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   6

6-7

6-3 Notch Filter

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Applied Functions

6-3 Notch Filter

Outline of Operation

You can set up to 4 notch filters for the torque command.
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 filter to eliminate resonance.

Depth

=

Fc/fw

Cut-off frequency Fc

Frequency Hz

Width fw

fw

0db

−

3db

Notch filter 1

Notch filter 2

Machine resonance

Notch filter

Characteristics
after filtering

Summary of Contents for OMNUC G5

Page 1: ...Cat No I571 E1 01 USER S MANUAL OMNUC G5SERIES R88M K AC Servomotors R88D KT AC Servo Drives AC SERVOMOTORS SERVO DRIVES...

Page 2: ...ion contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution ha...

Page 3: ...ge 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 Th...

Page 4: ...uct 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 m...

Page 5: ...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 OMRO...

Page 6: ...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 R...

Page 7: ...arrying 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...

Page 8: ...hands if a motor with shaft end key grooves is being used Injury may result Use the motor and driver in the specified combination Fire or equipment damage may result Do not store or install the produ...

Page 9: ...orting 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 th...

Page 10: ...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 inf...

Page 11: ...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 Failur...

Page 12: ...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...

Page 13: ...ot supplied They must be prepared by the customer If any item is missing or a problem is found such as Servo Drive damage contact the OMRON dealer or sales office where you purchased your product Spec...

Page 14: ...ision 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 D...

Page 15: ...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 o...

Page 16: ...5 2 4 External and Mounting Dimensions 2 22 2 5 EMC Filter Dimensions 2 54 Chapter3 Specifications 3 1 Driver Specifications 3 1 3 2 Overload Characteristics Electronic Thermal Function 3 53 3 3 Moto...

Page 17: ...8 6 15 Hybrid Vibration Suppression Function 6 49 6 16 Feed forward Function 6 50 6 17 Instantaneous Speed Observer Function 6 54 Chapter7 Safety Function 7 1 Safe Torque OFF STO Function 7 1 7 2 Oper...

Page 18: ...DRIVE USER S MANUAL Chapter11 Error and Maintenance 11 1 Error Processing 11 1 11 2 Warning List 11 4 11 3 Alarm List 11 5 11 4 Troubleshooting 11 9 11 5 Periodic Maintenance 11 20 Chapter12 Appendix...

Page 19: ...nd UL standards 1 1 Outline 1 1 Outline of the OMNUC G5 Series 1 1 Features of the OMNUC G5 Series 1 1 1 2 System Configuration 1 2 1 3 Names and Functions 1 3 Driver Part Names 1 3 Driver Functions 1...

Page 20: ...h the flexible driver according to your need A single driver supports various applications Achievement of Accurate Positioning by Full Closing Control Feedbacks from the external scale connected to th...

Page 21: ...ain Output Type Programmable Controller SYSMAC CJ CS Position Control Unit CJ1W NC113 213 413 CJ1W NC133 233 433 CJ1W NC214 414 CJ1W NC234 434 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 41...

Page 22: ...onnector CN7 Expansion connector CN3 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 Exte...

Page 23: ...r CN1 Used for command input signals and I O signals Encoder Connector CN2 Connector for the encoder installed in the Servomotor Expansion Connector CN3 A spare connector for expansion Do not connect...

Page 24: ...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 interfa...

Page 25: ...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...

Page 26: ......

Page 27: ...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 Peripheral Equipm...

Page 28: ...se I O function type XW2Z B XW2B XW2Z A XW2Z B Servo Drive Cable XW2Z A Position Control Unit Cable NC XW2Z J G DirectconnectioncableforCJ1W NC 4 R88A CPG Control Cables for Motion Control Unit CX One...

Page 29: ...dback Signals Power Cables Without Brake R88A CA S With Brake R88A CA B Without Brake R88A CA SR With Brake R88A CA BR Standard Cables Robot Cable Encoder Cables Standard Cables R88A CRK Brake Cables...

Page 30: ...e Servo Drive model can be identified by the Servo Drive type applicable Servomotor capacity power supply voltage etc R88D KT01H OMNUC G5 Series Servomotor Driver Type Power Supply Voltage Maximum App...

Page 31: ...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 sp...

Page 32: ...Single phase 100 VAC 50 W R88D KTA5L 100 W R88D KT01L 200 W R88D KT02L 400 W R88D KT04L Single phase 3 phase 200 VAC 100 W R88D KT01H 200 W R88D KT02H 400 W R88D KT04H 750 W R88D KT08H 1 kW R88D KT10H...

Page 33: ...030T 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...

Page 34: ...030T 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...

Page 35: ...F 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 K5K0...

Page 36: ...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...

Page 37: ...K20030L x R88M K20030S x R88D KT02L 400 W R88M K40030L x R88M K40030S x R88D KT04L Single phase 3 phase 200 V 50 W R88M K05030H x R88M K05030T x R88D KT01H 100 W R88M K10030H x R88M K10030T x R88D KT...

Page 38: ...0 W R88M K40020F x R88M K40020C x R88D KT06F 600 W R88M K60020F x R88M K60020C x R88D KT06F 1 kW R88M K1K020F x R88M K1K020C x R88D KT10F 1 5 kW R88M K1K520F x R88M K1K520C x R88D KT15F 2 kW R88M K2K0...

Page 39: ...oders and incremental encoders 3 m R88A CRKA003C 5 m R88A CRKA005C 10 m R88A CRKA010C 15 m R88A CRKA015C 20 m R88A CRKA020C 30 m R88A CRKA030C 40 m R88A CRKA040C 50 m R88A CRKA050C 100 V and 200 V 3 0...

Page 40: ...003S R88A CAGB003B 5 m R88A CAGB005S R88A CAGB005B 10 m R88A CAGB010S R88A CAGB010B 15 m R88A CAGB015S R88A CAGB015B 20 m R88A CAGB020S R88A CAGB020B 30 m R88A CAGB030S R88A CAGB030B 40 m R88A CAGB040...

Page 41: ...50B 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 3 m R88A CRKA003CR 5 m R88A CRKA005CR 10 m R88A CRKA010CR 15 m R88A C...

Page 42: ...5 m R88A CAGB005SR R88A CAGB005BR 10 m R88A CAGB010SR R88A CAGB010BR 15 m R88A CAGB015SR R88A CAGB015BR 20 m R88A CAGB020SR R88A CAGB020BR 30 m R88A CAGB030SR R88A CAGB030BR 40 m R88A CAGB040SR R88A...

Page 43: ...00 V and 200 V For 3 000 r min motors of 50 to 750 W 3 m R88A CAKA003BR 5 m R88A CAKA005BR 10 m R88A CAKA010BR 15 m R88A CAKA015BR 20 m R88A CAKA020BR 30 m R88A CAKA030BR 40 m R88A CAKA040BR 50 m R88A...

Page 44: ...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...

Page 45: ...C433 For CJ1W NC213 NC413 NC233 NC433 For C200HW NC213 NC413 XW2B 40J6 2B For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A For FQM1 MMA22 For FQM1 MMP22 XW2B 80J7 12A For CQM1 CPU43 V1 For CQM1H P...

Page 46: ...XW2B 20J6 2B 0 5 m XW2Z 050J A11 1 m XW2Z 100J A11 For CJ1W NC113 XW2B 20J6 1B 0 5 m XW2Z 050J A14 1 m XW2Z 100J A14 For CJ1W NC213 NC413 XW2B 20J6 2B 0 5 m XW2Z 050J A15 1 m XW2Z 100J A15 For CJ1W N...

Page 47: ...XW2Z 100J G5 3 m XW2Z 300J G5 Specified cables for Motion Control Unit for 1 axis CS1W MC221 V1 MC421 V1 1 m R88A CPG001M1 2 m R88A CPG002M1 3 m R88A CPG003M1 5 m R88A CPG005M1 Specified cables for Mo...

Page 48: ...tions Model R88D KTA5L KT01H 3G3AX DL2002 R88D KT01L KT02H 3G3AX DL2004 R88D KT02L KT04H 3G3AX DL2007 R88D KT04L KT08H KT10H 3G3AX DL2015 R88D KT15H 3G3AX DL2022 R88D KT08H KT10H KT15H 3G3AX AL2025 R8...

Page 49: ...Standard Models and External Dimensions 2 4 External and Mounting Dimensions Servo Drive Dimensions Single phase 100 VAC R88D KTA5L KT01L 50 to 100 W Single phase 3 phase 200 VAC R88D KT01H KT02H 100...

Page 50: ...IES AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions Square hole 170 0 5 70 40...

Page 51: ...e phase 3 phase 100 VAC R88D KT02L 200 W Single phase 3 phase 200 VAC R88D KT04H 400 W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimen...

Page 52: ...3 phase 100 VAC R88D KT04L 400 W Single phase 3 phase 200 VAC R88D KT08H 750 W Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mo...

Page 53: ...ase 3 phase 200 VAC R88D KT10H KT15H 900 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 85 150 1...

Page 54: ...IVE USER S MANUAL 2 Standard Models and External Dimensions 3 phase 200 VAC R88D KT20H 2 kW Wall Mounting External dimensions Mounting dimensions 86 85 50 17 5 42 5 5 2 5 2 5 2 R2 6 R2 6 198 188 168 1...

Page 55: ...R S MANUAL 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 86 85 50 17 5 42 5 5 2 5 2 198 188 168 17 5 50 5 2 5 2 42 5 5...

Page 56: ...IVE USER S MANUAL 2 Standard Models and External Dimensions 3 phase 200 VAC R88D KT30H KT50H 3 to 5 kW Wall Mounting External dimensions Mounting dimensions R2 6 R2 6 5 2 R2 6 R2 6 5 2 212 3 130 100 1...

Page 57: ...USER S MANUAL 2 Standard Models and External Dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions R2 6 R2 6 5 2 R2 6 R2 6 5 2 130 100 15 65 5 2 5 2 220 240 2...

Page 58: ...3 phase 400 VAC R88D KT06F KT10F KT15F 600 W to 1 5 kW Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 91 150...

Page 59: ...unting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 5 2 R2 6 R2 6 5 2 25 0 5 188 0 5 50 0 5 94 168 193 5 1 5 94 85 50 17...

Page 60: ...Wall Mounting External dimensions Mounting dimensions Front Mounting Using Front Mounting Brackets External dimensions Mounting dimensions 5 2 R2 6 5 2 R2 6 100 5 2 5 2 65 15 15 130 100 65 5 2 5 2 220...

Page 61: ...T 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 8h6 30h7 25 14 12 5 3h9 3 6 2 25 LL LM...

Page 62: ...ls 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 4 3 46 0 2 40 40 Key groove P9 LL LM Motor c...

Page 63: ...400 W 22 5 400 W 5 400 W 4 200 W 8 5 11 LL LM 30 3 6 5 70 0 2 60 60 Shaft end specifications with key and tap 1 5 min Boss insertion position only for the ones with oil seal Key groove P9 4h9 200 W 5h...

Page 64: ...r 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 s...

Page 65: ...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 11...

Page 66: ...3K030T 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...

Page 67: ...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 K...

Page 68: ...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 br...

Page 69: ...3K030C 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...

Page 70: ...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 KB...

Page 71: ...dicated 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...

Page 72: ...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...

Page 73: ...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...

Page 74: ...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...

Page 75: ...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...

Page 76: ...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 conne...

Page 77: ...ard 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...

Page 78: ...te 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...

Page 79: ...ard 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...

Page 80: ...mensions 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 3 0 75...

Page 81: ...lter 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...

Page 82: ......

Page 83: ...onnector Specifications CN5 3 49 USB Connector Specifications CN7 3 50 Safety Connector Specifications CN8 3 51 3 2 Overload Characteristics Electronic Thermal Function 3 53 Overload Characteristics G...

Page 84: ...ll require maintenance For details refer to 11 5 Periodic Maintenance P 11 20 Item Specifications Ambient operating temperature and operating humidity 0 to 55C 90 RH max with no condensation Storage a...

Page 85: ...age Single phase 100 to 115 VAC 85 to 127 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 115 VAC 85 to 127 V 50 60 Hz Control method All digi...

Page 86: ...40 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...

Page 87: ...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...

Page 88: ...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...

Page 89: ...f rotations Electronic gear setting error The set value for the Electronic Gear Ratio Pn009 to Pn010 Pn500 to Pn503 is not appropriate Error counter overflow Error counter value based on the encoder p...

Page 90: ...mmunications error An error was detected in external scale connection and communications data External scale status error An external scale error code was detected Phases A B and Z connection error An...

Page 91: ...400 W 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz R88D KTxH 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 p...

Page 92: ...0 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 KTxH Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2C Symb ol Name Funct...

Page 93: ...to the torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 Symb ol Name Function L1 Main circuit power supply input R88D KTxH 3 to 5 kW 3 phase 200 to 230 VAC 170 to 253 V 50 60 Hz L2 L3 L1C Control cir...

Page 94: ...1 Main circuit power supply input R88D KTxF 600 W to 2 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz L2 L3 Symb ol Name Function U Motor connection terminals Phase U These are the output terminals t...

Page 95: ...of 0 2 N m M3 Tighten the ground screws to the torque of 0 7 to 0 8 N m M4 or 1 4 to 1 6 N m M5 Symb ol Name Function 24 V Control circuit power supply input 24 VDC 15 0 V Symb ol Name Function L1 Mai...

Page 96: ...2 TVSEL 31 RESET 30 ECRST 28 GESEL1 27 GSEL 26 DFSEL1 29 RUN 7 24 VIN CONTROL mode switching Alarm reset Error counter reset Electronic gear switching Gain switching Vibration filter switching 12 to 2...

Page 97: ...SET 30 VSEL2 28 VSEL3 27 GSEL 26 VZERO 29 RUN 7 24VIN CONTROL mode switching Alarm reset Internally set speed selection 2 Internally set speed selection 3 Gain switching Zero speed designation 12 to 2...

Page 98: ...output Alarm output Motor rotation speed detection output BKIRCOM 11 10 READY READYCOM ALMCOM 35 34 ALM 37 36 TGONCOM TGON 39 38 9 TVSEL 8 RESET 32 31 27 GSEL 26 VZERO 29 RUN 7 24VIN CONTROL mode swit...

Page 99: ...he setting of Command Pulse Input Selection Pn005 45 CWLD 46 CCWLD Forward pulse input for line driver only 47 CCWLD 20 SEN Sensor ON Input This performs serial transmission of multi rotation data of...

Page 100: ...rding to the setting of Torque Limit Selection Pn521 7 24VIN 12 to 24 VDC power supply input This is the positive input terminal of the external DC power supply for sequence input 12 to 24 V 8 9 26 to...

Page 101: ...ot be reset with this input TVSEL 32 CONTROL mode switching input This signal switches the CONTROL mode for Servo Drive Changes to enable set value 3 to 5 according to the setting of CONTROL mode Sele...

Page 102: ...IGN Torque command sign input This signal designates the motor rotation direction for torque commands Changes to enable set value 1 according to the setting of Torque Command Direction Selection Pn318...

Page 103: ...ccording to the setting condition of Positioning Completion Condition Selection Pn432 INP1COM 38 TGON 39 Motor rotation speed detection output This output turns ON when the motor rotation speed reache...

Page 104: ...e setting condition of Warning Output Selection 1 Pn440 WARN2COM P CMD Position command status output This output turns ON when a positioning command is input P CMDCOM V LIMIT Speed limiting output Th...

Page 105: ...nput Absolute encoder backup battery input BATGND CWLD Reverse pulse input for line driver only Reverse pulse input for line driver only Forward pulse input for line driver only CWLD CCWLD 12 to 24 VD...

Page 106: ...n Command Pulse Line Receiver Input When connecting with a line driver and a line receiver up to 4 Mpps will be available CWLD 44 CWLD 45 CCWLD 46 CCWLD 47 The shielded twisted pair cable should not e...

Page 107: ...UAL 3 Specifications Position Command Pulse Photocoupler Input Line Driver Input 500 kpps Maximum CW 3 CW 4 CCW 5 CCW 6 Precautions for Correct Use The twisted pair cable should not exceed 10 m in len...

Page 108: ...1 CW 4 24 VCCW 2 CCW 6 External control power supply 200 kpps maximum CW 3 CW 4 CCW 5 CCW 6 Select a Current Limit Resistor R appropriate for Vcc 32 Precautions for Correct Use The open collector wir...

Page 109: ...0 V or more L level 0 8 V or less 4 7 k 1 0 k 8 9 SI1 SI2 7 24VIN To other input circuit External power supply 12 VDC 5 to 24 VDC 5 Power supply capacity 50 mA or more per unit Signal level ON level 1...

Page 110: ...of these signals depend on the settings of the Command Pulse Rotation Direction Switching Selection Pn006 and the COMMAND PULSE mode Selection Pn007 Note 1 If the Command Pulse Rotation Direction Swi...

Page 111: ...gnals Maximum input frequency Line driver 500 kpps Open collector 200 kpps Direction signal Feed pulse Forward command Reverse command t1 t1 t2 t2 t2 t1 t1 T At 500 kpps t1 0 1 s t2 1 0 s 1 0 s T 2 0...

Page 112: ...gnals depend on the settings of the Command Pulse Rotation Direction Switching Selection Pn006 and the COMMAND PULSE mode Selection Pn007 Note 1 If the Command Pulse Rotation Direction Switching Selec...

Page 113: ...rward pulse Maximum input frequency Line driver 4 Mpps 90 phase difference signals Maximum input frequency Line driver 4 Mpps Direction signal Feed pulse Forward command Reverse command t1 t1 t2 t2 t2...

Page 114: ...en the absolute encoder power is interrupted Normally do not connect anything to this terminal because a battery is connected to the battery holder for absolute encoder battery cable Never connect to...

Page 115: ...to change the torque limit scale relative to the analog input Operation command RUN Pin 29 Operation command RUN This is the allocation at default setting You can change the logics and allocations fo...

Page 116: ...to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 You can only allocate the error counter reset input ECRST to pin 30 SI7 Allocating to any other terminal generates an err...

Page 117: ...g to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function Use the sequence signal to switch among the 4 filters for use in damping control when the setting of Vibration Filter Selectio...

Page 118: ...gics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Function Perform speed control according to the internal speed...

Page 119: ...ction Pn301 is enable set value 1 the polarity of analog command input and rotation direction at internal command speed become disabled Pn300 set value Operation when ON 0 Zero speed designation is di...

Page 120: ...ue Command Direction Selection Pn301 is enable set value 1 the polarity of torque command input is disabled Emergency Stop Input EMG STP No allocation Emergency stop input EMG STP There is no allocati...

Page 121: ...is the allocation at default setting You can change the logics and allocations for input terminals CN1 to 8 9 and 26 to 33 according to the settings of Input Signal Selection 1 to 10 Pn400 to 409 Fun...

Page 122: ...GND Phase A Phase B Phase Z FG 0 V R 120 to 180 R R R FG 0 V 0 V 5 V Phase A Phase B Phase Z Applicable line receiver AM26C32 or equivalent Output line driver AM26C31 or equivalent ZCOM Z 19 25 FG Sh...

Page 123: ...everse direction drive prohibition input and external scale input are established before operation of the protective function starts Also you can increase this time with Pn618 Power Supply ON Initiali...

Page 124: ...to the phase A pulse and the output source are set in the External Feedback Pulse Direction Switching Pn326 The ground for the output circuit line driver is connected to the signal ground SENGND It is...

Page 125: ...n the control and main power supply is established and not in alarm status Alarm Output ALM Pin 37 Alarm Output ALM Pin 36 Alarm output common ALMCOM The alarm output terminal is fixed to pin 36 or 37...

Page 126: ...minals CN1 to 10 11 34 35 38 and 39 according to the settings of Output Signal Selections 1 to 4 Pn410 to 413 Function This output turns ON when the motor rotation speed is equal to Zero Speed Detecti...

Page 127: ...g to the settings of Output Signal Selections 1 to 4 Pn410 to 413 Function This turns ON during torque control or speed limit status Alarm Clear Attribute Output ALM ATB No allocation Alarm clear attr...

Page 128: ...der signal I O serial signal 6 PS Encoder phase S input Shell FG Frame ground Frame ground Name Model Manufacturer Driver connector 53460 0629 Molex Japan Cable connector 55100 0670 Pin number Symbol...

Page 129: ...10 4 7 k 1 0 k 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 e...

Page 130: ...Manufacturer MUF connector MUF PK10K X JST Mfg Co Ltd 52 V 5 250 mA max Phase Z Photocoupler input EXZ EXZ 9 10 4 7 k 1 0 k Phase A Photocoupler input EXA EXA GND E5V 5 V E0V 6 5 2 1 1 0 k Phase B Ph...

Page 131: ...SER S MANUAL 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 Driver side CN4 FG FG Serial numbe...

Page 132: ...n 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 s...

Page 133: ...r operations such as parameter setting and changing monitoring of control status checking error status and error history and parameter saving and loading can be performed Pin number Symbol Name Functi...

Page 134: ...DM EDM FG 7 5 1 k 4 k 10 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 T...

Page 135: ...power supply 12 VDC 5 to 24 VDC 5 Signal level ON level 10 V or more OFF level 3 V max 4 7 k 1 0 k SF1 4 SF1 3 SF2 6 SF2 5 Photocoupler input 4 7 k 1 0 k Photocoupler input External power supply 12 to...

Page 136: ...teristics 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 continuousl...

Page 137: ...condensation Storage ambient temperature and humidity 20 to 65 C 20 to 80 RH with no condensation Guaranteed maximum temperature of 80 C 72 hours at normal temperature 20 to 65 C 20 to 85 RH with no c...

Page 138: ...s 10 1 19 8 29 0 62 4 With brake kW s 9 4 18 8 25 4 58 0 Mechanical time constant Without brake ms 1 37 1 07 0 65 0 46 With brake ms 1 48 1 13 0 74 0 50 Electrical time constant ms 0 80 0 91 3 0 3 4...

Page 139: ...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 no...

Page 140: ...0 44 With brake ms 1 48 1 20 0 66 0 47 Electrical time constant ms 0 80 0 77 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 32...

Page 141: ...l time constant Without brake ms 0 39 0 61 0 49 With brake ms 0 43 0 71 0 55 Electrical time constant ms 5 4 5 8 6 3 Allowable radial load 3 N 490 490 490 Allowable thrust load 3 N 196 196 196 Weight...

Page 142: ...rake 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 With...

Page 143: ...nstant 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 brak...

Page 144: ...ence 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...

Page 145: ...1 3 1 8 2 3 3 8 2600 N m Momentary operation range Continuous operation range Power supply voltage dropped by 10 4 0 0 1000 2000 3000 3600 4000 4000 6000 r min 5000 8 0 7 1 4 9 3 0 7 1 3200 2 4 2 4 N...

Page 146: ...uous operation range Power supply voltage dropped by 10 7 5 0 1000 2000 3000 4000 5000 r min 15 14 3 14 3 4 77 4 77 N m Momentary operation range Continuous operation range Power supply voltage droppe...

Page 147: ...0 30 40 With brake Rated torque ratio 100 70 60 10 0 20 30 40 Without brake With brake Ambient temperature C Rated torque ratio 100 95 10 0 20 30 40 With brake Ambient temperature C Rated torque ratio...

Page 148: ...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...

Page 149: ...mum 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 1...

Page 150: ...4 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 Relea...

Page 151: ...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 br...

Page 152: ...0 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 Witho...

Page 153: ...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 A...

Page 154: ...t current switching with a varistor TNR9G820K by Nippon Chemi Con Corporation 7 Direct current switching with a varistor Z15D151 by Ishizuka Electronics Co Torque Rotation Speed Characteristics for 2...

Page 155: ...ous operation range 3000 r min Power supply voltage dropped by 10 N m 0 1000 2000 5 10 15 14 3 4 77 4 77 14 3 Momentary operation range Continuous operation range 3000 r min Power supply voltage dropp...

Page 156: ...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 co...

Page 157: ...in 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 Wit...

Page 158: ...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 Relea...

Page 159: ...re Characteristics 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...

Page 160: ...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 rot...

Page 161: ...xternal 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 CRKA0...

Page 162: ...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 7 6 Driver sid...

Page 163: ...guration 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...

Page 164: ...el 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 R8...

Page 165: ...1 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...

Page 166: ...rox 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 12 5...

Page 167: ...AKF003BR 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 12 5 Driver side Motor...

Page 168: ...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 13 5 Driver side Moto...

Page 169: ...ourself Dimensions Encoder Connectors These connectors are used for encoder cables Use them when preparing an encoder cable by yourself Dimensions R88A CNW01R driver s CN2 side This connector is a sol...

Page 170: ...ng 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 13 21 16 6 8...

Page 171: ...FT04SJ1 Japan Aviation 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 prepari...

Page 172: ...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 Con...

Page 173: ...nal Scale Connector R88A CNK41L Use this connector to connect to an external scale in full closing control Connector plug model MUF PK10K X J S T Mfg Co Ltd Safety I O Signal Connector R88A CNK81S Use...

Page 174: ...onnection configuration and external dimensions Cables for 1 axis Cables for 2 axes Model Length L Outer diameter of sheath Weight R88A CPG001M1 1 m 8 3 dia Approx 0 2 kg R88A CPG002M1 2 m Approx 0 3...

Page 175: ...X A X B X B X Z X Z XOUT XAGND F24V 1 2 3 4 5 8 9 10 11 12 13 14 15 16 17 18 19 FDC GND 20 21 22 23 26 27 28 29 30 31 32 33 34 35 36 YALM YRUN YALMRS YSGND YSOUT Y GND Y A Y A Y B Y B Y Z Y Z YOUT YAG...

Page 176: ...21 22 49 48 23 24 14 15 Shell 7 36 ALM RUN RESET SENGND SEN ZCOM A A B B Z Z REF TREF1 VLIM AGND FG 24VIN ALMCOM AWG20 Red AWG20 Black White Black 1 Pink Black 1 Yellow Black 1 Gray Black 1 Gray Red 1...

Page 177: ...or line driver output for 1 axis Cable for open collector output for 1 axis Cable for line driver output for 2 axes Cable for open collector output for 2 axes Connection configuration and external dim...

Page 178: ...2 49 48 23 24 7 30 29 26 31 27 39 38 35 34 37 36 20 13 Shell 25 24 24 V power supply for output 24 V GND for output Input common Forward direction pulse output Forward direction pulse output Reverse d...

Page 179: ...SEN output Signal ground 1 3 5 16 18 21 20 23 22 25 24 15 11 10 12 13 7 6 9 26 27 2 4 50 38 36 35 34 33 32 31 30 41 45 44 42 43 49 48 47 29 28 11 BKIR 10 BKIRCOM 3 CW PULS FA 4 CW PULS FA 5 CCW SIGN F...

Page 180: ...INP INPCOM READY REDYCOM ALM SENGND FG 11 10 44 45 46 47 21 22 49 48 23 24 7 30 29 26 31 27 39 38 35 34 37 36 20 13 Shell 25 24 24 V power supply for output 24 V GND for output Input common Forward di...

Page 181: ...se A output 22 A Encoder phase A output 49 B Encoder phase B output 48 B Encoder phase B output 23 Z Encoder phase Z output 24 Z Encoder phase Z output 7 24VIN 30 ECRST Error counter reset input 29 RU...

Page 182: ...t which does not have a specified cable or connecting to another company s controller prepare wiring suited for the controller to be connected When connecting to a controller which does not have a spe...

Page 183: ...White Red 1 CCW SIGN FB 31 Yellow Black 3 SI8 6 White Black 1 CCW SIGN FB 32 Gray Black 4 SI9 7 Yellow Red 1 24VIN 33 Orange Red 4 SI10 8 Pink Red 1 SI1 34 White Red 4 S02 9 Pink Black 1 SI2 35 White...

Page 184: ...the driver s control I O connector CN1 All of the pins in the CN1 control I O signal can be converted to the terminal block Cable types Connection configuration and external dimensions Model Length L...

Page 185: ...socket model XG4M 5030 OMRON Strain relief model XG4T 5004 OMRON Cable AWG28 25P UL2464 1 Wires with the same wire color and the same number of marks form a twisted pair Example Wires with respective...

Page 186: ...rminal block cable XW2Z xJ B24 to convert the driver s control I O connector CN1 to a terminal block XW2B 50G4 M3 Screw Terminal Block Dimensions Use 0 3 to 1 25 mm2 wire AWG22 to 16 The wire inlet is...

Page 187: ...s and crimp terminals to a terminal block tighten them with a tightening torque of 0 59 N m Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1...

Page 188: ...inal block tighten them with a tightening torque of 0 7 N m Applicable crimp terminals Applicable wires Round terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 Fork terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2...

Page 189: ...ntrol Units for OMRON Programmable Controllers SYSMAC Select the models that match the Position Control Unit to be used Servo Relay Units Specifications XW2B 20J6 1B This Servo Relay Unit connects to...

Page 190: ...t connects to the following OMRON Position Control Units Dimensions Terminal block pitch 7 62 mm CJ1W NC213 NC233 NC413 NC433 CS1W NC213 NC233 NC413 NC433 C200HW NC213 NC413 0 V RUN ALM BKIR 10 0 19 9...

Page 191: ...mable Controllers Dimensions Terminal block pitch 7 62 mm CQM1 CPU43 V1 CQM1 PLB21 0 V 20 0 39 19 FG 24 VDC X1 XB 24 VDC Y1 YB 24 VDC X1 Y1 24 V X Y axis emergency stop X axis CW limit X axis CCW limi...

Page 192: ...ut signal to a CQM1 Input Unit 3 The XB contacts are used to turn ON OFF the electromagnetic brake Note 1 The phase Z is an open collector Note 2 Do not connect unused terminals Note 3 The 0 V termina...

Page 193: ...ions XW2B 20J6 8A This Servo Relay Unit connects to the following OMRON Programmable Controllers Dimensions Terminal block pitch 7 62 mm CJ1M CPU21 CPU22 CPU23 for 1 axis 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1...

Page 194: ...tput 1 Accordingly the actual inputs can be used as the CW CCW limit by outputting the flags below in the ladder program Example 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 C...

Page 195: ...he following OMRON Programmable Controllers Dimensions Terminal block pitch 7 62 mm CJ1M CPU21 CPU22 CPU23 for 2 axes 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2...

Page 196: ...YB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is disabled 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the co...

Page 197: ...ecifications XW2B 80J7 12A This Servo Relay Unit connects to the following OMRON Programmable Controllers Dimensions FQM1 MMA22 FQM1 MMP22 160 100 90 41 7 15 9 30 7 X axis Servo Drive Servo phase B se...

Page 198: ...le Motion Controller FQM1 Motion control module FQM1 MMP22 Servo Relay Unit cable XW2Z xJ B26 OMNUC G5 Series motor R88M Kx OMNUC G5 Series driver R88D KTx FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL...

Page 199: ...5 IN3 common 0 V 5 Common 0 V 4 IN8 common 0 V 4 IN9 common 0 V 4 IN10 common 0 V 4 IN11 common 0 V 4 IN5 common 0 V 4 IN6 common 0 V 4 IN7 common 0 V 4 Latch signal 1 common 0 V 5 Latch signal 2 com...

Page 200: ...5 IN2 common 0 V 5 IN3 common 0 V 5 Common 0 V 4 IN8 common 0 V 4 IN9 common 0 V 4 IN10 common 0 V 4 IN11 common 0 V 4 IN5 common 0 V 4 IN6 common 0 V 4 IN7 common 0 V 4 Latch signal 1 common 0 V 5 La...

Page 201: ...36 7 27 FQM1 signal For Servo No 1 For Servo No 2 54 56 69 70 14 16 29 30 OUT0 OUT2 OUT4 OUT6 BKIR 68 28 71 31 IN6 IN10 IN4 IN5 IN8 IN9 60 61 62 63 64 65 66 67 69 70 71 72 73 74 75 76 77 78 79 40 41 4...

Page 202: ...onnector plug model 10150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B25 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B25 2 m Ap...

Page 203: ...ase model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B26 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B26 2 m Approx 0 2 kg 52 4 Driver side Servo Relay Unit side XW2B...

Page 204: ...Connector case model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B27 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B27 2 m Approx 0 2 kg 52 4 48 Driver side Servo Relay U...

Page 205: ...0150 3000PE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B31 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B31 2 m Approx 0 2 kg 52 4 30 D...

Page 206: ...Controller CQM1H PLB21 to a Servo Relay Unit XW2B 20J6 3B Cable types Connection configuration and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm 7 5 dia...

Page 207: ...ion configuration and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A6 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A6 1 m Approx 0 1 kg 38 L 6 47 83 t 11 Position Contr...

Page 208: ...ing Model Length L Outer diameter of sheath Weight XW2Z 050J A7 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A7 1 m Approx 0 2 kg 48 L 6 47 83 t 11 Position Control Unit side CS1W NC213 CS1W NC413 C200HW NC...

Page 209: ...xternal dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A10 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A10 1 m Approx 0 2 kg 48 L 6 47 83 t 11 1000 Position Control Unit side CS...

Page 210: ...diameter of sheath Weight XW2Z 050J A11 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A11 1 m Approx 0 2 kg 48 L 6 47 83 t 11 1000 Position Control Unit side CS1W NC233 CS1W NC433 Servo Relay Unit side XW2B...

Page 211: ...ion and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A14 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A14 1 m Approx 0 2 kg L 6 38 t 11 500 Position Control Unit side...

Page 212: ...th L Outer diameter of sheath Weight XW2Z 050J A15 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A15 1 m Approx 0 2 kg L 6 t 11 500 48 Position Control Unit side CJ1W NC213 CJ1W NC413 Servo Relay Unit side X...

Page 213: ...ensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A18 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A18 1 m Approx 0 2 kg L 6 38 t 11 500 1000 Position Control Unit side CJ1W NC133 Serv...

Page 214: ...th Weight XW2Z 050J A19 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A19 1 m Approx 0 2 kg L 6 t 11 500 48 1000 C J1 W N C 2 3 3 N C 4 3 3 40J6 2B Position Control Unit side CJ1W NC233 CJ1W NC433 Servo Rela...

Page 215: ...d external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A33 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A33 1 m Approx 0 2 kg CJ1M CPU22 23 20J6 8A 40J6 9A L 500 43 6 6 56 Ser...

Page 216: ...n configuration and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A28 1 m Approx 0 2 kg XW2Z 200J A28 2 m Approx 0 3 kg...

Page 217: ...ernal dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A30 1 m Approx 0 2 kg XW2Z 200J A30 2 m Approx 0 3 kg L 17 17 56 Servo Relay...

Page 218: ...nfiguration and external dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A31 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A31 1 m Approx 0 2 kg XW2Z 200J A31 2 m Approx 0 3 kg L 1...

Page 219: ...50 250 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 co...

Page 220: ...cations 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 18...

Page 221: ...Filter model Rated current Leakage current Rated voltage R88D KT01H R88A FIK102 RE 2 4 A 3 5 mA 250 VAC single phase R88D KT02H R88D KT04H R88A FIK104 RE 4 1 A R88D KT08H R88A FIK107 RE 6 6 A R88D KT1...

Page 222: ......

Page 223: ...Installation Conditions 4 1 Servomotor Installation Conditions 4 3 Gearbox Installation Conditions 4 6 4 2 Wiring 4 7 Peripheral Equipment Connection Examples 4 7 Main Circuit and Motor Connections 4...

Page 224: ...ax with no condensation Operating atmosphere No corrosive gases Altitude 1 000 m max Derating must be applied for higher altitudes Ambient Temperature Control To operate in environments in which there...

Page 225: ...r driver Keeping Foreign Objects Out of Units Place a cover over the driver or take other preventative measures to prevent foreign objects such as drill filings from getting into the driver during ins...

Page 226: ...ms 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 will reduce the limit of the motor bearings and may bre...

Page 227: ...the lip of the oil seal Prepare a good lubricated condition under which oil droplets splash on the oil seal If you are using the Servomotor in the axial direction make sure that no oil accumulates on...

Page 228: ...ed with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the components which apply load to the shaft Caution Never repair the product by disasse...

Page 229: ...res another company s Gearbox to be used in combination with an OMNUC G5 Series motor select the Gearbox so that the load on the motor shaft i e both the radial and thrust loads is within the allowabl...

Page 230: ...less Encoder cables Power cables 24 VDC 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 c...

Page 231: ...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...

Page 232: ...VDC 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...

Page 233: ...ded 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 becaus...

Page 234: ...coder 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...

Page 235: ...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 motor...

Page 236: ...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 KTxL Single phase 100 to 115 VAC 85 to 127 V 50 60Hz R88D KTxH Single phase 200 to 240 VAC 170 to...

Page 237: ...e 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 Ye...

Page 238: ...ls 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 Mo...

Page 239: ...ween 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 KTxF 3 to 5 kW 3 phase 380 to 48...

Page 240: ...tem 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 1 Rated current A 1 4 2 6 4 3 7 6 Wire size AWG14 to 18 Control circuit power supply input...

Page 241: ...1C and L2C Wire size AWG18 Screw size Tightening torque N m Motor connection terminals U V W and FG 2 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 F...

Page 242: ...d current A 2 8 2 8 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 t...

Page 243: ...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...

Page 244: ...ignal cables and encoder cables Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the driver may have clamp filters installed to improve the noise im...

Page 245: ...er CNA CN1 CNB CN2 U V W 3 4 1 2 6 5 7 8 Single phase 100 VAC Symbol Name Manufacturer Model Comment SG Surge absorber Okaya Electric Industries Co Ltd RAV781BWZ 4 Single phase 100 VAC RAV781BXZ 4 3 p...

Page 246: ...nd the cables Separate power supply lines and signal lines when wiring Symbol Supplies from Connects to Cable name Length Comment Shielded Ferrite 1 AC power supply Noise filter Power supply line 2 m...

Page 247: ...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 ca...

Page 248: ...se breakers are generally suitable Select a no fuse breaker with a rated current greater than the total effective load current of all the motors when multiple drivers are used The rated current of the...

Page 249: ...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 machines us...

Page 250: ...e 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 ch...

Page 251: ...erally used for 1 5 kW or higher 2 Generally used for 1 5 kW or lower The maximum number of windings is 3 turns 3 Generally used for 50 100 W The maximum number of windings is 2 turns 4 Also used on t...

Page 252: ...AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL 4 System Design External Dimensions 2 M5 3 M4 95 26 78 80 12 5 72 50 7 39 5 3G3AX ZCL2 3G3AX ZCL1 51 5 25 5 17 5 5 1 3 0 6 5 34 0 ESD R 47B 34 13 30 39 ZCAT...

Page 253: ...tem Design Impedance Characteristics 10 100 10000 1000 100 10 1 0 1 Frequency kHz Frequency kHz Impedance Impedance 1 1000 3G3AX ZCL2 3G3AX ZCL1 10000 1000 100 10 1 Impedance 10 100 Frequency MHz 1 10...

Page 254: ...lays 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...

Page 255: ...ng and are coiled 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...

Page 256: ...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 co...

Page 257: ...at manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines Select the proper Reactor model according to the Servo Drive to be used Driver model Reactor M...

Page 258: ...tinuous 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 Gen...

Page 259: ...em Design 3G3AX NF003 NF004 NF005 NF006 C B A P F E 6 O 2 N 50 30 4 6 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...

Page 260: ...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 driver models with internal capaci...

Page 261: ...generation absorption capacity The capacity depends on the model For details refer to the next section For driver models with an Internal Regeneration Resistor used for absorbing regenerative energy i...

Page 262: ...uce the 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...

Page 263: ...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 regenera...

Page 264: ...hutoff sequence using the output from the thermal switch R88D KT04L KT08H KT10H KT15H KT20H KT30H KT50H KT06F KT10F KT15F KT20F KT30F KT50F Normally B2 and B3 are short circuited If an External Regene...

Page 265: ...reach 200 C Do not place objects that tend to catch fire nearby To prevent people from touching them install a type of cover that enables heat dissipation Regeneration absorption capacity 1 20 W 40 W...

Page 266: ......

Page 267: ...5 6 Related Functions 5 10 Parameter Block Diagram for SPEED CONTROL mode 5 11 5 3 Torque Control 5 12 Outline of Operation 5 12 Parameters Requiring Settings 5 12 Related Functions 5 15 Parameter Blo...

Page 268: ...lied by the Electronic Gear Pn008 to Pn010 Driver OMNUC G5 Motor OMNUC G5 Controller pulse train output type Pulse train CW CW CCW CCW 3 4 5 6 CWLD CWLD CCWLD CCWLD 44 45 46 47 Electronic Gear Pn008 t...

Page 269: ...on Direction Switching Selection Set the count direction for the command pulse input P 8 3 Pn007 COMMAND PULSE mode Selection Set the count method for the command pulse input P 8 3 Pn009 Electronic Ge...

Page 270: ...ifference 2 phase pulse phase A phase B PULS SIGN 1 Forward direction pulse train Reverse direction pulse train PULS SIGN 3 Pulse train Sign PULS SIGN t1 t1 Phase B t1 t1 t1 Phase A t1 t1 t1 Phase B i...

Page 271: ...Numerator Set the pulse output resolution using the numbers of output pulses per rotation for OA and OB respectively P 8 6 Pn012 Encoder Output Direction Switching Selection Set the phase B logic and...

Page 272: ...c gear setting Damping control Pn011 1 Rotation Pn012 Reverse Numerator Denominator Pn503 Denominator Encoder pulse output OA OB OZ Pulse regeneration Position control Speed feed forward Pn112 Gain Pn...

Page 273: ...ce Pn001 CONTROL mode Selection Select the CONTROL mode P 8 1 Pn300 Command Speed Selection Select the speed command input method P 8 25 Pn301 Speed Command Direction Selection Set the method for desi...

Page 274: ...e direction 0 to 1 Pn302 Speed Command Scale Set the input gain for the analog speed command input 0 to 2000 r min V Pn303 Analog Speed Command Rotation Direction Switching Set to reverse the polarity...

Page 275: ...cale Pn302 500 Speed limit value Speed Command Scale Pn302 input voltage 10 10 6 6 5000 3000 5000 3000 5000 3000 5000 3000 5000 3000 5000 3000 Input voltage Speed command Speed command 10 6 10 6 Input...

Page 276: ...tered on the inflection points in acceleration deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time Pn312 or Soft Start Deceleration Time Pn313 ta Vc 1 00...

Page 277: ...peed command and motor speed is within the set threshold a speed conformity output is output This setting has a hysteresis of 10 r min for detection P 8 43 Pn436 Rotation Speed for Motor Rotation Dete...

Page 278: ...selection Pn300 Acceleration Time Pn301 Deceleration time Torque command selection Pn112 Gain Pn113 Filter Torque feed forward Pn623 Gain Pn624 Filter Disturbance observer Pn607 Added Value Pn608 For...

Page 279: ...ngs Driver OMNUC G5 Motor OMNUC G5 Controller analog voltage output type TREF2 AGND 16 17 TREF1 VLIM AGND 14 15 Torque Command Scale Pn319 TORQUE CONTROL mode Analog voltage torque command V Torque No...

Page 280: ...and 0 The command indicates the forward direction as viewed from the shaft end CW 1 The command indicates the reverse direction as viewed from the shaft end CCW 0 to 1 Pn319 Torque Command Scale Set t...

Page 281: ...e command scale is 30 Torque command 100 Input voltage Torque Command Scale Pn302 0 1 10 6 10 6 333 200 200 333 200 200 333 200 333 200 Input voltage Torque command Torque command 10 6 10 6 Input volt...

Page 282: ...control the speed is controlled so as not to exceed the level set by the speed limit value P 8 32 Pn322 Reverse Direction Speed Limit Value Setting Set this if you want to change the speed limit value...

Page 283: ...e 2 Internal speed limit Pn317 Command speed Speed Torque Limit Selection Pn317 Command Selection Pn318 Direction Designation Torque command selection Absolute Code Pn114 Setting 2 Pn120 Mode Pn121 De...

Page 284: ...ed control Speed selection command Internally set speed control can be executed using only the digital I O signals Parameter number Parameter name Explanation Reference Pn001 CONTROL mode Selection Se...

Page 285: ...de will be analog speed control Input the proper current to REF Pn300 3 Number VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF Disabled Pn304 1 ON OFF Disabled Pn305 2 OFF ON Disabled Pn306 3 ON ON Disabled Pn3...

Page 286: ...selection 2 VSEL2 Servo ON Drive Stop Speed Open Open Speed 1 Speed 2 Speed 3 Speed 4 Time Open Close Close Close Close Open 1 Parameter number Parameter name Explanation Setting range Unit Pn304 No 1...

Page 287: ...tching input and the CONTROL mode selected Note Use caution when switching CONTROL mode Operation may change suddenly depending on the CONTROL mode settings Driver OMNUC G5 Motor OMNUC G5 Controller S...

Page 288: ...ds on the CONTROL mode Position and Torque Control Switching Example Pn001 4 This time chart shows an example of torque thrust There is a maximum delay of 10 ms in reading the input signal When switch...

Page 289: ...torque control changes according to the motor load conditions e g friction external power inertia Take safety measures on the machine side to prevent motor runaway Adjust the torque command using Ana...

Page 290: ...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 scale ratio it is reco...

Page 291: ...ase A and phase B output pulses respectively per motor rotation P 8 6 Pn012 Encoder Output Direction Switching Selection Select the phase B logic for pulse regeneration output and the output source P...

Page 292: ...and output is a line driver output set input 1 If it is an open collector output set input 2 Although input 2 can also be used for a line driver output the allowable maximum input frequency will becom...

Page 293: ...motor rotation 0 to 220 Pulse Pn009 Electronic Gear Ratio Numerator 1 Set the numerator of the electronic gear ratio for the command pulse input 0 to 230 Pn010 Electronic Gear Ratio Denominator Set th...

Page 294: ...pe Selection Select the type of the external scale to be used 0 to 3 Pn326 External Feedback Pulse Direction Switching If the count directions of the external scale feedback pulse and the encoder tota...

Page 295: ...rection Switching Pn326 Take note that if Pn000 1 the scale count direction becomes opposite to the count direction used for monitoring the total external scale feedback pulses etc If Pn000 0 the coun...

Page 296: ...0 1 m Encoder resolution 20 bits Parameter number Parameter name Explanation Setting range Unit Pn324 External Feedback Pulse Dividing Numerator Set the numerator of the external scale divider settin...

Page 297: ...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 v...

Page 298: ...ration Pn011 1 Rotation Pn012 Reverse Numerator Denominator Pn503 Denominator Encoder pulse output OA OB OZ Pulse regeneration Position control Speed feed forward Pn112 Gain Pn113 Filter Torque feed f...

Page 299: ...ation 6 10 Parameters Requiring Settings 6 10 Operation Example 6 12 6 5 Encoder Dividing Function 6 13 Outline of Operation 6 13 Parameters Requiring Settings 6 13 6 6 Brake Interlock 6 18 Outline of...

Page 300: ...tion 6 46 Parameters Requiring Settings 6 46 Operation Example 6 47 6 14 Inertia Ratio Switching Function 6 48 Outline of Operation 6 48 Parameters Requiring Settings 6 48 Operating Procedure 6 48 6 1...

Page 301: ...use the damping 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 Since damping control is per...

Page 302: ...the end of the load in damping control If the damping control function is not used set 0 P 8 22 Pn215 Vibration Filter 1 Setting When the Vibration Frequency 1 Pn214 is set reduce the setting if torqu...

Page 303: ...on decreases 3 Set vibration filter setting Set vibration 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 ri...

Page 304: ...ain Set value SWITCHING mode 0 Vibration filter 1 or 2 enabled 1 Switching by external input DFSEL1 Open Vibration filter 1 or 3 enabled Shorted Vibration filter 2 or 4 enabled 2 Switching by external...

Page 305: ...otch 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 6 3 Notch Fil...

Page 306: ...ting Pn210 to 5 000 disabled Next enable Adaptive Filter Selection again Notch 3 Frequency Setting Pn207 and Notch 4 Frequency Setting Pn210 are written to the EEPROM every 30 minutes When the power s...

Page 307: ...use 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 r...

Page 308: ...equency 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 freq...

Page 309: ...it 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...

Page 310: ...ation Reference Pn008 Electronic Gear Integer Setting Set the number of command pulses corresponding to 1 motor rotation P 8 5 Pn009 Electronic Gear Ratio Numerator 1 Set the numerator of the electron...

Page 311: ...Integer Setting Pn008 Switching among electronic gear ratio numerators 1 to 4 is disabled when the Electronic Gear Integer Setting Pn008 0 0 0 1 to 1073741824 When the Electronic Gear Integer Setting...

Page 312: ...ting Pn008 0 and the Electronic Gear Ratio Numerator 0 If you set Pn009 and Pn010 1 048 576 and 2 048 respectively it will operate the same as the 2 048 pulses rotation Servomotor Encoder resolution E...

Page 313: ...coder Output Direction Switching Selection Select the phase B logic for pulse regeneration output and the output source P 8 6 Pn503 Encoder Dividing Denominator Set the denominator when the number of...

Page 314: ...Pn011 and the output pulse is the number of pulses set by Encoder Dividing Numerator Pn011 as follows Number of pulse output per rotation Encoder Dividing Numerator Pn011 4 When the output source is...

Page 315: ...xternal Scale Phase Z is output without dividing the phase Z of the serial incremental external scale In addition take note that there are differences as illustrated in the figure below depending on t...

Page 316: ...ion of the operation Precautions for Correct Use The maximum output frequency of the pulse regeneration output will be 4 Mpps after quadruple multiplier If operated at a speed that exceeds this the re...

Page 317: ...phase Z output after the power supply is turned ON may not always be within the above pulse width When you are using the phase Z signal rotate the motor more than once after turning ON the power suppl...

Page 318: ...time so that the brake will actuate 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 encod...

Page 319: ...IR signal is allocated to a CN1 general purpose output to be used Note The brake attraction time and release time vary depending on the Servomotor brake For details refer to 3 3 Motor Specifications P...

Page 320: ...l purpose output to be used In the above example no release request is received from the network 4 t1 is the set value of Brake Timing during Operation Pn438 or the time needed for the motor rotation...

Page 321: ...nterlock BKIR signal is allocated to a CN1 general purpose output to be used Note 2 If the main circuit power supply turns OFF while the motor is operating a phase loss alarm or main circuit voltage l...

Page 322: ...BKIR signal is allocated to a CN1 general purpose output to be used 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 co...

Page 323: ...ge the responsiveness depending on whether the motor is stopping and operating you can perform an optimal control by gain switching Use gain switching when the realtime autotuning does not operate eff...

Page 324: ...r of phased switches from low to high gain Unit 0 1 ms P 8 15 SPEED CONTROL mode Pn120 SWITCHING mode in Speed Control Set the condition for switching between gain 1 and gain 2 P 8 16 Pn121 Gain Switc...

Page 325: ...itching occurs based on the setting of Pn119 For the details of each gain refer to Chapter 8 Parameters Details The details of gain switching setting vary depending on the CONTROL mode used For the de...

Page 326: ...uctuates and the switching time is not met the switching will be 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 S...

Page 327: ...Position Error Gain switching occurs based on the accumulated count in the error counter GAIN SWITCHING mode 7 Switching by Position Command Received Gain switching occurs when a position command cor...

Page 328: ...Gain Switching 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 t...

Page 329: ...onditions Gain Switching Delay Time Pn116 Gain Switching Level Pn117 Gain Switching Hysteresis Pn118 Position Gain Switching Time Pn119 0 Always gain 1 1 Always gain 2 2 Switching from gain switching...

Page 330: ...CONTROL mode it varies as follows according to GAIN SWITCHING mode in Torque Control Pn124 Enabled Disabled Pn124 set value Switching conditions Gain Switching Delay Time Pn125 Gain Switching Level P...

Page 331: ...Switching Setting 1 Set the rate of change fluctuate when switching from the No 1 torque limit to No 2 torque limit P 8 56 Pn524 Torque Limit Switching Setting 2 Set the rate of change fluctuate when...

Page 332: ...V 1 Limit in both forward and reverse operation Set by Pn013 2 Forward operation Set by Pn013 Reverse operation Set by Pn522 3 Switch the limit value using torque limit switching TLSEL When TLSEL is...

Page 333: ...ude correlation of the No 1 torque limit and No 2 torque limit If the setting of No 1 Torque Limit Pn013 or No 2 Torque Limit Pn522 is changed from the front panel or CX Drive the rate of change setti...

Page 334: ...the allocation to use Contacts a and b in the logic fields indicate the following statuses Applicable parameters Input signals Default set value Default setting state Position control or full closing...

Page 335: ...ol Internally set speed selection 1 for contact b 8Eh Torque control Disabled 00h This will be 36364 since the front panel display is in decimal numbers Parameter number Parameter name Explanation Ref...

Page 336: ...for all CONTROL modes interface input function number error 1 Err33 2 or interface input function number error 2 Err33 3 will occur If you set Zero Speed Designation Selection Pn315 to 2 or 3 you mus...

Page 337: ...at Can Be Allocated Use the following parameters when changing the output signal allocation to use For the setting method refer to Output Signal Allocation Method Applicable parameters Output Signals...

Page 338: ...5h Torque control Zero speed detection signal 07h This will be 460040 since the front panel display is in decimal numbers Function Number Table The set values to be used for allocations are as follows...

Page 339: ...autions for Correct Use Do not use any values other than the settings listed You can allocate the same function to multiple output signals You cannot change the output signal logic When the function i...

Page 340: ...ut signal selections 1 to 10 Parameter number Parameter name Explanation Reference Pn400 to Pn409 Input Signal Selection 1 to 10 Set the input signal allocation and logic In the default setting the al...

Page 341: ...e prohibition input shorted Forward limit switch not operating and status normal Forward drive prohibition input open Forward direction prohibited and reverse direction permitted Reverse drive prohibi...

Page 342: ...que for deceleration and servo lock for stop set value 2 in Stop Selection for Drive Prohibition Input Pn505 or limit the operation using the Host Controller rather than using this function Because an...

Page 343: ...trouble with the motor s normal rotation When realtime autotuning function is disabled When instantaneous speed observer function is disabled Precautions for Correct Use If there is a resonance point...

Page 344: ...large value to a small value And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balanced 3 Set the Disturbance Torque Compen...

Page 345: ...in 3 Ratio Setting Pn606 to 0 Only the position loop gain and the speed loop gain are treated as gain 3 in the gain 3 region and the gain 1 setting is applied to all other gains If the gain 2 switchin...

Page 346: ...s ON When there is no trouble with the motor s normal rotation Parameters Requiring Settings Parameter number Parameter name Explanation Reference Pn607 Torque Command Value Offset Set the unbalanced...

Page 347: ...sation 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...

Page 348: ...r disable inertia ratio switching in bit 3 0 Disabled 1 Enabled 2 Set the Inertia Ratio 1 Pn004 3 Set the Inertia Ratio 2 Pn613 4 Set the inertia ratio switching input JSEL Precautions for Correct Use...

Page 349: ...in Pn634 to the same value as the position loop gain 2 Gradually increase the set value of the Hybrid Vibration Suppression Filter Pn635 while driving with full closing control and check the changes i...

Page 350: ...eed feedback Parameters Requiring Settings Parameter number Parameter name Explanation Reference Pn110 Speed Feed forward Amount Use this parameter to add the speed control command calculated from the...

Page 351: ...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...

Page 352: ...on error during acceleration deceleration at a certain speed can be brought close to 0 it can be brought almost to 0 throughout the entire operation range during a trapezoidal speed pattern drive unde...

Page 353: ...que limit this function is disabled It is converted to torque from the voltage V that is applied to analog input 3 based on the Analog Torque Feed forward Gain Setting Pn600 and is added to the torque...

Page 354: ...rvo is ON When there is no trouble with the motor s normal rotation When realtime autotuning is disabled Parameters Requiring Settings Current control Speed control Speed command Speed estimation valu...

Page 355: ...e 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 operati...

Page 356: ......

Page 357: ...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 Outline of Operation 7 1...

Page 358: ...iate measures such as providing external brakes Take note that the brakes for the driver with brakes are used for the holding purpose only and cannot be used for control Even if there is no external f...

Page 359: ...er 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...

Page 360: ...operating for safety inputs for the 2 circuits the EDM output circuit is turned ON You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4...

Page 361: ...inputs 1 and 2 transition to the STO status when either one of them is turned OFF Normal status DB engaged Brake released DB released Pn439 set value Pn438 set value t1 1 Pn439 set value When the Pn4...

Page 362: ...s will occur the dynamic brake is based on the Stop Selection for Alarm Generation Pn510 3 Since this is a normal servo OFF status the dynamic brake is based on the Stop Selection with Servo OFF Pn506...

Page 363: ...le 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 Driver EDM output SF1 SF2 SF2 EDM EDM M SF1 Safety output...

Page 364: ......

Page 365: ...lue and contents of setting of each parameter 8 1 Basic Parameters 8 1 8 2 Gain Parameters 8 9 8 3 Vibration Suppression Parameters 8 20 8 4 Analog Control Parameters 8 25 8 5 Interface Monitor Settin...

Page 366: ...Do not input a command within 10 ms before or after switching Pn000 Rotation Direction Switching Setting range 0 to 1 Unit Default setting Power OFF and ON Yes All Set value Explanation 0 Forward dire...

Page 367: ...p Gain 2 Pn106 is Hz If the Inertia Ratio Pn004 is set larger than the actual value the setting for speed loop gain will increase If the Inertia Ratio Pn004 is set smaller than the actual value the se...

Page 368: ...ion Full closing Set value Explanation 0 Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 1 Input for line driver only CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 pin 46 CC...

Page 369: ...nputs Line driver t1 2 s Open collector t1 5 s 1 Reverse pulse forward pulse Line driver t2 1 s Open collector t2 2 5 s 3 Feed pulse direction signal Line driver t2 1 s Open collector t2 2 5 s 1 0 or...

Page 370: ...Numerator is automatically set to encoder resolution and the number of command pulses per rotation can be set in Pn010 If Numerator 0 Pn008 Electronic Gear Integer Setting Setting range 0 to 220 Unit...

Page 371: ...er resolution Encoder pulse Output pulse Pn012 Encoder Output Direction Switching Selection Setting range 0 to 3 Unit Default setting Power OFF and ON Yes All Set value Phase B logic Output source Mot...

Page 372: ...IVE USER S MANUAL 8 Parameters Details Explanation of Set Values Set the operating method for the 17 bit absolute encoder Set value Explanation 0 Use as absolute encoder 1 Use as incremental encoder 2...

Page 373: ...s All Set value Explanation 0 Regeneration Resistor used Built in Resistor The regeneration processing circuit will operate and the regeneration overload alarm display No 18 will be enabled according...

Page 374: ...h low machine rigidity or systems with low specific vibration frequencies may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning ti...

Page 375: ...integral time constant is changed the response is as shown in 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 se...

Page 376: ...To set it manually set the REALTIME AUTOTUNING mode Selection Pn002 to 0 Set the feed forward amount Increasing the set value decreases the position error and increases the responsiveness Overshootin...

Page 377: ...peration switching is performed using gain switching GSEL CN1 pin 27 PI is not changed however if the Torque Limit Selection Pn521 is set to 3 For information on switching conditions between gain 1 an...

Page 378: ...200 4 This is the encoder resolution Pn115 SWITCHING mode in Position Control Setting range 0 to 10 Unit Default setting 0 Power OFF and ON Position Full closing Set value Explanation Gain switching c...

Page 379: ...Control Pn115 is set to 3 or 5 to 10 H L H L H L H L Figure A Speed V Torque T T 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...

Page 380: ...Control Pn118 The settings for the Gain Switching Level in Position Control Pn117 and the Gain Switching Hysteresis in Position Control Pn118 are enabled as absolute values positive negative When swit...

Page 381: ...nge in torque in 1 ms the set value is 200 4 The meanings of the Gain Switching Delay Time in Speed Control Pn121 Gain Switching Level in Speed Control Pn122 and Gain Switching Hysteresis in Speed Con...

Page 382: ...ING mode in Speed Control Pn120 H L H L H L H L Figure A Speed V Torque T T 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 Gai...

Page 383: ...124 is 2 and the Torque Limit Selection Pn521 is 3 or 6 1 The Gain Switching Delay Time in Torque Control Pn125 is enabled when returning from gain 2 to gain 1 2 The Gain Switching Hysteresis in Torqu...

Page 384: ...g 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 th...

Page 385: ...tive Filter Selection Setting range 0 to 4 Unit Default setting 0 Power OFF and ON Position Speed Full closing Set value Explanation 0 Disabled The current values are held for the parameters related t...

Page 386: ...sonance suppression notch filter 4 Increasing the setting widens the notch width Normally use the default set value Set the notch depth of resonance suppression notch filter 4 Increasing the setting w...

Page 387: ...duce the setting if torque saturation occurs or increase the setting to increase operation speed Normally use a setting of 0 Set value is restricted in the following manner Upper limit Corresponding v...

Page 388: ...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 will be disabled if the...

Page 389: ...Finite impulse response The higher the set value the smoother the command pulses Pn222 Position Command Filter Time Constant Setting range 0 to 10 000 Unit 0 1 ms Default setting 0 Power OFF and ON P...

Page 390: ...Pn300 Command Speed Selection Setting range 0 to 3 Unit Default setting 0 Power OFF and ON Speed Set value Explanation 0 Analog speed command 1 No 1 Internally Set Speed to No 4 Internally Set Speed P...

Page 391: ...N ON VSIGN OFF Figure A Figure B Figure C Pn302 Speed Command Scale Setting range 0 to 2 000 Unit r min V Default setting 300 Power OFF and ON Speed Torque Pn303 Analog Speed Command Rotation Directio...

Page 392: ...er OFF and ON Speed Pn306 No 3 Internally Set Speed Setting range 20 000 to 20 000 Unit r min Default setting 300 Power OFF and ON Speed Pn307 No 4 Internally Set Speed Setting range 20 000 to 20 000...

Page 393: ...lications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration Pn313 Soft Start Deceleration Time Setting ran...

Page 394: ...de Selection Pn001 is set to 1 speed control This may not operate correctly if the CONTROL mode Setting Pn001 is set to 3 position or speed control or 4 position or torque control Pn315 Zero Speed Des...

Page 395: ...ettings Use this parameter when the CONTROL mode Selection Pn001 is set to 1 speed control This may not operate correctly if the CONTROL mode Setting Pn001 is set to 3 position or speed control or 4 p...

Page 396: ...Direction Selection Setting range 0 to 1 Unit Default setting 0 Power OFF and ON Torque Set value Explanation 0 Motor rotation direction The command indicates the forward direction as viewed from the...

Page 397: ...tage Torque command Torque command 10 10 Input voltage 10 10 Input voltage TSIGN ON TSIGN OFF Figure A Figure B Figure C Pn319 Torque Command Scale Setting range 10 to 100 Unit 0 1 V 100 Default setti...

Page 398: ...rror will occur if the motor shaft rotation speed exceeds the maximum speed Pn322 Reverse Direction Speed Limit Value Setting Setting range 0 to 20 000 Unit r min Default setting Power OFF and ON Torq...

Page 399: ...mmand units Pn324 External Feedback Pulse Dividing Numerator Setting range 0 to 220 Unit Default setting 0 Power OFF and ON Yes Full closing Pn325 External Feedback Pulse Dividing Denominator Setting...

Page 400: ...dback pulse error reset setting is set to a proper value In the case of an extremely small value it may not function as a protection against error operations caused by erroneous connection of external...

Page 401: ...g Power OFFand ON Yes All Pn405 Input Signal Selection 6 Setting range 0 to 00FFFFFFh Unit Default setting Power OFFand ON Yes All Pn406 Input Signal Selection 7 Setting range 0 to 00FFFFFFh Unit Defa...

Page 402: ...position error or full closing position error is an input section error of position control Pn416 Analog Monitor 1 Selection Setting range 0 to 21 Unit Default setting PowerOFF and ON All Set value E...

Page 403: ...s Command pulse speed r min Internal command speed r min Command filter Position control Encoder feedback external scale feedback Command pulse input Command dividing multiplier Command dividing multi...

Page 404: ...er so that the motor does not rotate If you use a position loop in the host device set this parameter so that there are no accumulated pulses at servo lock stop status The automatic adjustment is as f...

Page 405: ...that there are no accumulated pulses at servo lock stop status The automatic adjustment is as follows This parameter will be automatically set when automatic offset adjustment is executed Refer to An...

Page 406: ...No 39 will be disabled if this parameter is set to 0 Use this in combination with the Positioning Completion Condition Selection Pn432 to set the timing to output the positioning completion output Th...

Page 407: ...g Set value Explanation 0 Positioning completion output turns ON when the position error is within the Positioning Completion Range 1 Pn431 1 Positioning completion output turns ON when the position e...

Page 408: ...for detection Pn435 Speed Conformity Detection Width Setting range 10 to 20 000 Unit r min Default setting Power OFF and ON Speed Speed r min A speed command after the acceleration deceleration proces...

Page 409: ...ion command RUN CN1 pin 29 is 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 w...

Page 410: ...aged OFF Engaged OFF Motor rotation speed Pn439 set value Pn438 set value When the Pn438 set value is early Pn438 set value Motor rotation speed Pn439 set value t1 1 t1 1 When the timing of reaching t...

Page 411: ...a multiple of 4 phases Z and A are output in synchronization In all other cases the output width of phase Z will be output as the encoder resolution resulting to be narrower than phase A Accordingly...

Page 412: ...n the connection between either the forward or reverse prohibition input and COM is open If a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque will be elimin...

Page 413: ...ion to bring the error to 0 Take sufficient care when using while holding the position error or external scale error 3 Decelerating refers to a period between when the motor is running and when the mo...

Page 414: ...or reaches a speed of 30 r min or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed 4 The position error or external...

Page 415: ...s 30 r min or less Once the motor reaches a speed of 30 r min or less and moves to the after stop status follow the subsequent operation based on the after stop status regardless of the motor speed Pn...

Page 416: ...nally Set the torque limit for the following cases Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input Pn505 set to 2 Deceleration with the Stop Selection with Main Powe...

Page 417: ...mand input range If the set value is exceeded motor operation range setting protection is generated When position command is not input When position command is input Explanation of Set Values Select t...

Page 418: ...515 Pn517 Error Counter Reset Condition Selection Setting range 0 to 4 Unit Default setting 1 Power OFF and ON Position Full closing Set value Explanation 0 Disabled 1 Clears the error counter at leve...

Page 419: ...cycle However the responsiveness to signal inputs will be reduced Explanation of Set Values Select the setting unit of Positioning Completion Range 1 and 2 Pn431 and Pn442 and Error Counter Overflow...

Page 420: ...imit Pn522 will be ignored Make the settings as a percentage of the rated torque Example Maximum torque is limited to 150 Refer to 5 3 Torque Control P 5 12 for more information on torque limits and t...

Page 421: ...Full closing Torque Limit undefined TLSEL Torque Limit Switching Setting 1 Pn523 Torque Limit Switching Setting 2 Pn524 No 1 Torque Limit Pn013 No 2 Torque Limit Pn522 Pn524 Torque Limit Switching Set...

Page 422: ...ratio 15 Overload load ratio 16 Inertia ratio 17 Reason for no rotation 18 Display of the number of I O signal changes 20 Absolute encoder data 21 Absolute external scale position 22 Monitor for the n...

Page 423: ...d ON Yes All Set value Explanation 0 Error detection disabled 1 Error detection enabled Pn535 Front Key Protection Setting Setting range 0 to 1 Unit Default setting Power OFF and ON Yes All Set value...

Page 424: ...0 1 V 100 Default setting PowerOFF and ON Position Speed Full closing Pn604 Jog Speed Setting range 0 to 500 Unit r min Default setting PowerOFF and ON All Pn605 Gain 3 Effective Time Setting range 0...

Page 425: ...tion speed falls to 30 r min or lower whichever is shorter For details refer to 6 6 Brake Interlock P 6 18 Set overspeed detection level upon generation of immediate stop alarm The overspeed detection...

Page 426: ...e output using an external scale as the output source under full closing control that uses the serial absolute external scale use this to set the intervals of phase Z output based on the number of ext...

Page 427: ...to 228 After the phase Z output at the position where the external scale value is 0 phase Z is output in the set value pulse cycle Phase Z is not output until the external scale value passes 0 Pn622 P...

Page 428: ...ng will occur Set value Explanation 0 Estimation result is finalized when load estimation stabilizes 1 For load characteristics change the estimation is made at time constant of approx 7 minutes 2 For...

Page 429: ...VE USER S MANUAL 8 Parameters Details Set the warning detection mask setting If you set the corresponding bit to 1 the corresponding warning detection will be disabled Pn638 Warning Mask Setting Setti...

Page 430: ......

Page 431: ...Checking Displays 9 3 Absolute Encoder Setup 9 4 9 3 Using the Front Display 9 6 9 4 Setting the Mode 9 7 Changing the Mode 9 7 MONITOR Mode 9 8 PARAMETER SETTING Mode 9 22 PARAMETER WRITE Mode 9 24...

Page 432: ...apter 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 driver If using a motor with an...

Page 433: ...50 60 Hz R88D KT20H 30H 50H 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...

Page 434: ...rned ON The alarm output ALM will take approx 2 seconds to turn ON after the power supply has been turned ON Do not attempt to detect an alarm using the Host Controller during this time If power suppl...

Page 435: ...ocedure 1 Turn ON the power supply and align the origin position Turn ON the power supply perform the origin adjustment operation and move the machine to the origin position 2 Go to AUXILIARY FUNCTION...

Page 436: ...ation 5 Restart the driver Turn OFF the control power supply to the driver and then turn it back ON Start absolute encoder clear Clearing is finished in an instant Note will be displayed if absolute e...

Page 437: ...r occurs and the window switches to the error display Shift key Shifts the operating digit to the left Mode key Switches between the following 4 modes MONITOR mode PARAMETER SETTING mode AUXIARY FUNCT...

Page 438: ...DRIVE USER S MANUAL 9 Operation 9 4 Setting the Mode Changing the Mode 1 The display will be based on the Default Display Pn528 setting after the power supply is turned ON Front panel default display...

Page 439: ...umber Regeneration resistance load ratio Overload load ratio Inertia ratio Reason for no rotation Absolute external scale position Monitor for the count of encoder communications errors Communication...

Page 440: ...yed with Position Command Speed Displays the position command speed unit r min Speed Control Command Displays the speed control command unit r min Torque Command Displays the percentage of driver torq...

Page 441: ...lses Total External Scale Feedback Pulses Lower L Higher H Total encoder pulses encoder pulse Press to switch between Lower L and Higher H Lower L Higher H Total command pulses command pulse Press to...

Page 442: ...PEED CONTROL mode TORQUE CONTROL mode FULL CLOSING CONTROL mode OFF or disabled ON Input signal pin 8 ON Output signal pin 10 OFF or disabled Input Output Pin number If the decimal point is on the rig...

Page 443: ...urs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for history 0 will be the same Analog input value 1 V The value after offset compensation is displayed A...

Page 444: ...destruction 13 Main power supply undervoltage 38 Drive prohibition input error 14 Overcurrent 39 Excessive analog input 15 Driver overheat 40 Absolute encoder system down error 16 Overload 41 Absolut...

Page 445: ...e load ratio as a percentage when the detection level for the regeneration overload is 100 Overload Load Ratio Displays the position command speed unit r min Displays the load ratio as a percentage wh...

Page 446: ...nalog torque limit input is positive and the speed command is in the reverse direction 6 IPG input is enabled P Pn518 0 command pulse prohibition input enabled and the IPG input is open 7 Frequency of...

Page 447: ...heavy locked or crashed load faulty driver or motor etc Number Item RELEVANT CONTROL mode Description Input signal Output signal I O signal change count Pin number If the decimal point is on the right...

Page 448: ...xternal Scale Communications Error Display of Axis Numbers for Communication Absolute external scale position lower L Absolute external scale position higher H Encoder data Press to switch between Low...

Page 449: ...xternal Scale Error Hybrid Error Lower L Higher H Encoder position error encoder unit Press to switch between Lower L and Higher H Lower L Higher H External scale error external scale unit Press to sw...

Page 450: ...umber Motor Serial Number P N voltage V is displayed Amplifier serial number lower L Amplifier serial number higher H Amplifier serial number Press to switch between Lower L and Higher H Display examp...

Page 451: ...ation Accumulative Operation Time Automatic Motor Recognition Function Driver Temperature Lower L Higher H Accumulative operation time h is displayed Press to switch between Lower L and Higher H Autom...

Page 452: ...coupler OFF SAFEty SrVoFF SrVon ALArM Servo ready OFF The dot is not lit ON The dot is lit Flash display Status that allows normal changes Safety status Servo OFF Servo ON Alarm status Input photocoup...

Page 453: ...isplay example Explanation Use keys to set the parameter number Press to move to the left and change the digit to be set Press to increase the value of the digit with Press to decrease the value of th...

Page 454: ...ing the parameters to the EEPROM If the Front Panel Parameter Write Selection Pn617 is set to 1 the parameter set value is automatically written to EEPROM when changed When the set value for a paramet...

Page 455: ...ttings again for all parameters and write the data again Key operation Display example Explanation Press the key to display PARAMETER WRITE mode Press the key to enter PARAMETER WRITE mode Press and h...

Page 456: ...alarm clear 2 Returning to AUXILIARY FUNCTION mode display Key operation Display example Explanation The item set for the Default Display Pn528 is displayed Press the key to display MONITOR mode Press...

Page 457: ...FFSET ADJUSTMENT mode from the alarm clear display in the AUXILIARY FUNCTION mode Press the key to enter the AUTOMATIC OFFSET ADJUSTMENT mode of the analog input number to be set Press and hold the ke...

Page 458: ...ay the JOG OPERATION mode from the alarm clear display in AUXILIARY FUNCTION mode Press the key to enter JOG OPERATION mode Press and hold the key for 5 seconds or longer until is displayed The bar in...

Page 459: ...command will be performed Absolute Encoder Reset This resets the multi rotation data and errors of the absolute encoder 1 Execute absolute encoder reset 2 Returning to AUXILIARY FUNCTION mode display...

Page 460: ...parameter cannot be initialized Front Panel Lock This locks the front panel 1 Displaying PARAMETER mode Key operation Display example Explanation Press the key to enter PARAMETER INITIALIZATION mode P...

Page 461: ...nation Press the key to display the set value Key operation Display example Explanation Use the keys to change the value Press to move to the left and change the digit to be set Press to increase the...

Page 462: ...xtended Parameters P 8 46 for details on the front panel lock function Writing will start This display will appear only momentarily This indicates a normal completion In addition to this display eithe...

Page 463: ...he FRONT PANEL LOCK mode from the alarm reset display in AUXILIARY FUNCTION mode Press the key to enter FRONT PANEL LOCK mode Press and hold the key for 5 seconds or longer until is displayed The bar...

Page 464: ...check for safety and then retry the trial operation Preparation for Trial Operation Inspections before Trial Operation Check the following items Wiring Make sure that there is no error especially the...

Page 465: ...from the host device that agrees using the COMMAND PULSE INPUT mode Pn007 6 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again 7 Connect the operation command inpu...

Page 466: ...CN1 pin 41 Servo ON status will be entered and the motor will be activated 6 Close the zero speed designation input VZERO and gradually increase the DC voltage between the speed command input REF CN1...

Page 467: ...Connect the operation command input RUN CN1 pin 29 to COM CN1 pin 41 Servo ON status will be entered and the motor will be activated 7 Apply a positive or negative DC voltage between the torque comman...

Page 468: ...es 6 Set the outputs from the host device to agree with the COMMAND PULSE mode Pn005 7 Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again 8 Connect the operation co...

Page 469: ...to note regarding various gain adjustments 10 1 Gain Adjustment 10 1 Purpose of the Gain Adjustment 10 1 Gain Adjustment Methods 10 1 Gain Adjustment Procedure 10 2 10 2 Realtime Autotuning 10 3 Setti...

Page 470: ...op gain Speed loop gain Speed loop integral time constant Speed feed forward Inertia ratio 20 30 50 0 300 Position loop gain Speed loop gain Speed loop integral time constant Speed feed forward Inerti...

Page 471: ...nd 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 la...

Page 472: ...oop gain and the integration time constant are altered Doing this for each pattern can cause vibration so the estimation value is set conservatively Position feedback Estimate load inertia Position co...

Page 473: ...there are no issues with the operation turn the servo OFF and set REALTIME AUTOTUNING mode Selection Pn002 to 0 disabled In this case the adaptive filter can remain enabled To disable the adaptive fi...

Page 474: ...Realtime Autotuning Machine Rigidity Selection Pn003 Manually set the notch filter Once unusual noise or vibration occurs Inertia Ratio Pn004 Torque Command Value Offset Pn607 Forward Direction Torque...

Page 475: ...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 Le...

Page 476: ...HING 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 Posi...

Page 477: ...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...

Page 478: ...NPUT 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 3...

Page 479: ...t can be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actua...

Page 480: ...ccur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunching does not occur upon servo lock Does hunching vibration occur when the motor rotates No Decrease Speed...

Page 481: ...eed Loop Gain Pn101 to the extent that hunching does not occur upon servo lock Decrease Speed Loop Integral Time Constant Pn102 to the extent that hunching does not occur upon servo lock Does hunching...

Page 482: ...tegral Time Constant 20 0 ms Pn107 Pn104 Torque Command Filter Time Constant 0 80 ms Pn109 Application name Inertia Rigidity Position loop gain 1 s Speed loop gain Hz Speed loop integration time const...

Page 483: ...his 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 th...

Page 484: ...occur Adjustment must be made so vibration will not occur This is related to Speed Loop Integral Time Constant Pn102 and by increasing the integration time constant the speed loop gain value can be i...

Page 485: ...s 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 Increas...

Page 486: ...lection Pn317 is 1 the speed limit will be 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...

Page 487: ...11 1 Error Processing 11 1 Preliminary Checks When a Problem Occurs 11 1 Precautions When a Problem Occurs 11 2 Replacing the Servomotor and Servo Drive 11 3 11 2 Warning List 11 4 11 3 Alarm List 11...

Page 488: ...2C R88D KTxL 50 to 400 W Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D KTxH 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...

Page 489: ...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...

Page 490: ...e 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 re...

Page 491: ...t Do not set it to a value other than above 3 Each warning detection can be masked using the Warning Mask Setting Pn638 The table shows the corresponding bits The warning detection is masked when the...

Page 492: ...g one of the following methods Remove the cause of the alarm first Input the alarm reset input RESET signal Turn OFF the power supply then turn it ON again Execute the alarm reset on the Parameter Uni...

Page 493: ...veral seconds to several tens of seconds 18 0 Regeneration overload The regenerative energy exceeds the processing capacity of the Regeneration Resistor 1 Regeneration Tr error An error was detected i...

Page 494: ...le operating range set in the Overrun Limit Setting Pn514 with respect to the position command input 36 0 to 2 Parameter error Data in the Parameter Save area was corrupted when the power supply was t...

Page 495: ...al encoder 50 0 External scale connection error An error was detected in external scale connection 1 External scale communications data error An error was detected in external scale communications dat...

Page 496: ...apacity 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...

Page 497: ...otor 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 circu...

Page 498: ...egeneration overload Occurs when the motor is decelerating Load inertia is too large Calculate the regenerative energy and connect an ExternalRegenerationResistor with the required regeneration absorp...

Page 499: ...otor 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 d...

Page 500: ...502 is not appropriate Set the electronic gear ratio numerator so that the command pulse frequency is 500 Kpps max 28 Pulse regeneration error Occurs during operation The pulse regeneration output fre...

Page 501: ...turned ON Occurs during operation The voltage supplied to the absolute encoder is low Set up the absolute encoder Connect the battery power supply 41 Absolute encoder counter overflow error Occurs dur...

Page 502: ...al scale error code was detected Check the external scale specifications From the front panel clear the external scale error then turn the power supply OFF then ON again 55 Phases A B and Z connection...

Page 503: ...Turn OFF the ECRST signal Wire correctly The COMMAND PULSE mode Pn007 selection is incorrect Check the controller s command pulse type and the Servo Drive s command pulse type Set the Servo Drive s p...

Page 504: ...cable s wiring Wire correctly The coupling system between the motor shaft and the mechanical system has eccentricity or loose screws or the load torque is fluctuating due to engagement between pulleys...

Page 505: ...sted pair wire or twisted pair shielded cable with core wires that are at least 0 08 mm2 Use control I O signal cable that meets specifications Noise is entering the control I O signal cable because t...

Page 506: ...ol signal lines from power supply lines Use a low impedance power supply for control signals The position is misaligned Position misalignment occurs without an alarm being output There is an error in...

Page 507: ...in periodic maintenance Servomotor Limit The limit 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 m...

Page 508: ...below 40 C We recommend that ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the driver The limit of aluminum electrolytic capacitors is...

Page 509: ...battery battery errors will occur 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...

Page 510: ...ng 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...

Page 511: ...VOMOTOR AND SERVO DRIVE USER S MANUAL 12 This chapter provides connection examples using OMRON s PLC and Position Controller as well as a list of parameters 12 1 Connection Examples 12 1 12 2 Paramete...

Page 512: ...B3 B2 U V W CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG A7 A8 A5 A6 A9 A14 A12 A11 A20 A15 A17 A19 A18 A16 X1 24 VDC X1 24 VDC A4 A3 5 VDC 30 23 24 39 7 29 31 BKIRCOM 10 38 36 BKIR 11 CJ1W NC133...

Page 513: ...ell 5 CCW L1C L2C L1 L2 L3 B1 B3 B2 U V W CW Z INP 24VIN RUN RESET INPCOM ALMCOM FG A8 A7 A6 A5 A9 A14 A12 A11 A20 A15 A17 A19 A18 A16 24 VDC ECRST CJ1W NC113 213 413 R88D KTx CCW CW Z X1 24 VDC XB BK...

Page 514: ...38 36 Shell 5 CCW L1C L2C L1 L2 L3 B1 B3 B2 U V W CCW CW CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG Z A7 A8 A5 A6 A10 A16 A14 A12 A24 A19 A21 A23 A22 A20 24 VDC 24 VDC X1 Description 24 V power s...

Page 515: ...1 CNA CNB A1 A2 6 3 4 30 23 24 39 7 29 31 38 36 Shell 5 CCW L1C L2C L1 L2 L3 B1 B3 B2 U V W CCW CW CW ECRST Z INP 24VIN RUN RESET INPCOM ALMCOM FG Z A8 A7 A6 A5 A16 A14 A12 A24 A19 A21 A23 A22 A20 24...

Page 516: ...ut 1 24 V input ground 2 X axis alarm input 24 V output ground 24 V input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emergency stop input 24 V input ground 3 X a...

Page 517: ...RUN ALM FG Z X1 XB 24 VDC R T NFB ON OFF X1 MC1 X1 24 VDC BKIR 25 19 MC1 X1 L3 M Red White Blue Green Yellow R88M Kx CN2 Motor power cables E 24 VDC Encoder cables B Brake cables XB CNB B1 B3 B2 BKIR...

Page 518: ...ON OFF X1 MC1 X1 24 VDC BKIR ZCOM 25 AGND 17 MC1 X1 L3 M Red White Blue Green Yellow CN2 E 24 VDC B XB PL BKIRCOM 10 MC2 SUP MC2 MC1 MC2 MC1MC2 Reactor CP1H X40DT D R88 Kx Output terminal block CW0 10...

Page 519: ...or the equivalent S No CN1 CNA 37 39 30 19 7 29 37 11 L1 L2 U V W RUN ALM FG Z 35 1 5 13 2 6 X1 XB R T NFB ON OFF X1 X1 MC1 X1 24 VDC BKIR 31 32 17 24 VDC 39 INP L3 M CN2 E 24 VDC B XB CNB B1 B3 B2 PL...

Page 520: ...controls CS1W HCP22 V1 R88D KTx Description No CN1 Special I O connector I O connector CNA CNB Output power supply 24 VDC Error counter clear 1 A19 Common CCW 1 6 k CW 1 6 k Phase Z LD Phase Z LD Out...

Page 521: ...DC power supply for controls CS1W HCA12 22 V1 R88D KTx Description No CN1 Special I O connector I O connector CNA Phase A LD CCW limit input signal 1 B1 A1 A3 Phase B LD Phase A LD Phase B LD Analog o...

Page 522: ...mmand indicates the reverse direction as viewed from the shaft end CCW 001 CONTROL mode Selection Select the driver CONTROL mode 0 to 6 Yes 0 Position control pulse train command 1 Speed control analo...

Page 523: ...o 230 011 Encoder Dividing Numerator Set the number of phase A and phase B output pulses respectively per motor rotation P r 0 to 262 144 Yes 012 Encoder Output Direction Switching Selection Select th...

Page 524: ...Resistor 0 to 4 Yes 0 Regeneration load ratio is 100 when operating rate of the External Regeneration Resistor is 10 1 Reserved 2 Reserved 3 Reserved 4 Reserved Pn number Parameter name Explanation De...

Page 525: ...nabled 1 Gain 1 and gain 2 switching available 115 SWITCHING mode in Position Control Select the gain switching condition for position control It is necessary that Pn114 be set to 1 0 to 10 0 Always g...

Page 526: ...ng level 0 to 20 000 123 Gain Switching Hysteresis in Speed Control Set the hysteresis for gain switching 0 to 20 000 124 SWITCHING mode in Torque Control Select the gain switching condition for torqu...

Page 527: ...dth Setting Set the notch width of the resonance suppression notch filter 2 0 to 20 206 Notch 2 Depth Setting Set the notch depth of resonance suppression notch filter 2 0 to 99 207 Notch 3 Frequency...

Page 528: ...tion is enabled if the set value is 10 1 Hz or greater 0 1 Hz 0 to 2 000 217 Vibration Filter 2 Setting Finely adjust damping control function 2 If torque saturation occurs lower this setting to incre...

Page 529: ...n V 0 to 2 000 303 Analog Speed Command Rotation Direction Switching Set the polarity for analog speed commands 0 to 1 0 Voltage Forward direction Voltage Reverse direction 1 Voltage Reverse direction...

Page 530: ...Analog input 1 2 Torque command Analog input 1 Speed limit Pn321 and Pn322 set values 318 Torque Command Direction Selection Select the torque command direction designation method 0 to 1 0 The comman...

Page 531: ...k Pulse Error Counter Reset Clear to 0 the feedback pulse error value for each set rotation speed Rotation 0 to 100 Yes Pn number Parameter name Explanation Default setting Unit Setting range Power su...

Page 532: ...d 3 Speed Control Command 4 Torque command 5 Command position error 6 Encoder Position Error 7 Full closing Error 8 Hybrid Error 9 P N voltage 10 Regeneration load ratio 11 Overload load ratio 12 Forw...

Page 533: ...0 1 V 0 to 100 431 Positioning Completion Range 1 Set the allowed number of pulses for the positioning completion range Command unit 0 to 262 144 432 Positioning Completion Condition Selection Set the...

Page 534: ...warning 441 Warning Output Selection 2 Select the warning type for warning output 2 The relationships among the set values for this parameter are the same as for Warning Output Selection 1 Pn440 0 to...

Page 535: ...506 Stop Selection with Servo OFF Set the stop operation when the servo is turned OFF 0 to 9 0 During deceleration Dynamic brake After stopping Dynamic brake Error counter Clear 1 During deceleration...

Page 536: ...c brake After stopping Dynamic brake 5 During Immediate stop alarm deceleration Immediate stop During deceleration Free run After stopping Dynamic brake 6 During Immediate stop alarm deceleration Imme...

Page 537: ...ng unit 0 to 1 Yes 0 Command unit 1 Encoder unit 521 Torque Limit Selection Set the forward or reverse direction torque limit selection method 0 to 6 0 Use P ATL and N ATL as analog torque limit input...

Page 538: ...Position command speed r min 3 Speed Control Command r min 4 Torque command 5 Total encoder pulses Pulse 6 Total command pulses Pulse 8 Total External Scale Feedback Pulses Pulse 9 CONTROL mode 10 I...

Page 539: ...or communication 0 to 127 Yes 532 Command Pulse Input Maximum Setting Set the maximum command pulse input kpps 250 to 4 000 Yes 533 Pulse Regeneration Limit Output Setting Set the detection of pulse r...

Page 540: ...on the function 0 to 63 611 Electric Current Response Setting Make fine adjustment on electric current response with default setting as 100 50 to 100 613 Inertia Ratio 2 Set the inertia ratio switchin...

Page 541: ...finalized when load estimation stabilizes 1 For load characteristics change the estimation is made at time constant of approx 7 minutes 2 For load characteristics change the estimation is made at time...

Page 542: ......

Page 543: ...I OMNUC G5 SERIES AC SERVOMOTOR AND SERVO DRIVE USER S MANUAL Index...

Page 544: ...Command Pulse Input Maximum Setting Pn532 8 57 Command Pulse Input Selection Pn005 8 3 COMMAND PULSE mode Selection Pn007 8 3 Command Pulse Prohibition Input Read Setting Pn519 8 54 Command Pulse Pro...

Page 545: ...Pn123 8 18 Gain Switching Hysteresis in Torque Control Pn127 8 19 GAIN SWITCHING INPUT OPERATING mode Selection Pn114 8 12 Gain Switching Level in Position Control Pn117 8 15 Gain Switching Level in...

Page 546: ...ion Loop Gain 2 Pn105 8 11 Position Setting Unit Selection Pn520 8 54 Positioning Completion Condition Selection Pn432 8 42 Positioning Completion Hold Time Pn433 8 42 Positioning completion output 1...

Page 547: ...rminal block specifications 4 15 4 16 Terminal Block Wire Sizes 4 17 Terminal block wiring 4 20 Torque Command Direction Selection Pn318 8 31 Torque Command Filter Time Constant Pn104 8 11 Torque Comm...

Page 548: ...Index 5 Index I...

Page 549: ......

Page 550: ...ommerce Drive Schaumburg IL 60173 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835...

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