw size M4 M5 Tig...

Page 185: ...s 3 Open the wire insertion slots in the terminal block using a tool There are 2 ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Drive Figure A Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the driver of the terminal block and press down firmly to open the slot Figure B 4 With the wire insertion slot held o...

Page 186: ...r cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive may have clamp filters installed to improve the noise immunity The shields of all cables must be directly connected to a ground plate Wiring Method R88D KNA5L ML2 KN01L ML2 KN02L ML2 KN04L ML2 KN01H ML2 KN02H ML2 KN04H ML2 KN08H ML2 KN10H ML2 KN15H ML2 KN20H ML2 KN30H ML2 K...

Page 187: ... 3 phase 400 VAC SG NF FC FC SD FC FC TB Controller CNA CN1 CNB CN2 U V W SM 3 4 1 2 6 5 7 8 Symbol Name Manufacturer Model Comment SG Surge absorber Okaya Electric Industries Co Ltd RAV781BWZ 4 Single phase 100 VAC RAV781BXZ 4 3 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 3 phase 200 VAC 10 A 3SUP HU30 ER 6 3 phase 200 VA...

Page 188: ...me ground Noise filter FG line 1 5 m No No 8 AC power supply Switch box Power supply line 1 5 m No No Drive model Noise Filter for Power Supply Input Model Rated Current Phase Leakage Current 60 Hz max Manufacturer R88D KNA5L ML2 SUP EK5 ER 6 5 A Single phase 1 0 mA at 250 VAC Okaya Electric Industries Co Ltd R88D KN01L ML2 R88D KN02L ML2 R88D KN04L ML2 3SUP HQ10 ER 6 10 A 3 phase 3 5 mA at 500 VA...

Page 189: ...f input and output lines are wired together noise resistance will decrease The noise filter must be installed as close as possible to the entrance of the control panel Wire as shown at the left in the following illustration Use twisted pair cables for the power supply cables or bind the cables Separate power supply lines and signal lines when wiring Separate the input and output The effect of the ...

Page 190: ...ductive 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 case itself Door Structure Use a metal door Use a water draining structure where the door and case fit together and leave no gaps Refer to the diagrams Use a conductive gasket between the doo...

Page 191: ...rally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple Servo Drives are used The rated current of the power supply input for each motor is provided in Main Circuit and Motor Connections P 4 13 Add the current consumption of other controllers and any other components when selecting Inrush Current The following table...

Page 192: ...times the total of the leakage current given in the following table as a reference value When selecting leakage breakers remember to add the leakage current from devices other than the motor such as devices using a switching power supply noise filters inverters and so on To prevent malfunction due to inrush current we recommend using a leakage breaker of 10 times the total of all current values Th...

Page 193: ...lowing table are recommended Note 1 Refer to the manufacturers catalog for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 s If pulses are wide either decrease the current or change to a larger capacity surge absorber External Dimensions Equalizing Circuits Manufacturer Model Surge immunity Type Comment Okaya Electric Industries Co Ltd R A V 781BWZ 4 700 V 20 ...

Page 194: ...L2 3SUP HQ10 ER 6 10 A 3 phase 3 5 mA at 500 VAC R88D KN01H ML2 SUP EK5 ER 6 5 A Single phase 1 0 mA at 250 VAC R88D KN02H ML2 R88D KN04H ML2 R88D KN08H ML2 3SUP HQ10 ER 6 10 A 3 phase 3 5 mA at 500 VAC R88D KN10H ML2 3SUP HU30 ER 6 30 A 3 phase 3 5 mA at 500 VAC R88D KN15H ML2 R88D KN20H ML2 R88D KN30H ML2 3SUP HL50 ER 6B 50 A 3 phase 8 0 mA at 500 VAC R88D KN50H ML2 R88D KN06F ML2 3SUP HQ10 ER 6...

Page 195: ...es Users Manual Built in MECHATROLINK II communications type 4 System Design 3SUP HU30 ER 63SUP HL50 ER 6B 105 115 5 5 43 70 52 10 95 Ground terminal M4 Cover Noise filter unit M4 Attachment screw for cover M3 2 φ5 5 120 90 1 0 18 13 286 3 0 240 150 270 255 1 0 2 φ5 5 7 M6 M6 ...

Page 196: ...L50 ER 6B Noise Filter for the Brake Power Supply Use the following noise filter for the brake power supply Note Noise can also be reduced by 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter Cx R Cy Cy Cx L L Cx1 Cx1 R L1 Cy1 OUT IN LOAD LINE Cx1 Cx1 R L1 Cy1 OUT IN 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 ...

Page 197: ...enerally used for 50 100 W The maximum number of windings is 2 turns 4 Also used on the Drive output power lines to comply with the EMC directives Only a clamp is used This clamp can also be used to reduce noise current on a FG line External Dimensions Model Manufacturer Application 3G3AX ZCL1 1 OMRON For Drive output and power cable 3G3AX ZCL2 2 OMRON For Drive output and power cable ESD R 47B 3 ...

Page 198: ...s type 4 System Design Impedance Characteristics 10 100 10000 1000 100 10 1 0 1 Frequency kHz Frequency kHz Impedance Ω Impedance Ω 1 1000 3G3AX ZCL2 3G3AX ZCL1 10000 1000 100 10 1 Impedance Ω 10 100 Frequency MHz 1 1000 ESD R 47B ZCAT3035 1330 10 100 Frequency MHz 1000 1000 100 10 Impedance Ω 20 40 60 80 100 1 10 100 0 1 4T 15T ...

Page 199: ...et time is not a critical issue At power shutoff the surge voltage is the lowest but the rest time takes longer Used for 24 48 VDC systems Use a fast recovery diode with a short reverse recovery time e g RU2 of Sanken Electric Co Ltd Thyristors and varistors Thyristors and varistors are used for loads when induction coils are large as in electromagnetic brakes solenoids etc and when reset time is ...

Page 200: ...f cables are long and are rolled mutual induction 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 External Dim...

Page 201: ...d the control I O Additionally do not connect the ground wires Connecting the ground wires may cause I O signal errors Keep the power supply for pulse commands and error counter reset input lines separated from the control power supply as far as possible In particular do not connect the 2 power supply ground wires We recommend using line drivers for the pulse command and error counter reset output...

Page 202: ...e appropriate remedies to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Servo Drive to be used Drive model Reactor Model Rated current Inductance R88D KNA5L ML2 R88D KN01H ML2 3G3AX DL2002 1 6 A 21 4 mH R88D KN01L ML2 R88D KN02H ML2 3G3AX DL2004 3 2 A 10 7 mH R88D KN02L ML2 R88D KN04H ML2 3G3AX DL2007 6 1 A 6 75 mH R88D KN04L ML2 R88D ...

Page 203: ...vo Drive s continuous output current The following table shows the noise filters that are recommended for motor output lines Note 1 Motor output lines cannot use the same noise filters for power supplies Note 2 General 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...

Page 204: ...ions type 4 System Design 3G3AX NF003 NF004 NF005 NF006 C B A P F E 6 O 2 N 50 30 4 φ6 5 50 H J 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 ...

Page 205: ...ng equations Note Due to the loss of motor winding resistance and PWM the actual regenerative energy will be approx 90 of the values derived from these equations For Servo Drive models with internal capacitors used for absorbing regenerative energy i e Servo Drive models of 400 W or less the values for both Eg1 or Eg2 unit J must be lower than the drive s regeneration absorption capacity The capac...

Page 206: ...n the drive s regeneration absorption capacity The capacity depends on the model For details refer to the next section For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative energy i e Servo Drive models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the drive s regeneration absorption capaci...

Page 207: ...operating rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time Regenerative energy per unit time decreases Lengthen the operation cycle i e the cycle time Average regenerative power decreases Servo Drive model Regenerative energy absorbable by built in capacitor J Internal regeneration resistor Allowable minimum regeneration r...

Page 208: ...wiring that is easily affected by heat Attach radiator plates suitable for the heat radiation conditions External Regeneration Resistor Characteristics Model Resistance value Nominal capacity The amount of regeneration absorptionfor 120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR08050S 50 80 W 20 W Aluminum 250 250 Thickness 3 0 Operating temperature 15...

Page 209: ...tput from the thermal switch R88D KN04L ML2 KN08H ML2 KN10H ML2 KN15H ML2 KN20H ML2 KN30H ML2 KN50H ML2 KN06F ML2 KN10F ML2 KN15F ML2 KN20F ML2 KN30F ML2 KN50F ML2 Normally B2 and B3 are short circuited If an External Regeneration Resistor is necessary remove the short circuit bar between B2 and B3 and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below ...

Page 210: ... regeneration resistance can reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a cover that enables heat dissipation Regeneration absorption capacity 1 20 W 40 W 70 W 140 W Model R88A RR08050S R88A RR080100S R88A RR08050S R88A RR080100S R88A RR22047S R88A RR22047S Resistance value 2 50 100 25 50 47 94 Connection method R R R R R R R R Rege...

Page 211: ...INK II communications type 5 This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting 5 1 Position Control 5 1 5 2 Speed Control 5 4 5 3 Torque Control 5 6 5 4 Full Closing Control 5 9 BASIC CONTROL Mode ...

Page 212: ...tronic Gear Function P 6 18 Servo Drive R88D KN Servomotor OMNUC G5 Host Controller MECHATROLINK II communications support type Electronic Gear Pn009 Pn010 POSITION CONTROL mode Position Control Unit CJ1W NCF71 CS1W NCF71 Absolute Movement Command Relative Movement Command Issue a position command Feedback the position or speed Numerator Denominator Parameter number Parameter name Explanation Refe...

Page 213: ...r Time Constant Set the time constant of the first order lag filter for the position command P 8 24 Pn431 Positioning Completion Range 1 Set the threshold of position error for output of the positioning completion signal P 8 36 Pn432 Positioning Completion Condition Selection Select the condition under which the positioning completion signal is output P 8 36 Pn433 Positioning Completion Hold Time ...

Page 214: ... compensation Pn114 Mode Selection Pn115 Mode Pn116 Delay Time Pn117 Level Pn118 Hysteresis Pn119 Switching Time Pn605 Effective Time 3 Pn606 Ratio 3 Gain switching Smoothing filter Pn101 Speed Gain 1 Pn102 Integral Time Constant 1 Pn106 Speed Gain 2 Pn107 Integral Time Constant 2 Pn004 Inertia Ratio Speed control Torque limit Pn611 Response Setting Current control Electronic gear reverse conversi...

Page 215: ...enominator Parameter number Parameter name Explanation Reference Pn312 Soft Start Acceleration Time Set the acceleration time for internally set speed control Set the time until 1 000 r min is reached P 8 26 Pn313 Soft Start Deceleration Time Set the deceleration time for internally set speed control Set the time until 1 000 r min is reached P 8 26 Pn314 S curve Acceleration Deceleration Time Sett...

Page 216: ...is Gain switching Pn200 Adaptive Filter Selection Pn201 Frequency 1 Pn204 Frequency 2 Pn207 Frequency 3 Pn210 Frequency 4 Pn202 Notch 1 Width Pn205 Notch 2 Width Pn208 Notch 3 Width Pn211 Notch 4 Width Pn203 Notch 1 Depth Pn206 Notch 2 Depth Pn209 Notch 3 Depth Pn212 Notch 4 Depth Notch filter Pn101 Speed Gain 1 Pn102 Integration Time Constant 1 Pn106 Speed Gain 2 Pn107 Integration Time Constant 2...

Page 217: ... Parameters Requiring Settings Speed Limit Selection Pn317 Restricts the speed as the protection during torque control Controls that the speed does not exceed the Speed Limit during torque control Servo Drive R88D KN Servomotor OMNUC G5 Host Controller MECHATROLINK II communications support type Electronic Gear Pn009 Pn010 TORQUE CONTROL mode Position Control Unit CJ1W NCF71 CS1W NCF71 Torque Cont...

Page 218: ...ions type 5 BASIC CONTROL Mode Related Functions Parameter number Parameter name Explanation Reference Pn321 Speed Limit Value Setting Set the speed limit value applicable during torque control During torque control the speed is controlled so as not to exceed the level set by the speed limit value P 8 27 ...

Page 219: ...er Selection Pn201 Frequency 1 Pn204 Frequency 2 Pn207 Frequency 3 Pn210 Frequency 4 Pn202 Notch 1 Width Pn205 Notch 2 Width Pn208 Notch 3 Width Pn211 Notch 4 Width Pn203 Notch 1 Depth Pn206 Notch 2 Depth Pn209 Notch 3 Depth Pn212 Notch 4 Depth Notch filter Pn101 Speed Gain 1 Pn102 Integral Time Constant 1 Pn106 Speed Gain 2 Pn107 Integral Time Constant 2 Pn004 Inertia Ratio Speed control Torque l...

Page 220: ...ctly To prevent machine damage due to an external encoder setting error set the following parameters to appropriate values Internal External Feedback Pulse Error Counter Overflow Level Pn328 Internal External Feedback Pulse Error Counter Reset Pn329 For the setting of external encoder ratio it is recommended that 1 40 External encoder ratio 160 be satisfied If the external encoder ratio is set exc...

Page 221: ...merator of the electronic gear ratio for the command pulse input P 8 4 Pn010 Electronic Gear Ratio Denominator Use this parameter to set the denominator of the electronic gear ratio for the command pulse input P 8 4 Pn323 External Feedback Pulse Type Selection Select the external encoder type P 8 28 Pn324 External Feedback Pulse Dividing Numerator Set the numerator of the external encoder divider ...

Page 222: ...ctronic Gear Ratio Numerator Set the numerator of the electronic gear ratio for the command pulse input 0 to 1073741824 Pn010 Electronic Gear Ratio Denominator Set the denominator of the electronic gear ratio for the command pulse input 0 to 1073741824 Parameter number Parameter name Explanation Setting range Unit Pn323 External Feedback Pulse Type Selection Select the type of the external encoder...

Page 223: ...ection used for monitoring the total external encoder feedback pulses etc If Pn000 0 the count direction matches the count direction for monitoring Even when the drive speed is within the specified range an acceleration error occurs if the motor shaft rotation speed exceeds the maximum speed To check the installation direction use the front panel monitor or the monitoring function of CX Drive and ...

Page 224: ...Pn325 so that the following formula works out Precautions for Correct Use If this divider setting is wrong there will be deviations between the position calculated from encoder pulses and the position calculated from external encoder If the movement distance is long these deviations accumulate and cause an internal external feedback pulse error counter overflow level error Parameter number Paramet...

Page 225: ...olution 20 bits Servomotor encoder resolution 20 bits rotation 10 mm Ball screw Ball screw pitch 10 mm 1 Rotation External encoder resolution 0 1 μm External encoder Output Pulse Per Motor Rotation Pn325 10 mm 0 1 μm pulse 100 000 pulse Encoder Output Pulses per Motor Rotation Pn324 20 bits 1 048 576 Pn324 Encoder resolution per motor rotation pulse 1 048 576 Pn325 External encoder resolution per ...

Page 226: ...n the motor and load is loose among others Accordingly check these items when an error occurs Be sure to set an appropriate value for Internal External Feedback Pulse Error Counter Reset Pn329 If an extremely small value is set this function may not operate Use with extra caution on safety by installing limit sensors etc Parameter number Parameter name Explanation Setting range Unit Pn328 Internal...

Page 227: ... Depth Pn212 Notch 4 Depth Notch filter Pn101 Speed Gain 1 Pn102 Integral Time Constant 1 Pn106 Speed Gain 2 Pn107 Integral Time Constant 2 Pn004 Inertia Ratio Speed control Torque limit Pn611 Response Setting Current control Pn323 Type Pn326 Reverse Pn327 Phase Z setting Input Setting Pn325 Denominator Pn324 Numerator External encoder reverse dividing Electronic gear reverse conversion Torque fil...

Page 228: ......

Page 229: ... soft start and explains the setting contents 6 1 Sequence I O Signal 6 1 6 2 Forward and Reverse Drive Prohibition Functions 6 6 6 3 Overrun Protection 6 9 6 4 Backlash Compensation 6 11 6 5 Brake Interlock 6 13 6 6 Electronic Gear Function 6 18 6 7 Torque Limit Switching 6 21 6 8 Soft Start 6 23 6 9 Gain Switching Function 6 25 6 10 Gain Switching 3 Function 6 36 Applied Functions ...

Page 230: ...o Input Signal Allocation Method P 6 2 when you change the allocation to use 1 NO normally open contact and NC normally close contact in the table above refer to the following states NO Disabled OFF when signal input is open with COM Enabled ON when signal input is shorted with COM NC Disabled OFF when signal input is shorted with COM Enabled ON when signal input is open with COM indicates the sta...

Page 231: ...00h Torque control Forward External Torque Limit Input is NO normally open contact 2Ch Parameter number Parameter name Explanation Reference Pn400 Input Signal Selection 1 Set the IN1 input function allocation This parameter is based on the hex display standard Take note that the display on the front panel is based on the decimal display P 8 31 Pn401 Input Signal Selection 2 Set the IN2 input func...

Page 232: ...can be set only to NO normally open contact The control input pins that are set to disable do not affect the operation The functions that are used by plural Control modes such as Emergency Stop Input and Origin Proximity Input must be allocated to the same pin in the same logic If they are allocated to different pins an interface input duplicate allocation error 1 Alarm No 33 0 or an interface inp...

Page 233: ... value of the function for each CONTROL mode in below Refer to the function number table provided below for the set value of each function Logic setting is included in the function numbers Applicable parameters Output Signals Factory default setting hex Default setting state Position control or full closing control Speed control Torque control Signal name Logic 1 Signal name Logic Signal name Logi...

Page 234: ... 33 4 or an interface output function number error 2 Alarm No 33 5 occurs The Brake Interlock Output BKIR can be set only to NO normally open contact 00 h Position control full closing control Speed control Torque control 00070508h Position control full closing control Speed control Torque control Signal name Symbol Set value NO or normally open contact NC or normally close contact Disabled 00h 00...

Page 235: ...e input signal allocation and logic P 8 31 Pn504 Drive Prohibition Input Selection Set the operation to be performed upon forward and reverse drive prohibition input P 8 42 Pn505 Stop Selection for Drive Prohibition Input Set the deceleration and stop methods upon forward and reverse drive prohibition input P 8 43 Pn511 Emergency Stop Torque Set the torque limit for an emergency stop P 8 47 Pn710 ...

Page 236: ...rohibition input error 1 Alarm No 38 0 occurs because it is taken that Servo Drive is in error condition 1 Forward and reverse drive prohibition input disabled 2 Forward and reverse drive prohibition input enabled If either the forward or the reverse prohibition input is open a drive prohibition input error 1 Alarm No 38 0 occurs 1 For details refer to explanation for Stop Selection for Drive Proh...

Page 237: ... Reference While the Forward Drive Prohibition Input POT is OFF the Servomotor cannot be driven in the forward direction but it can be driven in the reverse direction Conversely while the reverse drive prohibition input NOT is OFF the Servomotor cannot be driven in the reverse direction but it can be driven in the forward direction Emergency Stop Torque Pn511 This is the torque limit when the Stop...

Page 238: ... ends During speed control or torque control When the position data is initialized This includes the cases of a component setup request an origin return a coordinate system setup and an adjustment command Precautions for Correct Use Note this function is not intended to protect against abnormal position commands When this function works the Servomotor decelerates according to the Stop Selection fo...

Page 239: ...motor s allowable operating range increases for the commanded amount The range will be the result where the rotation set by Pn514 is added in both sides by the position command Left Side Operation Servo ON When a leftward position command is entered the Servomotor s allowable operating range further increases Servomotor Load Servomotor sallowable operatingrange Alarming range Alarm No 34 0 Alarmin...

Page 240: ...ame Description Reference page Pn704 Backlash Compensation Selection Select whether to enable or disable the backlash compensation during position control Set the compensation direction P 8 60 Pn705 Backlash Compensation Amount Set the compensation amount during position control P 8 60 Pn706 Backlash Compensation Time Constant Set the backlash compensation time constant during position control P 8...

Page 241: ...eration after the initial backlash compensation is compensated A backlash compensation is not performed twice or more as long as the operation continues in the same direction When the Servo OFF status occurs while backlash compensation is performed the backlash compensation amount is cleared This is done by presetting the position command data of the Servo Drive to the Servomotor position data tha...

Page 242: ...propriate time so that the brake actuates after the motor stops If the brake is applied while the Servomotor is rotating the brake disc will wear abnormally or sustain damage resulting in a bearing or encoder failure in the Servomotor Parameter number Parameter name Explanation Reference Pn437 Brake Timing when Stopped Set the time after a servo OFF command is issued upon servo lock stop until the...

Page 243: ... from the Servo control and from the MECHATROLINK II In the above example the MECHATROLINK II makes no release request The BKIR is assigned to the general purpose output CN1 Note The brake attraction time and release time vary depending on the Servomotor brake For details refer to 3 3 Servomotor Specifications P 3 32 Operation command RUN ON OFF Dynamic brake relay ON OFF Motor power supply ON OFF...

Page 244: ...o control and from the MECHATROLINK II In the above example the MECHATROLINK II makes no release request The BKIR signal is assigned to the general purpose output CN1 4 The mark t1 refers to the period until the value becomes lower than the set value on the Brake Timing during Operation Pn438 or the Brake Release Speed Setting Pn439 whichever is shorter Note Even when the servo ON input is turned ...

Page 245: ...g Pn439 whichever is shorter Note 1 Even when the servo ON input is turned ON again while the motor is decelerating the system does not enter the servo ON state until the motor stops Note 2 If the main circuit power supply turns OFF while the motor is operating a phase loss alarm or main circuit voltage low alarm occurs in which case this operation timing is applied Alarm generation OFF ON 0 5 to ...

Page 246: ...ned to the general purpose output CN1 Note After the alarm has been reset the system enters the servo OFF state motor not excited To turn the servo ON issue a servo ON command again after resetting the alarm according to the above timings Alarm reset command ON OFF 16 ms or more Alarm output ALM Reset OFF ON OFF Operation command RUN ON OFF ON Brake Released Brake Engaged READY ON OFF Approx 60 ms...

Page 247: ...ed to the command unit for feedback Parameters Requiring Settings 1 The electronic gear ratio must be set between 1 1000 x and 1000 x If it is set outside the range the Parameter setting error Alarm No 93 0 occurs 2 If the Pn009 is set to 0 the encoder resolution is set to the numerator during full closing controls also Parameter number Parameter name Explanation Reference Pn009 Electronic Gear Ra...

Page 248: ...tronic gear ratio numerator Pn006 Electronic Gear Ratio Denominator Pn010 Description 0 1 to 1073741824 When the Electronic Gear Ratio Numerator Pn009 is 0 The processing changes with the set value of Electronic Gear Ratio Denominator Pn010 Position command Encoder resolution Electronic Gear Ratio Denominator Pn010 1 to 1073741824 When the Electronic Gear Ratio Numerator Pn009 is other than 0 The ...

Page 249: ...n the Electronic Gear Ratio Numerator Pn009 is set to a value other than 0 If you set Pn009 and Pn010 1 048 576 and 2 048 respectively the operation is the same as the 2 048 pulses rotation Servomotor Encoder resolution Electronic gear ratio denominator Pn010 1 048 576 2000 Servo Drive 1 048 576 pulses 2 000 pulses Servomotor encoder resolution 20 bits 1 rotation 1 048 576 pulses Electronic gear r...

Page 250: ...it switching function works under the following conditions Parameters Requiring Settings Conditions Operating Mode 1 POSITION CONTROL mode SPEED CONTROL mode FULL CLOSING CONTROL mode Others Servo ON state The factors other than control parameters are set correctly This includes the torque limit The motor operates normally without any failures 1 This switching function is disabled in the TORQUE CO...

Page 251: ... by Servomotors The torque limit setting range is between 0 and 300 The standard factory setting is 300 This is not the case when a Servo Drive and a Servomotor are used in the following combinations Set value Position Control Full Closing Control Speed Control Forward Torque Limit Reverse Torque Limit Torque FF Forward Torque Limit Reverse Torque Limit Torque FF PCL ON 1 PCL OFF 2 NCL ON 1 NCL OF...

Page 252: ...13 The time taken for acceleration or deceleration is calculated by the following formula where Vc r min is the target rotation speed of the speed command Precautions for Correct Use Do not set the Soft Start Acceleration Time and the Soft Start Deceleration Time when the position loop structure with a Host Controller is used Parameter number Parameter name Explanation Reference Pn312 Soft Start A...

Page 253: ...on time set by the Soft Start Acceleration Time Pn312 and the Soft Start Deceleration Time Pn313 The S curve time is a duration around an inflection point during acceleration and deceleration ta td ts ts ts ts Rotation speed r min Target speed Vc ta Vc Maximum motor rotation speed Pn312 1 ms td Vc Maximum motor rotation speed Pn313 1 ms ts Pn314 1 ms Note Be sure that ts is smaller than the values...

Page 254: ...the responsiveness depending on whether the motor is stopping and operating you can perform an optimal control by gain switching The function is used when the realtime autotuning does not work effectively such as When the load inertia fluctuates in 200 ms or less When the motor rotation speed does not exceed 500 r min or load torque does not exceed 50 of the rated torque When external force is con...

Page 255: ...in Switching Time Set the number of phased switches from low to high gain Unit 0 1 ms P 8 14 SPEED CONTROL mode Pn120 SWITCHING mode in Speed Control Set the condition for switching between gain 1 and gain 2 P 8 15 Pn121 Gain Switching Delay Time in Speed Control Set the time to return from the gain 2 to gain 1 Unit 0 1 ms P 8 16 Pn122 Gain Switching Level in Speed Control Set the judgment level f...

Page 256: ...ROLINK II communications 3 Disabled Disabled Disabled 3 Torque command change amount Refer to Figure A Enabled Enabled 4 0 05 Enabled 4 0 05 4 Always Gain 1 Pn100 to 104 Disabled Disabled Disabled 5 Command speed Refer to Figure B Enabled Enabled r min Enabled r min 6 Amount of position error Refer to Figure C Enabled Enabled 5 pulse Enabled 5 pulse 7 When the position command is entered Refer to ...

Page 257: ...tching delay time in position control the Gain switching level in position control and the Gain switching hysteresis in position control differ from the normal case Refer to Figure F H L H L H L H L Figure A Rotation speed V Torque T ΔT Time 1 1 2 2 2 2 1 1 Gain 1 Figure C Rotation speed V Gain 1 Gain 1 Gain 2 Accumulated pulse Level Time Figure D Commanded rotation speed S Gain 1 Gain 1 Gain 2 Ti...

Page 258: ... communications 3 Disabled Disabled Disabled 3 Torque command variation Refer to Figure A Enabled Enabled 4 0 05 Enabled 4 0 05 4 Speed command change amount Refer to Figure B Enabled Enabled 5 10r min s Enabled 5 10r min s 5 Speed command Refer to Figure C Enabled Enabled r min Enabled r min 1 The Gain Switching Delay Time in Speed Control Pn121 becomes effective when the gain is switched from 2 ...

Page 259: ...ain switching hysteresis in speed control differ from the normal case Refer to Figure D H L H L H L H L Figure A Rotation speed V Torque T ΔT Time 1 1 2 2 2 2 1 1 Gain 1 Figure C Rotation speed V Gain 1 Gain 1 Gain 2 Accumulated pulse Level Time Figure B Rotation speed V Gain 1 Gain 1 Gain 2 Time Commanded rotation speed S Gain 1 Gain 2 Actual rotation speed N Time H L Gain 1 Gain 2 only for the S...

Page 260: ...ching command input via MECHATROLINK II communications 3 Disabled Disabled Disabled 3 Torque command change amount Refer to Figure A Enabled Enabled 4 0 05 Enabled 4 0 05 1 The Gain Switching Delay Time in Torque Control Pn125 becomes effective when the gain is switched from 2 to 1 2 The Gain Switching Hysteresis in Torque Control Pn127 is defined in the drawing below 3 When the Gain switching com...

Page 261: ...ke note that in the case of position loop gains switching occurs based on the setting of Pn119 The details of gain switching setting vary depending on the CONTROL mode used For the details of settings available in each mode refer to Gain Switching Setting for Each CONTROL mode P 6 27 GAIN SWITCHING mode 2 Gain Switching GSEL Instant switching occurs when a gain switching command is issued from the...

Page 262: ...mount of change fluctuates and the switching time is not met the switching is cancelled In the case of switching due to a change amount of 4 over 2 ms a value of approx 6 will apply Change of 0 33 per 166 s GAIN SWITCHING mode 5 9 Switching by Speed Command or Actual Motor Speed Gain 1 Gain 1 1 1 2 2 2 2 Gain 1 Pn125 Pn125 Pn127 Pn127 Pn126 Pn126 Pn127 Pn127 Pn125 Pn125 Speed command Torque comman...

Page 263: ...n switching is performed when a position command corresponding to 1 command unit or more is received GAIN SWITCHING mode 8 Switching by Positioning Completion Signal OFF Switching to the gain 2 is performed when the error counter accumulated pulse exceeds the Positioning Completion Range 1 Pn431 Gain 1 Gain 1 Gain 2 Amount of position error Pn118 Pn117 Pn118 Pn116 Gain 1 Gain 1 Gain 2 Pn116 Positi...

Page 264: ... Time Pn119 At the time of gain switching the speed loop gain speed loop integral time constant torque command filter time constant and speed detection filter switch simultaneously as the switching command Under this function however switching occurs at the set timings so as to reduce mechanical vibration and resonance resulting from switching from low to high gain The switching time is set in uni...

Page 265: ...t a higher level for a certain period of time Operating Conditions You can use the gain 3 switching function in the following situations for position control or full closing control Parameters Requiring Settings Conditions Operating mode POSITION CONTROL mode SPEED CONTROL mode Others Servo ON state The factors other than control parameters are set correctly This includes the torque limit The moto...

Page 266: ...the Gain 3 Effective Time Pn605 to 0 and Gain 3 Ratio Setting Pn606 to 100 In the gain 3 region only the position loop gain and the speed loop gain are treated as gain 3 and the gain 1 setting is applied to all other gains If the gain 2 switching condition is established in the gain 3 region this switches to gain 2 If gain 2 is switching to gain 3 Position Gain Switching Time Pn119 is enabled Take...

Page 267: ...pe 7 This function stops the motor based on a signal from a Safety Controller or safety sensor An outline of the function is explained together with operation and connection examples 7 1 Safe Torque OFF STO Function 7 1 7 2 Operation Example 7 4 7 3 Connection Examples 7 6 Safety Function ...

Page 268: ...brakes are used for the holding purpose only and cannot be used for control Even if there is no external force when Stop Selection for Alarm Detection Pn510 is set to free run with the dynamic brake disabled the motor operates as free run and the stop distance is long In case of internal failure of components the motor may operate in the range of up to 180 degrees of electrical angle The power sup...

Page 269: ... Controller or a safety sensor the safety output signal of the equipment may include L pulse for self diagnosis To avoid malfunction due to this L pulse for self diagnosis a filter that can remove the L pulse for self diagnosis is built in with the safety input circuit If the OFF time of the safety input signal is 1 ms or less the safety input circuit does not recognize it as OFF To make sure that...

Page 270: ...a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal statuses using an external device These are the two cases of errors Both of the Safety inputs 1 and 2 are off But the EDM output circuit signal does not become on Either or both the Safety inputs 1 or and 2 are on But the EDM output circuit signal is on The maximum delay time is 6 ms after ...

Page 271: ...r rotation speed to drop to or below the Brake Release Speed Setting Pn439 whichever occurs first Normal status DB engaged Brake released DB released Pn439 set value Pn438 set value t1 3 Pn439 set value When the Pn438 set value is early When the timing of reaching the Pn439 set value or lower is early READY Normal Pn438 set value t1 3 Alarm Brake held Brake released Brake held STO status Safety in...

Page 272: ...us where alarms occurs the dynamic brake is based on the Stop Selection for Alarm Detection Pn510 3 Since this is a normal servo OFF status the dynamic brake is based on the Stop Selection with Servo OFF Pn506 setting STO status Normal status Servo ON Servo OFF command No power supply max 6 ms READY Alarm Brake held Reset Normal DB released engaged 2 Servo OFF DB released engaged 3 Alarm occurrenc...

Page 273: ... Connection Example 3 Connection with a Safety Controller Safety input EDM output Contact output 0 V 24 V SF1 SF2 SF2 EDM EDM M SF1 Safety input Safety switch Drive EDM output SF1 SF2 SF2 EDM EDM M SF1 Safety output source 0 V 24 V EDM input Safety input Control output 1 Control output 2 Drive Safety sensor EDM output SF1 SF2 SF2 EDM EDM M SF1 PWR ERR G9SX AD EI T2 ED T1 FB S1 S24 T31 Safety outpu...

Page 274: ......

Page 275: ...lains the set value and contents of setting of each parameter 8 1 Basic Parameters 8 1 8 2 Gain Parameters 8 8 8 3 Vibration Suppression Parameters 8 20 8 4 Analog Control Parameters 8 25 8 5 Interface Monitor Setting Parameters 8 31 8 6 Extended Parameters 8 42 8 7 Special Parameters 8 52 Parameters Details ...

Page 276: ...he motor rotation direction when seen from load side axis clockwise is referred to as CW and counterclockwise as CCW Set the CONTROL mode to be used Explanation of Set Values A Always enabled B Prohibited to change during motor rotation or commanding If it is changed during motor rotation or commanding the reflection timing is unknown C Enabled after a power reset or after the CONFIG command is ex...

Page 277: ...escription 0 Disabled 1 This mode focuses on stability 2 This mode focuses on positioning It is used for a horizontal axis for example which has only a small friction without any load unbalance such as for a ball screw drive In the speed control or the torque control it is same as the set value 1 which focuses on stability 3 This mode focuses on positioning It is used for a vertical axis which has...

Page 278: ... Loop Gain 1 Pn101 and Speed Loop Gain 2 Pn106 is Hz If the Inertia Ratio Pn004 is set larger than the actual value the setting for speed loop gain increases If the Inertia Ratio Pn004 is set smaller than the actual value the setting for speed loop gain decreases Pn004 Inertia Ratio Setting range 0 to 10 000 Unit Default setting 300 Data attribute B All Pn005 Unused Setting range Unit Default sett...

Page 279: ...omatically set to the encoder resolution The number of command input per rotation can be set by the Pn010 If Numerator 0 Pn009 Electronic Gear Ratio Numerator Setting range 0 to 1073741824 Unit Default setting 1 Data attribute C Position Full closing Pn010 Electronic Gear Ratio Denominator Setting range 1 to 1073741824 Unit Default setting 1 Data attribute C Position Full closing Command input Int...

Page 280: ...er overflow level When the set value is 0 the detective function by the Error counter overflow Alarm No 24 is disabled The unit used must conform to the setting by the Position Setting Unit Selection Pn520 Set the operating method for the 17 bit absolute encoder Pn011 Unused Setting range Unit Default setting Data attribute All Pn012 Unused Setting range Unit Default setting Data attribute All Pn0...

Page 281: ...d ratio when the External Resistor is selected on the Regeneration Resistor Selection Pn016 1 or 2 Set value Description 0 Use as absolute encoder 1 Use as incremental encoder 2 Use as absolute encoder but ignore multi rotation counter overflow Pn016 Regeneration Resistor Selection Setting range 0 to 3 Unit Default setting 3 1 Data attribute C All Set value Description 0 Regeneration Resistor used...

Page 282: ...s Manual Built in MECHATROLINK II communications type 8 Parameters Details Explanation of Set Values Set value Description 0 Regeneration load ratio is 100 when operating rate of the External Regeneration Resistor is 10 1 Reserved 2 Reserved 3 Reserved 4 Reserved ...

Page 283: ...n loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning time using feed forward This parameter is automatically changed by executing realtime autotuning function To set it manually set the REALTIME AUTOTUNING mode Selection Pn002 to 0...

Page 284: ...the following diagram Set the time constant for the low pass filter LPF after speed detection to one of 6 levels 0 to 5 Increasing the set value increases the time constant and decreases the noise generated by the motor Responsiveness however also decreases Normally use the default set value Pn101 Speed Loop Gain 1 Setting range 1 to 32767 Unit 0 1 Hz Default setting 270 1 Data attribute B 1 It is...

Page 285: ...ains and time constants beforehand for each of these conditions and switching them according to the condition This parameter is automatically changed by executing realtime autotuning function To set it manually set the REALTIME AUTOTUNING mode Selection Pn002 to 0 Pn104 Torque Command Filter Time Constant 1 Setting range 0 to 2500 Unit 0 01 ms Default setting 84 1 Data attribute B 1 It is 126 for ...

Page 286: ...d overshooting occurs or the noise during operation is large when the feed forward is set high Refer to 10 11 Feed forward Function P 10 36 Select either PI P operation switching or gain 1 gain 2 switching The PI P operation switching is the switching made by the speed loop PI P control command in MECHATROLINK II communications Refer to 6 9 Gain Switching Function P 6 25 for the Gain 1 Gain 2 swit...

Page 287: ...n full closing control Pn115 SWITCHING mode in Position Control Setting range 0 to 10 Unit Default setting 0 Data attribute B Position Full closing Pn115 set value Description Gain switching conditions Gain switching delay time in position control Pn116 1 Gain switching level in position control Pn117 Gain switching hysteresis in position control Pn118 2 0 Always Gain 1 Pn100 to Pn104 Disabled Dis...

Page 288: ...ING mode in Position Control Pn115 is set to 3 or 5 to 10 H L H L H L H L Figure A Speed V Torque T ΔT Time 1 1 2 2 2 2 1 1 Gain 1 Figure C Speed V Gain 1 1 Gain 2 Accumulated pulse Level Time Figure D Command speed S Gain 1 1 Gain 2 Time Figure E Actual speed N INP Gain 1 1 Gain 2 Time Figure B Speed V Gain 1 Gain 1 Gain 2 Time Command speed S Gain 1 Gain 2 Actual speed N Time H L Gain 1 Gain 2 o...

Page 289: ...g Hysteresis in Position Control Pn118 are enabled as absolute values positive negative When the position loop gain increases the gain changes in the set time When switching between gain 1 and gain 2 is enabled set the gradual switching time only for position loop gain at gain switching It inhibits the sudden increase of position loop gain if the Position Loop Gain 1 Pn100 and the Position Loop Ga...

Page 290: ...ain switches to Gain 2 4 The variation means the change amount in a millisecond ms E g The set value is 200 when the condition is a 10 change in torque in 1 millisecond Pn120 SWITCHING mode in Speed Control Setting range 0 to 5 Unit Default setting 0 Data attribute B Speed Pn120 set value Description Gain switching conditions Gain switching delay time in speed control Pn121 1 Gain switching level ...

Page 291: ... mode in Speed Control Pn120 is set to 3 to 5 Set the judgment level for switching between gain 1 and gain 2 The unit depends on the SWITCHING mode in Speed Control Pn120 H L H L H L H L Figure A Speed V Torque T ΔT Time 1 1 2 2 2 2 1 1 Gain 1 Figure C Speed V Gain 1 1 Gain 2 Accumulated pulse Level Time Figure B Speed V Gain 1 Gain 1 Gain 2 Time Command speed S Gain 1 Gain 2 Actual speed N Time H...

Page 292: ...s gain 1 regardless of the gain input if the SWITCHING mode in Torque Control Pn124 is 2 and the Torque Limit Selection Pn521 is 3 or 6 Explanation of Settings 1 The Gain Switching Delay Time in Toque Control Pn125 becomes effective when the gain is switched from 2 to 1 Pn123 Gain Switching Hysteresis in Speed Control Setting range 0 to 20000 Unit Default setting 0 Data attribute B Speed Pn122 0 P...

Page 293: ...ng below 3 When the Gain switching command of MECHATROLINK II communications is 0 the gain switches to Gain 1 When the command is 1 the gain switches to Gain 2 4 The variation means the change amount in a millisecond ms E g The set value is 200 when the condition is a 10 change in torque in 1 millisecond Pn126 0 Pn127 Pn125 Gain 1 Gain 2 Gain 1 H L H L Figure A Speed V Torque T ΔT Time 1 1 2 2 2 2...

Page 294: ...of SWITCHING mode in Torque Control Pn124 The following shows the definitions for the Gain Switching Delay Time in Torque Control Pn125 Gain Switching Level in Torque Control Pn126 and Gain Switching Hysteresis in Torque Control Pn127 The settings for the Gain Switching Level in Torque Control Pn126 and the Gain Switching Hysteresis in Torque Control Pn127 are enabled as absolute values positive n...

Page 295: ... set to 5000 Refer to 10 7 Notch Filter P 10 28 Pn200 Adaptive Filter Selection Setting range 0 to 4 Unit Default setting 0 Data attribute B Position Speed Full closing Set value Description 0 Disabled The current values are held for the parameters related to notch filters 3 and 4 1 One adaptive filter is enabled The parameter related to notch filter 3 is updated based on the applicable result 2 T...

Page 296: ...Refer to 10 6 Adaptive Filter P 10 25 and 10 7 Notch Filter P 10 28 Set the notch depth of resonance suppression notch filter 3 Increasing the setting value shortens the notch depth and the phase lag While the adaptive filter is enabled it is set automatically Refer to 10 6 Adaptive Filter P 10 25 and 10 7 Notch Filter P 10 28 Set the notch frequency of resonance suppression notch filter 4 The not...

Page 297: ...lowed to set 1 and 2 for this parameter Set damping frequency 1 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz The range of setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz Refer to 10 5 Damping Control P 10 21 Pn211 Notch 4 Width Setting Set...

Page 298: ...er to 10 5 Damping Control P 10 21 for more information on settings Set the Damping Frequency 3 to suppress vibration at the end of the load in damping control Measure the frequency of vibration at the end of the load and make the setting in units of 0 1 Hz Setting frequency is 1 0 to 200 0 Hz The function is disabled if the setting is 0 to 0 9 Hz Refer to 10 5 Damping Control P 10 21 for more inf...

Page 299: ...r lag filter that is inserted after the electronic gear ratio for the command input The Constant is used to reduce the stepping movement of the motor and achieve a smooth operation when the electronic gear ratio is set in 10 times or greater It sets the first order lag filter time constant as shown below for the square wave command of target speed Vc Pn220 Damping Frequency 4 Setting range 0 to 20...

Page 300: ...ng Data attribute All Pn303 Unused Setting range Unit Default setting Data attribute All Pn304 Unused Setting range Unit Default setting Data attribute All Pn305 Unused Setting range Unit Default setting Data attribute All Pn306 Unused Setting range Unit Default setting Data attribute All Pn307 Unused Setting range Unit Default setting Data attribute All Pn308 Unused Setting range Unit Default set...

Page 301: ...ns where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration Refer to 6 8 Soft Start P 6 23 Pn311 Unused Setting range Unit Default setting Data attribute All Pn312 Soft Start Acceleration Time Setting range 0 to 10000 Unit ms maximum motor speed Default setting 0 Data attribute B Speed Pn313 Soft Start Decelerat...

Page 302: ... Default setting Data attribute All Pn317 Speed Limit Selection Setting range 0 to 1 Unit Default setting 0 Data attribute B Torque Set value Description 0 Select the value set on the Speed Limit Value Setting Pn321 1 Select either the speed limit value VLIM via MECHATROLINK II communications or the value set by the Speed Limit Value Setting Pn321 whichever is smaller Pn318 Unused Setting range Un...

Page 303: ...not be selected due to installation conditions etc the count direction can be reversed using External Feedback Pulse Direction Switching Pn326 Precautions for Correct Use Take note that if Pn000 1 the encoder count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses etc If Pn000 0 the count direction matches the count direction for monit...

Page 304: ...rew pitch in 10 mm encoder in 0 1 m pulse and encoder resolution in 20 bits or 1048576 pulses The direction of external encoder feed back count can be reversed Refer to 5 4 Full Closing Control P 5 9 Explanation of Set Values Pn324 External Feedback Pulse Dividing Numerator Setting range 0 to 1048576 Unit Default setting 0 Data attribute R Full closing Pn325 External Feedback Pulse Dividing Denomi...

Page 305: ...fore you use the feedback pulse error counter reset When the set value is extremely small the protective function may not work to prevent any erroneous operation due to improper connection of the external encoder Precautions for Correct Use Provide enough safety measures This includes to mount limit sensors Pn327 External Feedback Pulse Phase Z Setting Setting range 0 to 1 Unit Default setting 0 D...

Page 306: ...s in 3 1 Servo Drive Specifications P 3 1 as well as 6 1 Sequence I O Signal P 6 1 Set the function and logic for the general purpose input 6 IN6 Refer to the Details of Control Inputs in 3 1 Servo Drive Specifications P 3 1 as well as 6 1 Sequence I O Signal P 6 1 Set the function and logic for the general purpose input 7 IN7 Refer to the Details of Control Inputs in 3 1 Servo Drive Specification...

Page 307: ...Inputs in 3 1 Servo Drive Specifications P 3 1 as well as 6 1 Sequence I O Signal P 6 1 Pn407 Input Signal Selection 8 Setting range 0 to 00FFFFFFh Unit Default setting 002E2E2Eh Data attribute C All Pn408 Unused Setting range Unit Default setting Data attribute All Pn409 Unused Setting range Unit Default setting Data attribute All Pn410 Output Signal Selection 1 Setting range 0 to 00FFFFFFh Unit ...

Page 308: ...0 Data attribute A All Set value Explanation Monitor type Unit Output gain when Pn417 0 0 Motor speed r min 500 1 Position command speed r min 500 2 Internal position command speed r min 500 3 Speed control command r min 500 4 Torque command 33 5 Command position error pulse command unit 3000 6 Encoder position error pulse encoder unit 3000 7 Full closing error pulse external encoder unit 3000 8 H...

Page 309: ... on the Analog Monitor 1 Scale Setting or the Analog Monitor 2 Scale Setting where 1 V 500 r min Pn419 Analog Monitor 2 Scale Setting Setting range 0 to 214748364 Unit Pn418 monitor unit V Default setting 0 Data attribute A All Pn420 Unused Setting range Unit Default setting Data attribute All Pn421 Analog Monitor Output Selection Setting range 0 to 2 Unit Default setting 0 Data attribute A All Se...

Page 310: ...tribute All Pn424 Unused Setting range Unit Default setting Data attribute All Pn425 Unused Setting range Unit Default setting Data attribute All Pn426 Unused Setting range Unit Default setting Data attribute All Pn427 Unused Setting range Unit Default setting Data attribute All Pn428 Unused Setting range Unit Default setting Data attribute All Pn429 Unused Setting range Unit Default setting Data ...

Page 311: ...Pn431 to set the operation for positioning completion output INP1 Explanation of Set Values Pn431 Positioning Completion Range 1 Setting range 0 to 262144 Unit Command unit Default setting 300 Data attribute A Position Full closing INP Accumulated pulse ON Pn431 Pn431 Pn432 Positioning Completion Condition Selection Setting range 0 to 3 Unit Default setting 0 Data attribute A Position Full closing...

Page 312: ... in rotation speed r min The Zero speed detection output ZSP becomes ON when the motor speed is lower than the set value on this parameter The set value in this parameter is valid in both forward and reverse directions regardless of the actual motor rotation direction The setting has a hysteresis of 10 r min Refer to the Control Output Details in 3 1 Servo Drive Specifications P 3 1 for the Zero s...

Page 313: ...otation speed detection output TGON when the motor speed reaches the set arrival speed The setting has a hysteresis of 10 r min Refer to the Control Output Details in 3 1 Servo Drive Specifications P 3 1 for the Motor rotation speed detection output TGON Pn435 Speed Conformity Detection Range Setting range 10 to 20000 Unit r min Default setting 50 Data attribute A Speed Speed r min A speed command...

Page 314: ...detected to be OFF when servo OFF status is entered while the Servomotor is operating While the motor is operating and the operation command RUN is turned OFF the motor decelerates to reduce rotation speed and the brake interlock output BKIR turns ON after the setting time set value 1 ms has elapsed The Time ta in above drawing is either the Brake timing during operation i e the set value 1 ms or ...

Page 315: ... case when the servo off occurs during the motor rotation Refer to 6 5 Brake Interlock P 6 13 Pn439 Brake Release Speed Setting Setting range 30 to 3000 Unit r min Default setting 30 Data attribute B All Brake Release ON Brake Release ON Brake Engage OFF Brake Engage OFF Motor rotation speed Pn439 set value Pn438 set value Pn438 set value Motor rotation speed Pn439 set value When the Pn438 set val...

Page 316: ...r is below the set value The setting unit is command It can be changed to encoder unit by the Position Setting Unit Selection Pn520 However note that unit for error counter overflow level change as well Refer to the Positioning Completion Range 1 Pn431 for the parameter setting method Pn440 Warning Output Selection 1 Setting range 0 to 13 Unit Default setting 0 Data attribute A All Set value Descr...

Page 317: ...erse drive prohibition input NOT shorted Reverse limit switch not operating and status normal Reverse drive prohibition input NOT open Reverse direction prohibited and forward direction permitted If this is set to 0 the Servomotor decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input Pn505 For details refer to explanation for Stop Selection for Drive...

Page 318: ...fter stopping regardless of the actual speed 2 The Emergency Stop means that the Servomotor stops immediately by control while the Servo ON state is kept The torque limit at this time is controlled by the Emergency Stop Torque Pn511 set value Precautions for Correct Use At an emergency stop an Error counter overflow Alarm No 24 0 or an Overrun limit error Alarm No 34 0 may occur This is because th...

Page 319: ...the torque command value is restricted by the Emergency Stop Torque Pn511 Precautions for Correct Use If an error occurs when servo is in Servo OFF state the operation conforms to the settings of Stop Selection for Alarm Detection Pn510 Additionally if the main power supply is turned OFF when servo motor is in Servo OFF state it conforms to the settings of Stop Selection with Main Power Supply OFF...

Page 320: ...the Emergency Stop Torque Pn511 Precautions for Correct Use If an error occurs when the main power supply is turned OFF the operation conforms to the settings of Stop Selection for Alarm Detection Pn510 If the main power supply is turned OFF in Servo ON state and if the Undervoltage Alarm Selection Pn508 is set to 1 Main power supply undervoltage AC cut off detection Alarm No 13 1 occurs Follow th...

Page 321: ...n B when the alarm occurred does not support the emergency stop Pn508 Undervoltage Alarm Selection Setting range 0 to 1 Unit Default setting 1 Data attribute B All Set value Explanation 0 Servo is turned OFF based on the setting of the Stop Selection with Main Power Supply OFF Pn507 and turn it back to Servo ON state by turning ON the main power supply 1 The Main power supply undervoltage Alarm No...

Page 322: ...rameter is limited to 1 2 times the maximum motor rotation speed The detection margin of error for the set value is 3 r min for a 7 core absolute encoder and 36 r min for a 5 core incremental encoder Set the allowable operating range for the position command input range If the set value is exceeded motor operation range setting protection is activated Refer to 6 3 Overrun Protection P 6 9 Select t...

Page 323: ...ommunication status is always detected in command unit regardless of the setting on this parameter Pn516 Unused Setting range Unit Default setting Data attribute All Pn517 Unused Setting range Unit Default setting Data attribute All Pn518 Unused Setting range Unit Default setting Data attribute All Pn519 Unused Setting range Unit Default setting Data attribute All Pn520 Position Setting Unit Selec...

Page 324: ...parameter is set to 0 or 1 the Forward and Reverse Torque Limit Inputs are restricted by the No 1 Torque Limit Pn013 During torque control the value set on the No 1 Torque Limit Pn013 becomes the forward and reverse limits regardless of the set value on this parameter The Torque feed forward function is also disabled Pn521 Torque Limit Selection Setting range 0 to 6 Unit Default setting 1 Data att...

Page 325: ...ction Set the forward external torque limit upon torque limit switching input Set the reverse external torque limit upon torque limit switching input Pn522 No 2 Torque Limit Setting range 0 to 500 Unit Default setting 0 Data attribute B Position Speed Full closing Speed 200 100 rated rated 100 200 300 Torque 300 maximum maximum Reverse Forward When Pn013 or Pn522 150 Pn523 Unused Setting range Uni...

Page 326: ...Pn529 Unused Setting range Unit Default setting Data attribute All Pn530 Unused Setting range Unit Default setting Data attribute All Pn531 Axis Number Setting range 0 to 127 Unit Default setting 1 Data attribute C All Pn532 Unused Setting range Unit Default setting Data attribute All Pn533 Unused Setting range Unit Default setting Data attribute Pn534 Reserved for manufacturer use Setting range U...

Page 327: ...33 Pn600 Unused Setting range Unit Default setting Data attribute All Pn601 Unused Setting range Unit Default setting Data attribute All Pn602 Unused Setting range Unit Default setting Data attribute All Pn603 Unused Setting range Unit Default setting Data attribute All Pn604 Unused Setting range Unit Default setting Data attribute All Pn605 Gain 3 Effective Time Setting range 0 to 10000 Unit 0 1 ...

Page 328: ... the decimal value 19 Therefore the set value will be 19 Make fine adjustment on electric current response with default setting as 100 Pn609 Reverse Direction Torque Offset Setting range 100 to 100 Unit Default setting 0 Data attribute B All Pn610 Function Expansion Setting Setting range 0 to 63 Unit Default setting 0 Data attribute B Position Bit Function Set value 0 1 bit 0 Instantaneous speed o...

Page 329: ...o lower the overspeed detection level Refer to Emergency Stop Operation at Alarms P 11 13 in 11 3 Alarms P 11 6 Set initialization time after power supply ON to the standard 1 5 seconds plus some Refer to the Control Output Sequence in 3 1 Servo Drive Specifications P 3 1 for the details at power on Pn614 Alarm Detection Allowable Time Setting Setting range 0 to 1000 Unit ms Default setting 200 Da...

Page 330: ...orque Compensation Gain Setting range 100 to 100 Unit Default setting 0 Data attribute B Position Speed Pn624 Disturbance Observer Filter Setting Setting range 10 to 2500 Unit 0 01 ms Default setting 53 Data attribute B Position Speed Pn625 Unused Setting range Unit Default setting Data attribute All Pn626 Unused Setting range Unit Default setting Data attribute All Pn627 Unused Setting range Unit...

Page 331: ...ges 3 Sharp change Estimates the optimum from the load characteristic changes Pn632 REALTIME AUTOTUNING CUSTOMIZATION mode Setting Setting range 32768 to 32767 Unit Default setting 0 Data attribute B All Bit Name Description 0 to 1 Load characteristic estimation 1 Select to enable or disable the load characteristic estimation 0 Disable 1 Enable 2 to 3 Inertia ratio updating Select whether to updat...

Page 332: ...all results and set the outcome to Pn632 E g When all of the Load characteristic estimation the Inertia ratio updating the Rigidity setting and the Gain switch setting are enabled the Torque compensation is set to Friction compensation small and the Fixed parameter setting is set to a Fixed value 20 1 22 1 24 3 27 1 28 1 29 2 1461 Set the hybrid vibration suppression gain during full closing contr...

Page 333: ...te C All Warning number Warning name Warning occurrence condition Warning Mask Setting Pn638 1 A0 Overload warning The load ratio is 85 or more of the protection level bit7 A1 Excessive regeneration warning The regeneration load ratio is 85 or more of the protection level bit5 A2 Battery warning Battery voltage is 3 2 V or less bit0 A3 Fan warning The fan stop status continues for 1 second bit6 A4...

Page 334: ...when it reaches the maximum value FFFF hex In this case only the lowest order byte is shown The value returns to 00 when it exceeds FF but the count continues 4 Rotary switch setting node address Indicates the rotary switch setting i e node address read at power on The indication is in decimal The value is not altered by any changes on the rotary switch setting after the power on 5 Cumulative coun...

Page 335: ...Set value Description 0 On by the torque limit value including the torque command value 1 On by the torque limit value excluding the torque command value Pn704 Backlash Compensation Selection Setting range 0 to 2 Unit Default setting 0 Data Attribute C Position Full closing Set value Description 0 Disable the backlash compensation 1 Compensate the backlash at the first forward operation after a Se...

Page 336: ...ng Setting range 0 to 1 Unit Default setting 0 Data Attribute A All Set value Description 0 Disable the one on the I O monitor of MECHATROLINK II communications as well 1 Enable the one on the I O monitor of MECHATROLINK II communications Pn800 Communications Control Setting range 32768 to 32767 Unit Default setting 0 Data Attribute C All Warning number Warning name Warning occurrence condition Co...

Page 337: ...imit Setting range 0 to 3 Unit Default setting 0 Data Attribute A All Set value Description 0 Enable the soft limits on both directions 1 Disable the forward soft limit but enable the reverse soft limit 2 Enable the forward soft limit but disable the reverse soft limit 3 Disable the soft limits on both directions Pn802 Unused Setting range Unit Default setting Data Attribute All Pn803 Origin Range...

Page 338: ...nge Unit Default setting Data Attribute All Pn810 Unused Setting range Unit Default setting Data Attribute All Pn811 Linear Acceleration Constant Setting range 32768 to 32767 Unit 10000 command units s2 Default setting 100 Data Attribute B Position Full closing Pn812 Unused Setting range Unit Default setting Data Attribute All Pn813 Unused Setting range Unit Default setting Data Attribute All Pn81...

Page 339: ...s entered the change is not reflected immediately It is updated only after the subsequent state of no position command persists for the filter switching dwell time There is some time lag from when the Pn818 is change and to when the change is applied If the filter switching dwell time elapses during the lag the change may be suspended Sets the distance to travel after the latch signal input positi...

Page 340: ... Set the distance from the position where the latch signal is entered to the origin during origin returns Pn822 Origin Return Mode Setting Setting range 0 to 1 Unit Default setting 0 Data Attribute B Position Full closing Set value Description 0 Positive direction 1 Negative direction Pn823 Origin Return Approach Speed 1 Setting range 1 to 32767 Unit 100 command units s Default setting 50 Data Att...

Page 341: ...tting range Unit Default setting Data Attribute All Pn830 Unused Setting range Unit Default setting Data Attribute All Pn831 Unused Setting range Unit Default setting Data Attribute All Pn832 Unused Setting range Unit Default setting Data Attribute All Pn833 Unused Setting range Unit Default setting Data Attribute All Pn834 Unused Setting range Unit Default setting Data Attribute All Pn835 Unused ...

Page 342: ......

Page 343: ...Users Manual Built in MECHATROLINK II communications type 9 This chapter explains the operating procedures and how to operate in each mode 9 1 Operational Procedure 9 1 9 2 Preparing for Operation 9 2 9 3 Trial Operation 9 7 Operation ...

Page 344: ... directives Chapter 4 4 2 Preparing for operation Check the necessary items and then turn ON the power supply Check on the display to see whether there are any internal errors in the drive If using a motor with an absolute encoder first set up the absolute encoder Chapter 9 9 2 Function settings By means of the user parameters set the functions according to the operating conditions Chapter 8 Trial...

Page 345: ...8D KN20H ML2 KN30H ML2 KN50H ML2 3 phase 200 VAC input Main circuit power supply 3 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 R88D KN06F ML2 KN10F ML2 KN15F ML2 KN20F ML2 KN30F ML2 KN50F ML2 Main circuit power supply 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control circuit power supply 24 VDC 15 Checking Terminal Bl...

Page 346: ...ected to the Controller Such changes become effective only after the subsequent power on following to a power off Do not change the rotary switch setting after the power on Note 2 The settable range for a node address is between 1 and 31 The node address used over the network is the value obtained by adding the offset 40h to the rotary switch set value If any value over or under the range is set t...

Page 347: ... It takes approx 2 seconds for the alarm output ALM to turn on since the power on Do not attempt to detect an alarm during this period by the Host Controller This precaution relates to the case when the power is turned on while the Host Controller is connected LED status Communications status Unlit No communication is established Green Flash Asynchronous communications is established Green Light S...

Page 348: ... the alarm code is not shown Instead St flashes Warning occurs Warning resolved Control power on Main power is ON and the network communication is established Main power is OFF and the network communication is not established Servo ON Servo OFF Fully unlit Fully lit for approx 0 6 s nA Node Address for approx 0 6 s Rotary switch setting This example is the case when the MSD is set to 0 and the LSD...

Page 349: ...ou turn ON the power supply for the first time when an absolute encoder system down error Alarm No 40 occurs or when the encoder cable is disconnected and then connected again To use an absolute encoder set the Operation Switch when Using Absolute Encoder Pn015 to 0 or 2 The absolute encoder is set up via communications Refer to the operation manual of the host controller of CX Drive Cat No W453 A...

Page 350: ...eck the ground for short circuits 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 it is securely installed Disconnection from Mechanical System If necessary make sure that the motor has been disconnected from the mechanical system Brake Released Make sure that the brake has been...

Page 351: ...onitor 10 1 10 2 Gain Adjustment 10 4 10 3 Realtime Autotuning 10 6 10 4 Manual Tuning 10 13 10 5 Damping Control 10 21 10 6 Adaptive Filter 10 25 10 7 Notch Filter 10 28 10 8 Disturbance Observer Function 10 31 10 9 Friction Torque Compensation Function 10 33 10 10Hybrid Vibration Suppression Function 10 35 10 11Feed forward Function 10 36 10 12Instantaneous Speed Observer Function 10 39 Adjustme...

Page 352: ...e analog monitor 1 P 8 33 Pn417 Analog Monitor 1 Scale Setting Set the output gain for the analog monitor 1 P 8 33 Pn418 Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2 P 8 33 Pn419 Analog Monitor 2 Scale Setting Set the output gain for the analog monitor 2 P 8 34 Pn421 Analog Monitor Output Setting Select the analog monitor output method P 8 34 Pn416 and Pn418 set v...

Page 353: ...ommand unit for feed back pulse errors The encoder unit and the external encoder unit are for the errors of the position control input sections while the command unit is for the error of command pulse inputs 3 The encoder temperature is indicated only for the 20 bit incremental encoder The value is not settled for other types of encoders 4 Directions of monitor data either forward or reverse is th...

Page 354: ... the Analog Monitor 1 Selection Pn416 or the Analog Monitor 2 Selection Pn418 is set to 0 i e motor speed and the Analog Monitor 1 Scale Setting Pn417 or the Analog Monitor 2 Scale Setting Pn419 is set to 0 i e 1V 500 r min Set value Output range Data output 0 10 to 10 V 1 0 to 10 V 2 0 to 10 V 5 V as the center 10 V 10 V 0 V 5000 5000 r min Motor speed Output voltage V 10 V 10 V 0 V 5000 5000 r m...

Page 355: ...r 3 0 2 5 190 0 30 300 251 0 140 0 6 0 30 300 0 0 0 375 250 125 0 0 375 250 125 0 0 375 250 125 251 0 180 0 6 0 100 300 Gain setting Low Gain setting High Gain setting High feed forward setting r min Command speed Actual motor speed Position loop gain Speed loop gain Speed loop integral time constant Speed feed forward Inertia ratio Position loop gain Speed loop gain Speed loop integral time const...

Page 356: ...de timing belt And use a tension within the range of allowable axial load for the motor or Decelerator output Use gears with small backlash The specific vibration resonance frequency of the mechanical system has a large impact on the gain adjustment of the servo The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity Start adjustment Auto...

Page 357: ... pattern the operation coefficient for the speed loop gain and the integration time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively SM RE Position Speed command Speed feedback Position Speed control Current control Torque command Load Friction torque compensation Position feedback Estimate load inertia Conditions under which realti...

Page 358: ...ed setting for the autotuning function when the customized mode 6 is selected on the REALTIME AUTOTUNING mode Selection Pn002 P 8 56 Set value Realtime autotuning Description 0 Disabled Realtime autotuning is disabled 1 Focus on stability default setting No unbalanced load or friction compensation nor gain switching 2 Focus on positioning 1 Used for a horizontal axis or others which has no unbalan...

Page 359: ...s is not an error if it disappears right away If the unusual noise or vibration however continues for 3 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 Rigidity Selection Pn003 Manually set the notch filter Once unusual noise or vibration occurs Inertia Ratio Pn00...

Page 360: ... Pn113 Torque Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 GAIN SWITCHING INPUT OPERATING mode Selection 1 1 1 1 1 1 1 1 Pn115 SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 Gain Switching Hyste...

Page 361: ...que Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 GAIN SWITCHING INPUT OPERATING mode Selection 1 1 1 1 1 1 1 1 Pn115 SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 Gain Switching Hysteresis in P...

Page 362: ...3 Torque Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 GAIN SWITCHING INPUT OPERATING mode Selection 1 1 1 1 1 1 1 1 Pn115 SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 Gain Switching Hysteresis...

Page 363: ...rque Feed forward Command Filter 0 0 0 0 0 0 0 0 Pn114 GAIN SWITCHING INPUT OPERATING mode Selection 1 1 1 1 1 1 1 1 Pn115 SWITCHING mode in Position Control GAIN SWITCHING ENABLE mode 10 GAIN SWITCHING DISABLE mode 0 Pn116 Gain Switching Delay Time in Position Control 30 30 30 30 30 30 30 30 Pn117 Gain Switching Level in Position Control 50 50 50 50 50 50 50 50 Pn118 Gain Switching Hysteresis in ...

Page 364: ...liable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actual motor speed command speed torque and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device The type of signal to output and t...

Page 365: ...ent that hunching does not occur upon servo lock Decrease Speed Loop Integral Time Constant 1 Pn102 to the extent that hunching does not occur upon servo lock Does hunching vibration occur when the motor rotates No Decrease Speed Loop Gain 1 Pn101 Increase Speed Loop Integral Time Constant 1 Pn102 Increase position loop gain to the extent that overshooting does not occur Yes If vibration persists ...

Page 366: ...ment completed Increase Speed Loop Gain 1 Pn101 to the extent that hunching does not occur upon servo lock Decrease Speed Loop Integral Time Constant 1 Pn102 to the extent that hunching does not occur upon servo lock Does hunching vibration occur when the motor rotates No Decrease Speed Loop Gain 1 Pn101 Increase Speed Loop Integral Time Constant 1 Pn102 Yes If vibration persists after repeated ad...

Page 367: ...02 Speed Loop Integral Time Constant 1 20 0 ms Pn107 Pn104 Torque Command Filter Time Constant 1 0 80 ms Pn109 Application name Inertia Rigidity Position loop gain 1 s Speed loop gain Hz Speed loop integration time constant Torque command filtertimeconstant x 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 6...

Page 368: ...rshooting under this condition To quicken positioning increase the value of position loop gain If the value is too large overshooting or vibration will occur In such cases set the value smaller If the speed loop or the current loop is vibrating adjusting the position loop does not eliminate the vibration Response to the position loop gain adjustment is illustrated below If the position loop gain i...

Page 369: ...ore likely to occur Adjustment must be made so vibration will not occur This is related to Speed Loop Integral Time Constant 1 Pn102 and by increasing the integration time constant the speed loop gain value can be increased If the speed loop gain is low the speed response becomes slow and a large overshooting occurs In such case increase the speed loop gain If the speed loop gain is high vibration...

Page 370: ...ter applies a filter so the current command from the speed loop becomes smooth The result is a smooth current flow which suppresses vibration The default setting of the filter time constant is 80 0 8 ms Increase the value to reduce vibration Increasing the value slows the response As a guide aim for about 1 25 of the Speed Loop Integral Time Constant 1 Pn102 Also the torque command filter reduces ...

Page 371: ... Setting Pn321 If Speed Limit Selection Pn317 is 1 the speed limit is the value obtained by converting the voltage applied to analog input 1 with Torque Command Scale Pn319 When the motor speed approaches the speed limit value the speed control switches to that using Speed Limit Value Setting Pn321 as commands To have a stable operation while the speed is limited the parameter should be set accord...

Page 372: ...ping control function to reduce vibration This is effective on vibration generated by a machine of low rigidity The applicable frequencies are from 1 to 200 Hz You can set four frequencies and use two of them at the same time Since damping control is performed using position commands it cannot be used with speed or torque control Position Controller Servo Drive The front end vibrates The damping f...

Page 373: ...nction is not used set 0 P 8 22 Pn215 Damping Filter 1 Setting When the Damping Frequency 1 Pn214 is set reduce the setting if torque saturation occurs or increase the setting to increase operation speed Normally 0 is set If the damping filter 1 is disabled this parameter is also disabled P 8 23 Pn216 Damping Frequency 2 The function is the same with Pn214 P 8 23 Pn217 Damping Filter 2 Setting The...

Page 374: ... vibration decreases 3 Set damping filter setting Set damping filter setting 1 Pn215 2 Pn217 3 Pn219 4 Pn221 First set to 0 The stabilization time can be reduced by setting a large value however torque ripple will increase at the command change point as shown in the following figure Set a range that will not cause torque saturation under actual operation conditions The effects of vibration suppres...

Page 375: ...ching by external input DFSEL1 Open Damping filter 1 or 3 enabled Shorted Damping filter 2 or 4 enabled 2 Switching by external input DFSEL1 DFSEL2 When DFSEL1 and DFSEL2 are both open Damping filter 1 enabled When DFSEL1 is shorted and DFSEL2 is open Damping filter 2 enabled When DFSEL1 is open and DFSEL2 is shorted Damping filter 3 enabled When DFSEL1 and DFSEL2 are both shorted Damping filter 4...

Page 376: ...of the notch filter which removes the resonance component from the torque command The automatically set notch filter frequency is set in Notch 3 Pn207 to Pn209 or Notch 4 Pn210 to Pn212 Refer to 10 7 Notch Filter P 10 28 for information on notch filter Motor speed After vibration suppression Adaptive filter disabled Adaptive filter effect Filter frequency setting completed Position and speed comma...

Page 377: ...lter Selection Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation 0 Adaptive filter disabled 1 One adaptive filter enabled 2 Two adaptive filters enabled 3 RESONANCE FREQUENCY MEASUREMENT mode If the motor speed is affected by a resonance point the Notch Filter 3 or Notch Filter 4 parameter is automatically set accordin...

Page 378: ...disappears right away If the vibration or unusual noise however continues for three or more reciprocating operations take the following measures in the possible order Write the parameters used during normal operation to the EEPROM Lower the Realtime Autotuning Machine Rigidity Selection Pn003 Disable the adaptive filter by setting the Adaptive Filter Selection Pn200 to 0 Resetting of inertial esti...

Page 379: ... and vibration reduction The OMNUG G5 series Servo Drives provide four notch filters that can be used for adjusting frequency width and depth If the ball screw etc cause resonation at the specific location you can set the resonance frequency using a notch filter to eliminate resonance A notch filter is used to eliminate a specified frequency component If machine resonance occurs use this notch fil...

Page 380: ...0 Pn204 Notch 2 Frequency Setting Set the center frequency of the notch filter 2 The details are the same with the notch filter 1 frequency P 8 20 Pn205 Notch 2 Width Setting Select the width of the notch filter 2 frequency The details are the same with the notch filter 1 width P 8 21 Pn206 Notch 2 Depth Setting Select the depth of the notch filter 2 center frequency The details are the same with ...

Page 381: ...f the indication unit is dB this value should conform to the right column in the table below Width Depth Set value Bandwidth center frequency Set value I O ratio Damping factor dB 0 0 50 0 0 Cut off 1 0 59 1 1 40 0 2 0 71 2 2 34 0 3 0 84 3 3 30 5 4 1 00 4 4 28 0 5 1 19 5 5 26 0 6 1 41 10 10 20 0 7 1 68 15 15 16 5 8 2 00 20 20 14 0 9 2 38 25 25 12 0 10 2 83 30 30 10 5 11 3 36 35 35 9 1 12 4 00 40 4...

Page 382: ...f a large amount of high frequency elements are found in the disturbance torque the disturbance observer may not be enabled Conditions Operating mode POSITION CONTROL mode SPEED CONTROL mode Others Servo ON state The factors other than control parameters are set correctly This includes the torque limit The motor operates normally without any failures The REALTIME AUTOTUNING mode Selection Pn002 is...

Page 383: ...rbance influence can be controlled But the smaller the value is the larger the operation noise can be You must consider the balance of these advantage and disadvantage to set a value 3 Set the Disturbance Torque Compensation Gain Pn623 After you set the Disturbance Observer Filter Setting Pn624 return the value on the Disturbance Torque Compensation Gain Pn623 from the small value to a large value...

Page 384: ...ned settings of following three parameters Conditions Servo ON state The factors other than control parameters are set correctly This includes the torque limit The motor operates normally without any failures Parameter number Parameter name Description Reference Pn607 Torque Command Value Offset Set the unbalanced load compensation value that is always added to the torque command in the CONTROL mo...

Page 385: ...an use the unbalanced load compensation and the dynamic friction compensation together or separately Take note that the following use limit is applied upon CONTROL mode switching or servo ON During torque control The unbalanced load compensation and the dynamic friction compensation will be 0 regardless of the parameter setting During speed control with Servo OFF state The load compensation is ena...

Page 386: ...hile driving with full closing control and check the changes in the response If the response improves find the combination of Pn634 and Pn635 that result in the optimal response by adjusting them Precautions for Correct Use This function is effective when the amount of torsion between the motor shaft and the load is large This may be less effective when the amount of torsion is small Conditions Op...

Page 387: ...e torque command that is calculated based on the comparison with the speed feedback Parameters Requiring Settings Parameter number Parameter name Description Reference Pn110 Speed Feed forward Amount Use this parameter to add the speed control command calculated from the internal positioning command that is multiplied by this parameter s ratio to the speed command from the position control process...

Page 388: ...eceleration The position error during an operation at a certain speed can be smaller based on the following formula according to the speed feed forward gain value The position error in the range of constant speed becomes smaller as the speed feed forward gain increases Precautions for Correct Use If the updating cycle of the position command inputs is longer than the Servo Drive control cycle or i...

Page 389: ...2 Since the position error during acceleration deceleration at a certain speed can be brought close to 0 it can be controlled almost to 0 throughout the entire operation range during a trapezoidal speed pattern drive under ideal conditions where no disturbance torque is working In reality disturbance torque is always applied and therefore the position error cannot be completely 0 Torque feed forwa...

Page 390: ...us speed observer Load model Motor current Motor Encoder Servo amplifier Motor position To position control Load Total inertia Conditions Operating mode POSITION CONTROL mode 1 SPEED CONTROL mode 1 This function cannot be used in FULL CLOSING CONTROL mode Others Servo ON state The factors other than control parameters are set correctly This includes the torque limit The motor operates normally wit...

Page 391: ... or a change in the torque monitor waveform is significant enough to cause any problem return the setting to 0 and make sure that the inertia ratio or the adjustment parameters are correct If the machine operation noise or vibration or a change in the torque monitor waveform is small make small adjustments to the Inertia Ratio Pn004 to find the setting that makes the smallest change while monitori...

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Page 393: ...items to check when problems occur error diagnosis using the alarm LED display and measures error diagnosis based on the operating condition and measures and periodic maintenance 11 1 Error Processing 11 1 11 2 Warning 11 4 11 3 Alarms 11 6 11 4 Troubleshooting 11 15 11 5 Periodic Maintenance 11 35 Error and Maintenance ...

Page 394: ... terminal L1C L2C R88D KNxL ML2 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KNxH ML2 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 to 5 kW Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KNxF ML2 750 W to 5 kW 24 VDC 21 6 to 26 4 V If the voltage is out of this range there is a risk of operation failure so be sure that the power supply is correct ...

Page 395: ...t results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an error may occur Be sure to disconnect the motor from the mechanical system before checking the encoder signal When measuring the encoder output perform the measurement based on the GND CN1 pin 16 When an oscilloscope is used for measurement it will not be affected by noi...

Page 396: ...oder is cleared when the motor is replaced so setup is again required The multi rotation data will be different from before it was replaced so reset the initial Motion Control Unit parameters For details refer to Absolute Encoder Setup P 9 6 Replacing the Servo Drive 1 Copy the parameters Use the Operation keys on the Servo Drive to write down all the contents of parameter settings 2 Replace the S...

Page 397: ...g types are output 2 Each warning detection can be masked using the Warning Mask Setting Pn638 The table shows the corresponding bits When the bit is set to 1 the warning detection is masked Warning number Warning name Warning occurrence condition Warning Output Selection Pn440 Pn441 1 Warning Mask Setting Pn638 2 A0 Overload warning The load ratio is 85 or more of the protection level 1 bit7 A1 E...

Page 398: ...ot met The sub command transmission conditions are not met A rotation command is given in the prohibited direction after the motor made an emergency stop due to a drive prohibition input 12 bit5 96 MECHATROLINK II communications warning One or more MECHATROLINK II communications error occur 13 bit6 1 Set the Warning Output Selection Pn440 by the warning type to output to the Warning Output 1 WARN1...

Page 399: ...ly then turn it ON again Reset the alarm via MECHATROLINK II communications or on CX Drive However some alarms can only be reset by turning the power supply OFF then ON again Refer to the Alarm List P 11 7 If you reset an alarm while the operation command RUN is turned ON the Servo Drive starts operation as soon as the alarm is released which is dangerous Be sure to turn OFF the RUN before clearin...

Page 400: ... the Servo Drive radiator exceeded the specified value 16 0 Overload Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds 2 18 0 Regeneration overload The regenerative energy exceeds the processing capacity of the Regeneration Resistor 1 Regeneration Tr error An error was detected in a Servo Drive regeneration drive Tr 21 0 Encoder c...

Page 401: ...ed During a trial operation of CX Drive MECHATROLINK II communication was established 29 1 Internal error counter overflow 1 During the initialization of position data after the control power is turned on in absolute value mode or after CONFIG operation the value that is obtained by dividing the Absolute encoder position pulse unit by the Electronic gear ratio exceeded 231 or 2147483648 2 Internal...

Page 402: ...ively a setting error was detected 4 Interface output function number error 1 Detected that a non defined number was assigned to the interface output signal OUTM1 5 Interface output function number error 2 Detected that a non defined number was assigned to the interface output signal OUTM2 8 Latch input allocation error Detected an error on the latch input allocation 34 0 Overrun limit error The m...

Page 403: ... Input NOT was turned on while an operation command is given by CX Drive 40 0 Absolute encoder system down error The voltage supplied to the absolute encoder is lower than the specified value 3 41 0 Absolute encoder counter overflow error The multi rotation counter of the absolute encoder exceeds the specified value 42 0 Absolute encoder overspeed error The motor rotation speed exceeds the specifi...

Page 404: ...The node address set by the rotary switches on the Drive exceeded the setting range when the control power was turned on 83 0 Communications error Failures to correctly receive the data to receive during the MECHATROLINK II communication cycles continued in series more often than the value set on the Communications Control Pn800 84 0 Transmission cycle error Failed to receive synchronization frame...

Page 405: ... standby state for a MECHATROLINK II communications CONNECT command a communications error occurred when the CONNECT command is received 91 0 SYNC command error During asynchronous MECHATROLINK II communications a synchronous type of command is issued 92 0 Encoder data restoration error In semi closing control mode and absolute value mode as well initialization of internal position data is not pro...

Page 406: ... the states during deceleration and after stop when an alarm occurs P 8 46 Pn511 Emergency Stop Torque Set the torque limit for emergency stops P 8 47 Pn513 Overspeed Detection Level Setting If the motor rotation speed exceeds the set value the Overspeed Alarm No 26 0 occurs P 8 47 Pn614 Alarm Detection Allowable Time Setting Set the allowable time required until the motor stops by an emergency st...

Page 407: ... same time the emergency stop does not happen either If the actual rotation speed is not lower than 30 r min after the time set on the Alarm Detection Allowable Time Setting Pn614 elapses since an alarm that support an emergency stop occurs it will be an alarming state immediately If an alarm which is not supported by emergency stop operation occurs while in emergency stop Alarming state occurs im...

Page 408: ...ower supply capacity Phase loss Connect the phases L1 L2 L3 of the power supply voltage correctly For single phase connect to L1 and L3 correctly The main circuit power supply is damaged Control PCB error Replace the Servo Drive 12 Overvoltage Occurs when the power supply is turned ON Main circuit power supply voltage is out of allowable range Change the main circuit power supply voltage to within...

Page 409: ...ve The motor power line is short circuited or ground faulted between phases Repair the short circuited or ground faulted power line Measure the insulation resistance at the motor and if there is a short circuit replace the motor Phase U phase V phase W and the ground are wired incorrectly Wire correctly Motor winding is burned out Measure the winding resistance and if the winding is burned out rep...

Page 410: ...eneration overload Occurs when the motor is decelerating Load inertia is too large Calculate the regenerative energy and connect an ExternalRegenerationResistor with the required regeneration absorption capacity Extend the deceleration time The deceleration time is too short The motor rotation speed is too high Reduce the motor rotation speed Extend the deceleration time Calculate the regenerative...

Page 411: ...ially when the cable is long Provide the required encoder power supply voltage 5 VDC 5 24 Error counter overflow Occurs when the motor does not rotate even when command pulses are input The motor power line or the encoder wiring is incorrect Wire correctly The motor is mechanically held If the motor shaft is held release it Release the electromagnetic brake Control PCB error Replace the Servo Driv...

Page 412: ...rs when torque limit switching function is used The set value for the Overspeed Detection Level Setting Pn513 is exceeded When the torque limit switching function is used set the motor operating speed range correctly on the Error Counter Overflow Level Pn014 27 Command pulse error Occurs during a trial operation The multi turn counter of the absolute encoder was cleared by the CX Drive Turn off th...

Page 413: ...s not saturated on the torque monitor Adjust the gain Maximize the set values on the No 1 Torque Limit Pn013 and the No2 Torque Limit Pn522 Wire the encoder correctly The position error in command unit exceeded 230 or 1073741824 Check that the motor rotates in accordance with the position command Check that the output torque is not saturated on the torque monitor Adjust the gain Maximize the set v...

Page 414: ... IN6 and IN7 Assign it in NO contact Assignments in all modes must be the same 34 Overrun limit error Occurs during operation The Overrun Limit Setting Pn514 was exceeded during operation Adjust the gain Increase the set value of Pn514 Set Pn514 to 0 to disable the function 36 Parameter error Occurs when the power supply is turned ON There are data errors in the parameters that were read Reset all...

Page 415: ...e the limit sensor with a new one Confirm that the control power is input correctly Confirm that the Pn504 is set correctly When the Drive Prohibition Input Selection Pn504 was set to 2 either the Forward Drive Prohibition POT input or the Reverse Drive Prohibition NOT input was off Wire correctly Replace the limit sensor with a new one Confirm that the control power is input correctly Confirm tha...

Page 416: ...s during operation The disconnection detection function was activated because communications between the external encoder and drive were interrupted Wire correctly Fix the locations that are disconnected There was a communications error in data from external encoder Provide the required external encoder power supply voltage Wire correctly Connect the shield to FG 51 External encoder status error O...

Page 417: ...n it on again Replace the Servomotor Replace the Servo Drive with a new one Occurs when the operation starts up In the asynchronous MECHATROLINK II communications state a communication error occurs while SYNC_SET command is executed Wire the MECHATROLINK II communications cable correctly Connect the Terminating Resistor correctly Confirm the MECHATROLINK II communications cable do not have excessi...

Page 418: ...hronous MECHATROLINK II communications a synchronous type of command was issued Confirm the command sent by the host controller 92 Encoder data restoration error Occurs when the power is turned ON In semi closing control initialization of internal position data is not processed correctly Apply the correct power voltage for the long encoder wire Install the motor power line separately from the enco...

Page 419: ...rnal Feedback Pulse Dividing Numerator Pn324 and the External Feedback Pulse Dividing Denominator Pn325 are set correctly The settable range of external encoder ratio must be between 1 40 x and 160 x The value set on the External Feedback Pulse Type Selection Pn323 differs from the external encoder type that is connected for serial communications Change the setting on the Pn323 to conform with the...

Page 420: ...synchronous MECHATROLINK II communications is established Controllable by the host controller normal state Normal state The LED COM lights in green Synchronous MECHATROLINK II communications is established Controllable normal state Normal state The LED COM flashes in red A recoverable alarm occurs in MECHATROLINK II communications Reset the network by the host controller and establish the communic...

Page 421: ... for Forward or Reverse Drive Prohibition POT or NOT is not OFF Check the input of 24 VIN to CN1 Turn on the POT and NOT Input 24 VIN to CN1 The torque limit is set to 0 Check that the torque limits on No 1 Torque Limit Pn013 and the No 2 Torque Limit Pn522 are not set to 0 Set the maximum torque to be used for each of these parameters The torque command value is set to 0 while the host controller...

Page 422: ...e parameters In torque control mode the Speed Limit Value Setting Pn321 is set to 0 Check the value set on the Pn321 Set a larger value on the Pn321 The Servo Drive breaks down Replace the Servo Drive with a new one The Forward or Reverse Drive Prohibition POT or NOT signal is OFF Check the ON OFF status of POT and NOT signals in the monitor mode Turn on the POT and NOT signals Set to disable when...

Page 423: ...ther power is supplied to the holding brake Check the brake interlock output BKIR signal and the relay circuit Check that the holding brake is not worn down Motor rotation is unstable The motor power cable or encoder cable is wired incorrectly Check the wiring of the motor power cable s phases U V and W and check the encoder cable s wiring Wire correctly Low rigidity It causes vibration Measure th...

Page 424: ... load The motor vibrates during rotation The machine position is misaligned The coupling of the servomotor axis and the machine is abnormal Check that the coupling of the servomotor and the machine is not misaligned Tighten the coupling again Replace with a coupling which has no looseness The host controller gives a deceleration stop command Check the control ladder on the host controller Review t...

Page 425: ...sonance Alternatively measure the resonance frequency and set the Notch Filter 1 and 2 There is a problem with the bearings Check for noise or vibration around the bearings Contact your OMRON dealer or sales office The gain is wrong Check if the manual tuning can make a proper adjustment The Speed Feedback Filter Time Constant 1 Pn103 is wrong Check the value set on the Pn103 Normally set 0 to Pn1...

Page 426: ...as welding machines near the Servomotor Ground the equipment properly and prevent currents from flowing to the encoder FG Errors are being caused by excessive vibration or shock on the encoder There are problems with mechanical vibration or motor installation such as the precision of the mounting surface attachment or axial offset Reduce the mechanical vibration or correct the Servomotor s install...

Page 427: ...d the Servomotor Check whether the coupling of the mechanical system and the Servomotor is misaligned Correct the coupling between the mechanical system and the Servomotor The gain is wrong Check if the manual tuning can make a proper adjustment The load inertia is too large Check the load inertia Check the motor rotation speed The dynamic brake resistance is disconnected Review the load inertia R...

Page 428: ...erence in periodic maintenance Servomotor Life Expectancy The life expectancy for units 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 motor operating temperature of 40 C within the allowable axial load rated operation rated torque and rated rotation speed and proper installation as described in this manual T...

Page 429: ... supply ON time be reduced as much as possible to lengthen the service life of the drive The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally an increase of 10 C in the operating ambient temperature will reduce capacitor service life by 50 For example when the ambient operating temperature is 25 C the life expectancy will be as follows Th...

Page 430: ...ower supply be turned ON and OFF once a day to refresh the battery If you neglect to refresh the battery battery errors occurs due to voltage delay in the battery Replacing the Battery If a battery warning occurs the absolute encoder power supply must be replaced Replace the battery with the control power supply of the drive ON If the battery is replaced with the control power supply of the drive ...

Page 431: ...e Battery Mounting Method 1 Prepare the replacement battery R88A BAT01G 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 tabs and remove the cover Plug in the connector Insert the battery Close the battery box cover by making sure the connector wires are not pinched ...

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Page 433: ...Servo Drives Users Manual Built in MECHATROLINK II communications type A This chapter provides connection examples using OMRON s PLC and Position Controller as well as a list of parameters A 1 Parameter List A 1 Appendix ...

Page 434: ...on Default setting Unit Setting range Data attribute 000 Rotation Direction Switching Set the relation between the command direction and the motor rotation direction 0 With a forward rotation command the motor rotates CW as viewed from the axis end 1 With a forward rotation command the motor rotates CCW as viewed from the axis end 1 0 to 1 C 001 CONTROL mode Selection Select the Servo Drive CONTRO...

Page 435: ... overload protection Alarm No 18 depends on the Built in Resistor with approx 1 duty 1 Use an External Resistor The regeneration processing circuit operates and regeneration overload protection Alarm No 18 is triggered when the operating rate of the Regeneration Resistor exceeds 10 2 Use an External Resistor Regeneration overload protection Alarm No 18 does not operate 3 No Regeneration Resistor A...

Page 436: ...d Amount Set the speed feed forward amount 300 0 1 0 to 1000 B 111 Speed Feed forward Command Filter Set the speed feed forward filter time constant 50 0 01 ms 0 to 6400 B 112 Torque Feed forward Amount Set the torque feed forward amount 0 0 1 0 to 1000 B 113 Torque Feed forward Command Filter Set the torque feed forward filter 0 0 01 ms 0 to 6400 B 114 GAIN SWITCHING INPUT OPERATING mode Selectio...

Page 437: ... to 20000 B 118 Gain Switching Hysteresis in Position Control Set the hysteresis for gain switching 33 0 to 20000 B 119 Position Gain Switching Time Set the position gain switching time for gain switching 33 0 1 ms 0 to 10000 B 120 SWITCHING mode in Speed Control Select the gain switching condition for speed control It is necessary that Pn114 be set to 1 0 Always gain 1 1 Always gain 2 2 Gain swit...

Page 438: ...notch filter 1 5000 Hz 50 to 5000 B 202 Notch 1 Width Setting Set the notch width of the resonance suppression notch filter 1 2 0 to 20 B 203 Notch 1 Depth Setting Set the notch depth of resonance suppression notch filter 1 0 0 to 99 B 204 Notch 2 Frequency Setting Set the notch frequency of resonance suppression notch filter 2 5000 Hz 50 to 5 000 B 205 Notch 2 Width Setting Set the notch width of...

Page 439: ...ng control function 1 If torque saturation occurs lower this setting to increase responsiveness raise this setting 0 0 1 Hz 0 to 1000 B 216 Damping Frequency 2 Set the damping frequency 2 The function is enabled if the set value is 10 1 Hz or greater 0 0 1 Hz 0 to 2000 B 217 Damping Filter 2 Setting Finely adjust damping control function 2 If torque saturation occurs lower this setting to increase...

Page 440: ... is smaller 0 0 to 1 B 321 Speed Limit Value Setting Set the speed limit value 50 r min 0 to 20000 A 323 External Feedback Pulse Type Selection Select the external feedback pulse type 0 90 phase difference output type 1 Serial communications type incremental encoder specifications 2 Serial communications type absolute encoder specifications 0 0 to 2 R 324 External Feedback Pulse Dividing Numerator...

Page 441: ...n and logic for the general purpose input 5 IN5 002B2B2Bh 0 to 00FFFFFFh C 405 Input Signal Selection 6 Set the function and logic for the general purpose input 6 IN6 00212121h 0 to 00FFFFFFh C 406 Input Signal Selection 7 Set the function and logic for the general purpose input 7 IN7 00202020h 0 to 00FFFFFFh C 407 Input Signal Selection 8 Set the function and logic for the general purpose input 8...

Page 442: ...al error is lower than the value set on the Pn431 1 The Positioning completion output 1 becomes on when there is no position command and the positional error is lower than the value set on the Pn431 2 The Positioning completion output 1 becomes on when there is no position command the zero speed detection signal is on and the positional error is lower than the value set on the Pn431 3 The Position...

Page 443: ...0 to 10000 B 439 Brake Release Speed Setting Set the number of motor rotation to determine a mechanical brake output during rotation 30 r min 30 to 3000 B 440 Warning Output Selection 1 Select the warning type for warning output 1 0 Output by all types of warnings 1 Overload warning 2 Excessive regeneration warning 3 Battery warning 4 Fan warning 5 Encoder communications warning 6 Encoder overheat...

Page 444: ...erformed 0 0 to 2 C 506 Stop Selection with Servo OFF Set the stop operation when the servo is turned OFF 0 4 During deceleration Dynamic brake After stopping Dynamic brake Error counter Clear 1 5 During deceleration Free run After stopping Dynamic brake Error counter Clear 2 6 During deceleration Dynamic brake After stopping Servo free Error counter Clear 3 7 During deceleration Free run After st...

Page 445: ... limit for emergency stops 0 0 to 500 B 512 Overload Detection Level Setting Set the overload detection level 0 0 to 500 A 513 Overspeed Detection Level Setting Set the overspeed error detection level 0 r min 0 to 20000 A 514 Overrun Limit Setting Set the motor over travel distance for position commands 10 0 1 Rotation 0 to 1000 A 515 Control Input Signal Read Setting Select the cycle to read the ...

Page 446: ...ration 0 100 to 100 B 609 Reverse Direction Torque Offset Set the value to add to a torque command for reverse direction operation 0 100 to 100 B 610 Function Expansion Setting Set the function expansion The setting contents vary depending on the function 0 0 to 63 B 611 Electric Current Response Setting Make fine adjustment on electric current response with default setting as 100 100 50 to 100 B ...

Page 447: ...ing control 10 0 01 ms 0 to 6400 B 637 Vibration Detection Threshold Set the vibration detection threshold If torque vibration that exceeds this setting is detected the vibration detection warning occurs 0 0 1 0 to 1000 B 638 Warning Mask Setting Set the warning detection mask setting If you set the corresponding bit to 1 the corresponding warning detection is disabled 4 32768 to 32767 C Pn No Par...

Page 448: ...I Communication I O Monitor Setting Select whether to reflect the inputs to the I O monitor of MECHATROLINK II communications when either the forward or reverse drive prohibition input is assigned to the input signal and the Drive Prohibition Input Selection Pn504 is set to 1 i e Disable 0 Disable the one on the I O monitor of MECHATROLINK II communications as well 1 Enable the one on the I O moni...

Page 449: ...tings Set the direction for origin return 0 Positive direction 1 Negative direction 0 0 to 1 B 823 Origin Return Approach Speed 1 Set the operating speed for origin returns from when the origin proximity signal turns on to when it turns off and the latch signal is detected 50 2 1 to 32767 B 824 Origin Return Approach Speed 2 Set the operating speed for origin returns from when the latch signal is ...

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Page 451: ...I OMNUC G5 Series AC Servo Drives Users Manual Built in MECHATROLINK II communications type Index ...

Page 452: ...7 8 39 C Clamp Core 4 32 Communications Control Pn800 8 61 Connector Model list 2 15 Connector terminal block Cables 2 16 Model list 2 16 Connector Terminal Block Conversion Unit 3 73 Contactor 4 34 Control Cables 2 16 Control Circuit Connector Specifications CNC 4 16 Control I O Connector Specifications 3 65 Control I O signal Connections and External Signal Processing 3 13 Connectors 3 15 Contro...

Page 453: ... 52 Gain Adjustment 10 4 Gain Switching 3 Function 6 36 Gain Switching Function 6 25 Gain Switching in Position Control Delay Time Pn116 8 13 Hysteresis Pn118 8 14 Level Pn117 8 14 GAIN SWITCHING INPUT OPERATING mode Selection Pn114 8 11 General input 3 16 General purpose Output OUTM1 and OUTM2 3 20 H Harmonic Current Measures 4 37 Hybrid Vibration Suppression Filter Pn635 8 58 Hybrid Vibration Su...

Page 454: ... Command Status Output PCMD 3 22 Position Control 5 1 POSITION CONTROL Mode Adjustment 10 14 Position Gain Switching Time Pn119 8 14 Position Loop Gain 1 Pn100 8 8 Position Loop Gain 2 Pn105 8 10 Position Setting Unit Selection Pn520 8 48 Positioning Completion Condition Selection Pn432 8 36 Positioning Completion Hold Time Pn433 8 37 Positioning Completion Output 1 INP1 3 20 Positioning Completio...

Page 455: ...8 9 Speed Loop Gain 2 Pn106 8 10 Speed Loop Integral Time Constant 1 Pn102 8 9 Speed Loop Integration Time Constant 2 Pn107 8 10 Stop Selection for Alarm Detection Pn510 8 46 Stop Selection for Drive Prohibition Input Pn505 8 43 Stop Selection with Main Power Supply OFF Pn507 8 45 Stop Selection with Servo OFF Pn506 8 44 Surge Absorber 4 28 Surge Suppressor 4 34 SWITCHING mode in Position Control ...

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Page 458: ... A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Tokyo JAPAN 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 ...

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