Omron OMNUC W Series User Manual Download Page 145

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2-119

Wiring (for Power Connector)

Cable

Connector plug:

MS3106B32-17S (DDK Ltd.)

Cable clamp:

MS3057-20A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A32-17P (DDK Ltd.)

Cable: AWG6

4C UL62

Servo Driver

Red
White
Blue
Green/Yellow

Phase-U
Phase-V
Phase-W

Symbol

M6 crimp

terminals for

red, white, and

blue; M8 for

green/yellow

Servomotor (Power Connector)

R88A-CAWF

S-E

The R88A-CAWF

S-E Cables are for 1,500-r/min Servomotors (5.5 kW).

Cable Models

For Servomotors without Brakes

Model

Length (L)

R88A-CAWF003S-E

3 m

R88A-CAWF005S-E

5 m

R88A-CAWF010S-E

10 m

R88A-CAWF015S-E

15 m

R88A-CAWF020S-E

20 m

For Servomotors with Brakes

For Servomotors with brake is a combination of a powercable and a separate brakecable required.
Brake cable only!!!

Model

Length (L)

R88A-CAWC003B-E

3 m

R88A-CAWC005B-E

5 m

R88A-CAWC010B-E

10 m

R88A-CAWC015B-E

15 m

R88A-CAWC020B-E

20 m

Wiring (for Power Connector)

Connector

MS3108E32-17S (DDK Ltd.)

Servo Driver

Black-1
Black-2
Black-3
Yellow/Green

Phase-U
Phase-V
Phase-W

Symbol

M5 crimp

terminals

for

all wires

Servomotor (Power Connector)

R88A-CAWG

The R88A-CAWG

Cables are for 1,500-r/min Servomotors (4.4 kW).

Standard Models and Specifications

Chapter 2

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]

Summary of Contents for OMNUC W Series

Page 1: ... USER S MANUAL Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 56 81 300 Fax 31 0 23 56 81 388 Website www eu omron com Authorized Distributor Cat No I531 E2 02 Note Specifications subject to change without notice Printed in The Netherlands AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin ...

Page 2: ...e and clockwise rotation is negative 7 Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components 8 Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affect ing the service life 9 The OMNUC W Series can control both incremental and...

Page 3: ...ervomotors MODELS R88D WTj AC Servo Drivers AC SERVOMOTORS SERVO DRIVERS 400VAC type included OMNUC WSERIES AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 4: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 5: ...d Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 2002 All rights reserved N...

Page 6: ... must not be performed for at least five minutes after turning OFF the power supply Doing so may result in electric shock WARNING Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in electric shock WARNING Do not touch the rotating parts of the Servomotor in operation Doing so may result in injury WARNING Do not modify the product Doing so may result in...

Page 7: ...ult in fire Caution Be sure to install the product in the correct direction Not doing so may result in mal function Caution Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Caution Do not apply any strong impact Doing so may result in malfunction Caution Be sure to wire correctly and securely Not do...

Page 8: ...ions subject to possible exposure to radioactivity S Locations close to power supplies Caution Do not reverse the polarity of the battery when connecting it Reversing the polarity may damage the battery or cause it to explode Operation and Adjustment Precautions Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipmen...

Page 9: ...aking Doing so may result in malfunction Maintenance and Inspection Precautions WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock Caution Resume operation only after transferring to the new Unit the contents of the data re quired for operation Not doing so may result in an unexpected operation AUDIN 7 bis rue de T...

Page 10: ...in the following illustration Be sure to follow the instructions given there Warning label Example from R88D WTA3HL Example from R88D WTA3HL AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 11: ...38 2 11 DC Reactors 2 139 Chapter 3 System Design and Installation 3 1 3 1 Installation Conditions 3 3 3 2 Wiring 3 10 3 3 Regenerative Energy Absorption 3 43 Chapter 4 Operation 4 1 4 1 Operational Procedure 4 3 4 2 Preparing for Operation 4 4 4 3 Trial Operation 4 8 4 4 User Parameters 4 16 4 5 Operation Functions 4 64 4 6 Trial Operation Procedure 4 90 4 7 Making Adjustments 4 92 4 8 Advanced A...

Page 12: ...1 6 1 Connection Examples 6 2 6 2 Encoder Dividing Rate for Servo Controllers 6 8 6 3 Parameter Setting Tables 6 9 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 13: ... System Configuration 1 3 Servo Driver Nomenclature 1 4 Applicable Standards and Models 1 5 System Block Diagrams AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 14: ...haft parts And these models as well as the 3 000 r min 100 W to 1 5 kW Flat style Servomotors are also available with IP67 enclosure ratings that include water proofing for through shaft parts Thus the W series Servomotors can be used even in places where they may be exposed to water The standard cables however cannot be used with IP67 models and the appropriate cables must be provided by the user...

Page 15: ...ds with position lock stop Position control pulse train commands with pulse prohibit H Password A password can be required in order to make parameter changes H Parameter Initialization Parameters can be returned to their default settings Default parameters of 100 200 V servo drivers are different from 400 V servo drivers Settings are explained in the appendix H Monitoring The Servo Driver s operat...

Page 16: ...o Driver can be set to the desired number of pulses H Soft Start Function Speed Control Internally Set Speed Control Settings This function causes the Servomotor to be started and stopped at the preset acceleration decelera tion times allowing a simple position control system to be constructed without a Positioner or Host Controller The acceleration and deceleration times are set separately and th...

Page 17: ...e run deceleration and emergency stop torque deceleration parameter setting H Feed forward Function and Bias Position Control These functions reduce the position control time S Feed forward Function Reduces the position control time by reducing the number of pulses accumulated in the deviation counter S Bias Reduces the positioning time by adding the bias revolutions to the speed command when the ...

Page 18: ...it Hand held OMNUC W series AC Servo Driver R88D WTj OMNUC W series AC Servomotor R88M Wj SYSMAC CS1 C or CV series Programmable Controller Incremental Absolute Analog voltage Pulse train SYSMAC CS1 C or CV series Programmable Controller Note Servomotors with absolute encoders can be used in combination with CS1W MC221 421 CV500 MC221 421 or C200H MC221 Motion Control Units Introduction Chapter 1 ...

Page 19: ...ckup battery for the absolute encoder Analog Monitor Output Connector CN5 Rotation speed torque command values etc are output in analog voltage A special cable is used Display Area Displays Servo Driver status alarm signals parameters etc in five digits 7 segment LED Settings Area Used for setting parameters and monitoring Servo Driver status Power indicator Lit when the control power is being sup...

Page 20: ...ment EN50082 2 Electromagnetic compatibility generic immunity standard Part 2 Industrial environment Note Installation under the conditions specified in 3 2 5 Wiring Conditions Satisfying EMC Directives is required to conform to EMC Directives H UL cUL Standards Standards Product Applicable standard File No Remarks UL AC Servo Drivers UL508C E179149 Power conversion equipment AC Servomotors UL1004...

Page 21: ... Position control Command pulse processing Divider Encoder signal processing Digital current amp PWM generation Current detection Interface Gate drive overcurrent protection Gate drive Voltage detection Relay drive Fuse DC DC conver sion Analog voltage conversion Display Settings Areas CN5 Analog monitor output CN3 Parameter Unit computer Voltage detection Introduction Chapter 1 AUDIN 7 bis rue de...

Page 22: ...a Voltage detection Current detection H 200 V AC R88D WT20H WT30H WT50H AC Servo Driver AC Servomotor Battery Connector CN8 Encoder output Command pulse input Speed torque command input Control I O CN5 Analog monitor output CN3 Parameter Unit computer Display Settings Area Serial port Speed control Current command processing Position control Command pulse processing Divider Encoder signal processi...

Page 23: ...e processing Divider Encoder signal processing Digital current amp PWM generation Battery Connector CN8 Encoder output Command pulse input Speed torque command input Control I O CN5 Analog monitor output CN3 Parameter Unit computer Display Settings Area Analog voltage conversion Gate drive overcurrent protection isolator Gate drive isolator Introduction Chapter 1 AUDIN 7 bis rue de Tinqueux 51100 ...

Page 24: ... power supply 100 200 V 4 circuits 12V H 400 V AC R88D WT50HF 24 V 0 V FU2 RLY2 XX3 10 15 FU1 P N R S T L1 L2 L3 XX1 1 2 XX2 CHARGE FAN1 B1 B2 B3 C1 C2 P N U V W 12V DC DC con verter AC Servomotor CN2 CN8 CN1 I O A D PG U V W POWER RY1 CN10 CN5 CN3 12V 5 V 15 V 7 5 V ASIC CPU 5 V 0 V Monitor display 4 circuits Voltage Sensor Three phase 380 to 480 V 50 60Hz Control power 24 VDC not provided Relay ...

Page 25: ...e AC power supply 100 200 V H 400 V AC R88D WT110HF 150HF 10 15 FU1 1 2 B1 B2 FAN1 12V AC Servomotor XX3 P N R S T L1 L2 L3 XX1 XX2 CHARGE P N U V W RY1 I O A D PG ASIC CPU 24 V 0 V FU2 CN2 CN8 CN1 U V W POWER CN10 CN5 CN3 12V 5 V 15 V 7 5 V 5 V 0 V 4 circuits CT1 CT2 SCR1 Three phase 380 to 480 V 50 60Hz DC DC con verter Voltage Sensor Control power 24 VDC not provided Relay drive Voltage Sensor ...

Page 26: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 27: ... Specifications 2 6 Cable and Connector Specifications 2 7 Servo Relay Units and Cable Specifications 2 8 Parameter Unit and Cable Specifications 2 9 External Regeneration Resistors Resistance Units 2 10 Absolute Encoder Backup Battery Specifications 2 11 DC Reactors AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 28: ...H Control Cable Specifications Model Motion Control Unit MC221 MC421 Cable 1 axis 1 m R88A CPW001M1 2 m R88A CPW002M1 3 m R88A CPW003M1 5 m R88A CPW005M1 Motion Control Unit MC221 MC421 Cable 2 axes 1 m R88A CPW001M2 2 m R88A CPW002M2 3 m R88A CPW003M2 5 m R88A CPW005M2 General Control Cable with connector on one end 1 m R88A CPW001S 2 m R88A CPW002S Connector Terminal Block Cable 1 m R88A CTW001N...

Page 29: ...ing H Parameter Units Specifications Model Hand held with 1 m cable R88A PR02W Parameter Unit Cable 2 m R88A CCW002C Note 1 A Parameter Unit is required for operating and monitoring the Servo Driver at a remote location or with a control panel Note 2 If the1 m cableprovidedwiththeParameterUnit is not longenough purchasethe2 m ParameterUnitCableanduseitinplaceof the 1 m cable H External Regeneratio...

Page 30: ...or R88D WT50H R88A PX5068 For R88D WT05HF R88A PX5074 For R88D WT10HF 15HF R88A PX5075 For R88D WT20HF 30HF R88A PX5076 For R88D WT50HF R88A PX5077 Note There is no DC Reactor for the R88D WT60H H Front panel Brackets Specifications Model For R88D WTA3HL to WT02HL R88A TK01W For R88D WTA3H to WT10H R88A TK01W For R88D WT15H 05HF 10HF 15HF R88A TK02W For R88D WT20H 30H 50H 20HF 30HF R88A TK03W Note...

Page 31: ... Model p Without brake With brake 30 to 750 W 3 m R88A CAWA003S DE R88A CAWA003B DE 5 m R88A CAWA005S DE R88A CAWA005B DE 10 m R88A CAWA010S DE R88A CAWA010B DE 15 m R88A CAWA015S DE R88A CAWA015B DE 20 m R88A CAWA020S DE R88A CAWA020B DE 1 to 2 kW 3 m R88A CAWC003S R88A CAWC003B 5 m R88A CAWC005S R88A CAWC005B 10 m R88A CAWC010S R88A CAWC010B 15 m R88A CAWC015S R88A CAWC015B 20 m R88A CAWC020S R8...

Page 32: ...D005S R88A CAWD005B 10 m R88A CAWD010S R88A CAWD010B 15 m R88A CAWD015S R88A CAWD015B 20 m R88A CAWD020S R88A CAWD020B 4 kW S t 3 m R88A CAWE003S R88A CAWE003B See note 5 m R88A CAWE005S R88A CAWE005B 10 m R88A CAWE010S R88A CAWE010B 15 m R88A CAWE015S R88A CAWE015B 20 m R88A CAWE020S R88A CAWE020B 5 5 kW S t 3 m R88A CAWF003S R88A CAWE003B See note 5 m R88A CAWF005S R88A CAWE005B 10 m R88A CAWF01...

Page 33: ... m R88A CAWH005S E R88A CAWC005B E 10 m R88A CAWH100S E R88A CAWC010B E 15 m R88A CAWH015S E R88A CAWC015B E 20 m R88A CAWH020S E R88A CAWC020B E 15 kW 3 m R88A CAWJ003S E R88A CAWC003B E 5 m R88A CAWJ005S E R88A CAWC005B E 10 m R88A CAWJ100S E R88A CAWC010B E 15 m R88A CAWJ015S E R88A CAWC015B E 20 m R88A CAWJ020S E R88A CAWC020B E 300 650 W and Flatstyle motor 200 400 750 1 5 kW 3 m R88A CAWK003...

Page 34: ...S1 R88M W03030S B R88M W03030S BS1 brake 50 W R88M W05030L B R88M W05030L BS1 R88M W05030S B R88M W05030S BS1 100 W R88M W10030L B R88M W10030L BS1 R88M W10030S B R88M W10030S BS1 200 W R88M W20030L B R88M W20030L BS1 R88M W20030S B R88M W20030S BS1 200 V 30 W R88M W03030H B R88M W03030H BS1 D R88M W03030T B R88M W03030T BS1 D 50 W R88M W05030H B R88M W05030H BS1 D R88M W05030T B R88M W05030T BS1 ...

Page 35: ...88M WP20030F BS1 D R88M WP20030C B R88M WP20030C BS1 D 400 W R88M WP40030F B R88M WP40030F BS1 D R88M WP40030C B R88M WP40030C BS1 D 750 W R88M WP75030F B R88M WP75030F BS1 D R88M WP75030C B R88M WP75030C BS1 D 1 5 kW R88M WP1K530F B R88M WP1K530F BS1 D R88M WP1K530C B R88M WP1K530C BS1 D 1 000 r min Servomotors Specifications Model p With incremental encoder With absolute encoder Straight shaft w...

Page 36: ...015C B R88M W85015C BS2 1 3 kW R88M W1K315F B R88M W1K315F BS2 R88M W1K315C B R88M W1K315C BS2 1 8 kW R88M W1K815F B R88M W1K815F BS2 R88M W1K815C B R88M W1K815C BS2 2 9 kW R88M W2K915F B R88M W2K915F BS2 R88M W2K915C B R88M W2K915C BS2 4 4 kW R88M W4K415F B R88M W4K415F BS2 R88M W4K415C B R88M W4K415C BS2 5 5 kW R88M W5K515F B R88M W5K515F BS2 R88M W5K515C B R88M W5K515C BS2 7 5 kW R88M W7K515F B...

Page 37: ... R88M W4K030F OS2 R88M W4K030C O R88M W4K030C OS2 5 kW R88M W5K030F O R88M W5K030F OS2 R88M W5K030C O R88M W5K030C OS2 With b k 200 V 1 kW R88M W1K030H BO R88M W1K030H BOS2 R88M W1K030T BO R88M W1K030T BOS2 brake 1 5 kW R88M W1K530H BO R88M W1K530H BOS2 R88M W1K530T BO R88M W1K530T BOS2 2 kW R88M W2K030H BO R88M W2K030H BOS2 R88M W2K030T BO R88M W2K030T BOS2 3 kW R88M W3K030H BO R88M W3K030H BOS2 ...

Page 38: ...0030F BWS1 D R88M WP20030C BW R88M WP20030 BWS1 D 400 W R88M WP40030F BW R88M WP40030F BWS1 D R88M WP40030C BW R88M WP40030 BWS1 D 750 W R88M WP75030F BW R88M WP75030F BWS1 D R88M WP75030C BW R88M WP75030 BWS1 D 1 5kW R88M WP1K530F BW R88M WP1K530F BWS1 D R88M WP1K530C BW R88M WP1K530 BWS1 D Note The D type motors are provided with IP67 connectors 1 000 r min Servomotors Specifications Model p Wit...

Page 39: ...R88M W85015C BO R88M W85015C BOS2 1 3 W R88M W1K315F BO R88M W1K315F BOS2 R88M W1K315C BO R88M W1K315C BOS2 1 8 kW R88M W1K815F BO R88M W1K815F BOS2 R88M W1K815C BO R88M W1K815C BOS2 2 9 kW R88M W2K915F BO R88M W2K915F BOS2 R88M W2K915C BO R88M W2K915C BOS2 4 4 kW R88M W4K415F BO R88M W4K415F BOS2 R88M W4K415C BO R88M W4K415C BOS2 5 5 kW R88M W5K515F BO R88M W5K515F BOS2 R88M W5K515C BO R88M W5K51...

Page 40: ...30H j R88M W10030T j R88D WT01H 200 W R88M W20030H j R88M W20030T j R88D WT02H 400 W R88M W40030H j R88M W40030T j R88D WT04H 750 W R88M W75030H j R88M W75030T j R88D WT08H H 1 kW R88M W1K030H j R88M W1K030T j R88D WT10H 1 5 kW R88M W1K530H j R88M W1K530T j R88D WT15H H 2 kW R88M W2K030H j R88M W2K030T j R88D WT20H 3 kW R88M W3K030H j R88M W3K030T j R88D WT30H 4 kW R88M W4K030H j R88M W4K030T j R8...

Page 41: ... W60010H j R88M W60010T j R88D WT08H 900 W R88M W90010H j R88M W90010T j R88D WT10H 1 2 kW R88M W1K210H j R88M W1K210T j R88D WT15H 2 kW R88M W2K010H j R88M W2K010T j R88D WT20H 3 kW R88M W3K010H j R88M W3K010T j R88D WT30H 4 kW R88M W4K010H j R88M W4K010T j R88D WT50H 5 5 kW R88M W5K510H j R88M W5K510T j R88D WT60H H 1 500 r min Servomotors and Servo Drivers Voltage Servomotor Servo Driver g Rate...

Page 42: ...encoder 400 V 1 kW R88M W1K060F j R88D WT10HF 1 5 kW R88M W1K560F j R88D WT15HF 3 kW R88M W3K060F j R88D WT30HF 4 kW R88M W4K060F j R88D WT50HF Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 43: ... V R88D WTA3H WTA5H WT01H WT02H 30 to 200 W D Wall Mounting External dimensions Mounted dimensions Two M4 D Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 5 dia Two M4 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 44: ... External dimensions Mounted dimensions D Front Panel Mounting Using Mounting Brackets 5 dia Two M4 External dimensions Mounted dimensions Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 45: ...s Mounted dimensions Note The R88D WT08HH is a three phase W series driver that has been converted for a single phase power supply There are thus three main circuit power supply connection terminals L1 L2 and L3 Connect a single phase power supply across terminals L1 and L3 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 2...

Page 46: ...4 External dimensions Mounted dimensions Note The R88D WT15HH is a three phase 230VAC W series driver that has been converted for a single phase powersupply There are thus three main circuit power supply connection terminals L1 L2 and L3 Connect a single phase power supply across terminals L1 and L3 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 ...

Page 47: ... 6 dia Four M4 External dimensions Mounted dimensions D Front Panel Mounting Using Mounting Brackets Four M4 External dimensions Mounted dimensions Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 48: ...ting Two 6 dia Four M4 D Front Panel Mounting Using Mounting Brackets Four M4 External dimensions Mounted dimensions Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 49: ...External dimensions 230 max Mounting dimensions 230 max 235 max Four M6 350 max 350 max Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 50: ... 158 20 25 180 25 230 A 104 128 222 CN5 Control circuit terminal M4 Main circuit terminal M5 Ground terminal M8 Main circuit terminal M5 Ground terminal Cooling fan Air flow Air flow Name plate View A Approx mass 13 5 kg 29 8 lb Main circuit Control circuit terminal Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web...

Page 51: ... 19 117 17 125 285 CN10 10 Control circuit terminal M4 Main circuit terminal M5 Ground terminal M8 Main circuit terminal M5 Ground terminal M8 Cooling fan Air flow Name plate Air flow View A Approx mass 22 kg 48 5 lb Main circuit Control circuit terminal 7 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www ...

Page 52: ...its H Hand held Parameter Unit R88A PR02W Two 4 5 dia Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 53: ...ental R88M W03030T S1 D W05030T S1 D W10030T S1 D Absolute Dimensions of shaft end with key S1 Two 4 3 dia 46 dia 30h7 dia S dia D type IP67 connector D type IP67 connector Model Dimensions mm LL S b h t1 R88M W03030j j 69 5 6h6 2 2 1 2 R88M W05030j j 77 6h6 2 2 1 2 R88M W10030j j 94 5 8h6 3 3 1 8 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26...

Page 54: ...8M W03030T B S1 D W05030T B S1 D W10030T B S1 D Absolute Two 4 3 dia 46 dia 30h7 dia S dia Dimensions of shaft end with key BS1 D type IP67 connector D type IP67 connector Model Dimensions mm LL S b h t1 R88M W03030j Bj 101 6h6 2 2 1 2 R88M W05030j Bj 108 5 6h6 2 2 1 2 R88M W10030j Bj 135 8h6 3 3 1 8 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03...

Page 55: ...of output section of 750 W Servomotors Four Z dia D1 dia D2 dia S dia Dimensions of shaft end with key S1 D type IP67 connector D type IP67 connector Model Dimensions mm LL LR C D1 D2 G Z S QK R88M W20030j j 96 5 30 60 70 50h7 6 5 5 14h6 20 R88M W40030j j 124 5 30 60 70 50h7 6 5 5 14h6 20 R88M W75030j j 145 40 80 90 70h7 8 7 16h6 30 R88M W30030j j 124 5 30 60 70 50h7 6 5 5 14h6 20 R88M W65030j j 1...

Page 56: ...our Z dia D1 dia D2 dia S dia Dimensions of output section of 750 W Servomotors Dimensions of shaft end with key S1 D type IP67 connector D type IP67 connector Model Dimensions mm LL LR C D1 D2 G Z S QK R88M W20030j Bj 136 30 60 70 50h7 6 5 5 14h6 20 R88M W40030j Bj 164 30 60 70 50h7 6 5 5 14h6 20 R88M W75030j Bj 189 5 40 80 90 70h7 8 7 16h6 30 R88M W30030j Bj 164 30 60 70 50h7 6 5 5 14h6 20 R88M ...

Page 57: ...5030C S1 D WP1K530C S1 D Absolute IP67 Wj flange dimensions Four Z dia D1 dia D2 dia S dia Dimensions of shaft end with key jS1 DW1 dia DW2 dia D type IP67 connector D type IP67 connector Model Dimensions mm Basic servomotor dimensions With key shaft end dimensions Waterproof type flange dimensions LL LR C D1 D2 F G Z S QK b h t1 W1 W2 DW1 DW2 R88M WP10030j j 62 25 60 70 50h7 3 6 5 5 8h6 14 3 3 1 ...

Page 58: ...030C B S1 D WP75030C B S1 D WP1K530C B S1 D Absolute Four Z dia D1 dia D2 dia S dia IP67 BWj flange dimensions Dimensions of shaft end with key BjS1 DW1 dia DW2 dia D type IP67 connector D type IP67 connector Model Dimensions mm Basic servomotor dimensions With key shaft end dimensions Waterproof type flange dimensions LL LR C D1 D2 F G Z S QK b h t1 W1 W2 DW1 DW2 R88M WP10030j Bj 91 25 60 70 50h7...

Page 59: ...haft end with key S2 D3 dia D1 dia Shaft Extension Model Dimensions mm ode LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK LF1 S1 Q LJ1 R88M W1K030j j 148 45 76 128 96 88 100 115 95h7 130 3 10 7 24h6 32 3 30 40 45 R88M W1K530j j 175 5 102 154 96 88 00 5 95 30 3 0 6 3 3 30 40 45 R88M W2K030j j 198 125 177 3 30 40 45 R88M W3K030j j 199 63 124 178 114 88 130 145 110h7 165 6 12 9 28h6 50 6 30 55 45 R88M W...

Page 60: ... D2 D3 F G Z S QK LF1 S1 Q LJ1 R88M W1K030j Bj 193 45 67 171 102 88 100 115 95h7 130 3 10 7 24h6 32 3 30 40 45 R88M W1K530j Bj 219 5 93 197 0 88 00 5 95 30 3 0 6 3 3 30 40 45 R88M W2K030j Bj 242 116 220 3 30 40 45 R88M W3K030j Bj 237 63 114 216 119 88 130 145 110h7 165 6 12 9 28h6 50 6 30 55 45 R88M W4K030j Bj 274 63 151 253 9 88 30 5 0 65 6 9 8 6 50 6 30 55 45 R88M W5K030j Bj 314 191 293 6 30 55 ...

Page 61: ...1 Q LJ 1 R88M W1K030j Bj 193 45 76 172 120 96 88 85 100 115 95h7 130 7 24h6 40 3 30 40 45 R88M W1K530j Bj 219 5 102 198 146 96 88 85 00 5 95 30 6 0 3 30 40 45 R88M W2K030j Bj 242 125 221 169 85 3 30 40 45 R88M W3K030j Bj 237 63 122 216 170 114 88 98 100 145 110h7 165 9 28h6 55 6 30 55 45 R88M W4K030j Bj 274 63 161 253 207 114 88 98 130 145 110h7 165 9 28h6 50 6 30 55 45 R88M W5K030j Bj 314 63 201 ...

Page 62: ... 9 R88M W60010j j 161 58 88 140 09 88 30 5 0 65 6 9 R88M W90010j j 185 112 164 R88M W1K210j j 166 79 89 144 140 88 180 200 114 30 0 025 230 3 2 18 13 5 R88M W2K010j j 192 9 115 170 0 88 80 00 114 30 0 025 30 3 8 3 5 R88M W3K010j j 226 149 204 Model Dimensions mm ode S QK b h t1 M ℓ LF1 S1 Q LJ1 LF2 LJ2 R88M W30010j j 19h6 25 5 5 3 M5 12 6 30 40 45 R88M W60010j j 9 6 5 5 5 3 5 6 30 40 45 R88M W9001...

Page 63: ...h7 165 6 12 9 R88M W60010j Bj 199 58 79 177 0 88 30 5 0 65 6 9 R88M W90010j Bj 223 103 201 R88M W1K210j Bj 217 79 79 195 146 88 180 200 114 30 230 3 2 18 13 5 R88M W2K010j Bj 243 9 105 221 6 88 80 00 114 30 0 025 30 3 8 3 5 R88M W3K010j Bj 277 139 255 Model Dimensions mm ode S QK b h t1 M ℓ LF1 S1 Q LJ1 LF2 LJ2 R88M W30010j Bj 19h6 25 5 5 3 M5 12 6 30 40 45 R88M W60010j Bj 9 6 5 5 5 3 5 6 30 40 45...

Page 64: ...0j j to R88M W5K510j j Shaft Extension Model Dimensions mm ode LL KB1 KB2 LR F S LF1 S1 Q LJ1 LF2 LJ2 R88M W4K010j j 260 174 238 113 3 2 420 0 016 3 45 110 76 0 5 62 R88M W5K510j j 334 248 312 113 3 2 420 0 016 3 45 110 76 0 5 62 Note The external dimensions are the same for IP67 waterproof models Oj Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03...

Page 65: ...5 Shaft Extension Model Dimensions mm ode LL KB1 KB2 KB3 LR F S LF1 S1 Q LJ1 LF2 LJ2 R88M W4K010j Bj 311 174 289 231 113 3 2 420 0 016 3 45 110 76 0 5 62 R88M W5K510j Bj 365 248 363 305 113 3 2 420 0 016 3 45 110 76 0 5 62 Note The external dimensions are the same for IP67 waterproof models BOj Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04...

Page 66: ... S2 W85015C S2 W1K315C S2 1k815C S2 W2K915C S2 W4K415C S2 W5K515C S2 W7K515C S2 W11K015C S2 W15K015C S2 Absolute Effective depth 16 Four Z dia D2 dia S dia Dimensions of shaft end with key S2 D3 dia D1 dia b h t1 R88M W45015j j to R88M W1K315j j R88M W1K815j j to R88M W2K915j j Shaft Extension Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 ...

Page 67: ...57 6 343 435 68 0 35 00 0 20 Model Dimensions mm ode Z S QK b h t1 LF1 S1 Q LJ1 LF2 LJ2 R88M W45015j j 9 19h6 40 5 5 3 6 30 40 45 R88M W85015j j 9 9 6 0 5 5 3 6 30 40 45 R88M W1K315j j 22h6 6 6 3 5 6 30 40 45 R88M W1K815j j 13 5 35k4 76 10 8 5 3 45 76 76 0 5 62 R88M W2K915j j 3 5 35 6 0 8 5 3 45 76 76 0 5 62 R88M W4K415j j 13 5 35k4 50 10 8 13 95 3 45 76 76 0 5 62 R88M W5K515j j 3 5 42h6 50 0 8 3 ...

Page 68: ... B S2 Incremental R88M W45015C B S2 W85015C B S2 W1K315C B S2 1k815C B S2 W2K915C B S2 W4K415C B S2 W5K515C B S2 W7K515C B S2 W11K015C B S2 W15K015C B S2 Absolute Effective depth 16 Four Z dia D1 dia D2 dia D3 dia S dia Dimensions of shaft end with key BS2 F b h t1 Shaft Extension Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 ...

Page 69: ...M W15K015j Bj 519 6 343 491 415 168 35 00 0 Model Dimensions mm ode G Z S QK b h t1 LF1 S1 Q LJ1 LF2 LJ2 R88M W45015j Bj 12 9 19h6 40 5 5 3 6 30 40 45 R88M W85015j Bj 9 9 6 0 5 5 3 6 30 40 45 R88M W1K315j Bj 22h6 6 6 3 5 6 30 40 45 R88M W1K815j Bj 18 13 5 35k4 76 10 8 5 3 45 76 76 0 5 62 R88M W2K915j Bj 8 3 5 35 6 0 8 5 3 45 76 76 0 5 62 R88M W4K415j Bj 18 13 5 35k4 50 10 8 13 95 3 45 40 76 0 5 62...

Page 70: ... Q R88M W1K060j j 149 45 76 128 96 88 116 130 110j6 150 3 5 10 9 24h6 40 40 R88M W1K560j j 175 5 102 154 96 88 6 30 0j6 50 3 5 0 9 6 0 50 R88M W3K060j j 202 60 127 181 114 88 155 165 130j6 190 3 5 12 11 28h6 55 55 R88M W4K060j j 267 60 164 245 114 88 155 165 130j6 190 3 5 12 11 28h6 55 55 Note The external dimensions are the same for IP67 waterproof models Oj Standard Models and Specifications Cha...

Page 71: ...W1K060j Bj 193 45 76 172 120 96 88 85 116 130 110j6 150 3 5 10 9 24h6 40 40 R88M W1K560j Bj 219 5 102 198 146 96 88 85 6 30 0j6 50 3 5 0 9 6 0 50 R88M W3K060j Bj 237 60 122 216 170 114 88 98 155 165 130j6 190 3 5 12 11 28h6 55 55 R88M W4K060j Bj 302 60 164 281 210 114 88 98 155 165 130j6 190 3 5 12 11 28h6 55 55 Note The external dimensions are the same for IP67 waterproof models BOj Standard Mode...

Page 72: ...tion resistance Between power line terminals and case 0 5 MΩ min at 500 V DC Dielectric strength Between power line terminals and case 1 500 V AC for 1 min at 50 60 Hz Between each control signal and case 500 V AC for 1 min Protective structure Built into panel IP10 EC directives EMC directive EN55011 class A group1 EN50082 2 Low voltage directive EN50178 UL standards UL508C cUL standards cUL C22 ...

Page 73: ...x 1 1 kg Maximum applicable Servomotor wattage 30 W 50 W 100 W 200 W Applicable Ser 3 000 r min Incremental W03030L W05030L W10030L W20030L pp vomotor R88M Absolute W03030S W05030S W10030S W20030S R88M 3 000 r min Fl t t l Incremental WP10030L WP20030L Flat style Absolute WP10030S WP20030S 1 000 r min Incremental Absolute Performance Speed control range 1 5 000 Load fluctuation rate 0 01 max at 0 ...

Page 74: ... 41 W 55 W 123 W 120 W 155 W 240 W 290 W g value Control circuits 15 W 15 W 15 W 15 W 15 W 15 W 15 W 27 W PWM frequency 11 7 kHz 3 9 kHz Weight Approx 1 7 kg Approx 1 7 kg Approx 1 7 kg Approx 2 8 kg Approx 3 8 kg Approx 3 8 kg Approx 5 5 kg Approx 15 kg Applicable Servomotor wattage 500 W 750 W 1 kW 1 5 kW 2 kW 3 kW 5 kW 6 kW Applicable Servomotor R88M 3 000 r min Incremental W75030H W1K030H W1K5...

Page 75: ... circuit Parameter setting error Incorrect parameter setting Motor Mismatch The Servomotor does not match the Servo Driver Overcurrent Overcurrent detected or improper radiation shield temperature rise detected Regeneration error Regeneration circuit damaged due to large amount of regenerative energy Regeneration resistor overload Regenerative energy exceeded the regeneration resistance Overvoltag...

Page 76: ... No communication between the Encoder and the Servo Driver Encoder parameter error The parameters in the Encoder are corrupted Encoder data error Data from the Encoder is incorrect Multi turn limit data mismatch Abso lute The multi turn limits for the Encoder and the Servo Driver do not match Deviation counter over Deviation counter residual pulses exceeded level set for Pn505 Missing phase detect...

Page 77: ...its power supply input R88D WTjH H Single phase 200 230 V AC 170 to 253 V AC 50 60 Hz R88D WTjHL Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz L2C 0 V power supply input R88D WTjHL Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz R88D WTjHF 24 V DC 20 4 to 27 6 V DC B1 External regenera tion resistance connection termi 30 to 400 W This terminal does not normally need to be connected If regene...

Page 78: ...urrent limit Reverse pulse Forward pulse Deviation counter reset Reverse rotation drive prohibit Ground common Positioning com pleted output 1 Servo ready Alarm output Alarm code outputs Encoder A phase out puts Frame ground Encoder B phase outputs Encoder Z phase outputs Shell Motor rotation detection Note The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter se...

Page 79: ...ward rotation current limit Reverse rotation current limit Speed command Torque command Line driver output EIA RS422A conforming Load resistance 220 Ω max 24 V DC A D converter Sensor ON Backup battery 2 8 to 4 5 V Servo ready Ground common Frame ground Maximumoperating voltage 30 V DC Maximum output current 50 mA Maximumoperating voltage 30 V DC Maximum output current 20 mA Shell Standard Models ...

Page 80: ...ol lector output terminals 7 PULS CW A Feed pulses reverse pulses or 90_ phase difference pulses A Pulse string input terminals for position commands Line driver input 10 mA at 3 V Position 8 PULS CW A difference pulses A phase Line driver input 10 mA at 3 V Maximum response frequency 500 kpps Open collector input 7 to 15 mA Maximum response frequency 200 kpps 11 SIGN CCW B Direction signal for wa...

Page 81: ...rol mode PLOCK 41 Position lock com mand input ON Position lock goes into effect when the motor rota tion speed is no more than the position lock rotation speed Pn501 Speed control with position lock IPG 41 Pulse disable input ON Command pulse inputs are ignored and the motor stops Position control with pulse dis able GSEL Gain change input ON Changes gain to No 2 speed gain Pn104 Pn105 Pn106 inte...

Page 82: ...ol mode TGON 27 Servomotor rotation d i ON when the Servomotor rotation speed exceeds the l f h S i d i d All TGONCOM 28 detection output p value set for the Servomotor rotation detection speed Pn502 READY 29 Servo ready output ON if no errors are discovered after powering the main i i All READYCOM 30 y p p g circuits CLIMT Current limit detec i ON if the output current is limited All CLIMTCOM tio...

Page 83: ...m mand input ground 20 Z Encoder phase Z out put 22 BATGND absolute Backup battery input see note 3 24 See note 2 REF 19 Z 21 BAT absolute 23 25 INP1 Encoder phase Z out put Backup battery input See note 3 deviation counter reset Positioning completed out put 1 See note 1 Speed com mand input 45 PCL 47 24VIN 49 Forward cur rent limit See note 1 Control DC 24 V input Encoder phase A out put Encoder...

Page 84: ...time constant Approx 47 µs Maximum input voltage 12 V D Position Command Pulse Inputs and Deviation Counter Reset Inputs Line Driver Input Controller Servo Driver Applicable line driver AM26L S31A or equivalent Input current 10 mA 3 V Open Collector Input Using Power Supply for Open Collector Commands PCOM Controller Servo Driver Input current 10 mA 12 V Signal levels High H 2 4 V min Low L 0 8 V ...

Page 85: ... Signal Levels High 4 V min Low 0 8 V max Note A PNP transistor is recommended D Sequence Inputs External power supply 24 V 1 V DC Power supply capacity 50 mA min per Unit To other input circuit GNDs To other input circuits Photocoupler input 24 V DC 7 mA Servo Driver Signal Levels ON level Minimum 24VIN 11 V OFF level Maximum 24VIN 1 V Standard Models and Specifications Chapter 2 AUDIN 7 bis rue ...

Page 86: ...r preventing surge voltage Use speed diodes External power supply 24 V DC 1 V Maximum operating voltage 30 V DC Maximum output current 50 mA Servo Driver side D Alarm Code Outputs Di Diode for preventing surge voltage Use speed diodes External power supply 24 V DC 1 V Maximum operating voltage 30 V DC Maximum output current 20 mA Servo Driver side Standard Models and Specifications Chapter 2 AUDIN...

Page 87: ...age can be changed by means of user parameter Pn400 torque command scale The default setting is for the rated torque for an input of 3 V Position and Speed Control This input becomes an analog torque limit input set value 1 or 3 or a torque feed forward input set value 2 depending on the Pn002 0 torque command input change of function selection application switch 2 setting The scale of the torque ...

Page 88: ...ulse 90_ Phase Difference Pulse B Phase 12 SIGN CCW B The function of these signals depends on the setting of Pn200 0 command pulse mode position con trol setting 1 Pn200 0 0 Feed pulse and direction signal positive logic Pn200 0 1 Forward pulse and reverse pulse positive logic default Pn200 0 2 90_ Phase Difference phases A B x1 positive logic Pn200 0 3 90_ Phase Difference phases A B x2 positive...

Page 89: ...90_ phase difference signals x2 12 B 4 90_ phase difference signals x4 5 Feed pulse and direction signal 7 PULS 8 PULS 11 SIGN 12 SIGN L H ative 6 Reverse pulse and forward pulse 7 CW 8 CW 11 CCW 12 CCW H H Negat 7 90_ phase difference signals x1 7 A 8 A 11 B 8 90_ phase difference signals x2 12 B 9 90_ phase difference signals x4 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tin...

Page 90: ... pulses Forward rotation command Reverse rotation command Input filter 200 kpps Pn200 3 1 t1 0 1 µs t2 3 0 µs τ 2 5 µs T 5 0 µs τ T 100 50 Input filter 500 kpps Pn200 3 0 t1 0 1 µs t2 3 0 µs τ 1 0 µs T 2 0 µs τ T 100 50 90_ phase difference signals Maximum input frequency x1 Line driver 500 kpps Open collector 200 kpps x2 Line driver 400 kpps Open collector 200 kpps x4 Line driver 200 kpps Open co...

Page 91: ...vo Driver If this signal is not input i e servo OFF status the Servomotor cannot operate except for JOG operations Note This is the default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The RUN signal is allocated by Pn50A 1 D Gain Reduction Input 41 MING This signal is enabled for position control speed control and inter...

Page 92: ...tus Servo unlocked Servo locked Pn001 1 2 1 See note 1 Pn001 1 0 Note 1 The position loop will not operate for position control when stopping in this mode Note 2 When torque control is being used the stopping method is determined by Pn001 0 setting The Pn001 1 setting is irrelevant D Alarm Reset 44 RESET This is the external reset signal input for the servo alarm Remove the cause of the alarm and ...

Page 93: ...on basic switch control mode selection is set toany of thesettings from 3to 6 Depending onthe signalcombinations theinternally set speeds for Pn301 to Pn303 relate to the control modes as shown in the following table Control mode SPD1 OFF SPD1 ON setting SPD2 OFF SPD2 ON SPD2 OFF SPD2 ON Pn000 1 3 Internally set speed control Stop by speed loop No 1 internal speed setting Pn301 No 3 internal speed...

Page 94: ...nd completely stopped Note 1 This is the default allocation Input terminal allocations CN1 pins 40 to 46 can be changed by setting Pn50A 0 input signal selection mode to 1 The PLOCK signal is allocated by Pn50d 0 Note 2 With the default allocation the function for pin 41 is changed to MING PLOCK TVSEL RDIR or IPG according to the Pn000 1 control mode selection setting and the control mode in op er...

Page 95: ...er input of the SEN signal when using an absolute encoder D Encoder A B Z phase Outputs 33 A 34 A 36 B 35 B 19 Z 20 Z D 48 ABS 49 ABS Servomotor encoder signals are output as divided phase difference pulses according to the encoder dividing rate setting Pn201 The output form is line driver output and conforms to EIA RS 422A Receive the signals with a line driver or high speed photocoupler By input...

Page 96: ...er of pulses is less than Pn504 positioning completed range 2 These signals are always OFF when the control mode is any mode other than the position control mode Note 1 These are the default allocations The INP1 signal is allocated by Pn50E 0 and the INP2 sig nal is allocated by Pn510 0 Note 2 With the default allocations INP1 enabled for position control and VCMP enabled for speed control are all...

Page 97: ...t Not Allocated VLIMT The VLIMT signal is turned ON in either of the following two cases S The Servomotor rotation speed reaches the limit set in Pn407 speed limit S The Servomotor rotation speed reaches REF analog speed limit when Pn002 1 speed com mand input change is set to 1 This signal is always OFF when the control mode is any mode other than the torque control mode Note The VLIMT signal is ...

Page 98: ...ter 4 6 RXD Reception data a personal computer Line receiver input 5 PRMU Unit switching This is the switching terminal for a Parameter Unit or personal computer 7 RT Termination resistance terminal This is the termination resistance terminal for the line receiver 6 pin connection for RS 422 communications final Servo Driver only 11 12 Not used Do not connect 13 5V 5 V output This is the 5 V power...

Page 99: ...ition error 0 05 V 1 command unit plus error voltage reverse error voltage 3 0 05 V 100 command units plus error voltage minus error voltage 4 Command pulse frequency 1 V per 1 000 r min forward rotation command voltage reverse rotation command voltage 5 Note 1 The table shows the specifications with no offset adjustment or scaling changes Note 2 The maximum output voltage is 8 V Normal outputs wi...

Page 100: ...Servomotors 1 000 r min Servomotors These Servomotors also have optional specifications such as shaft type with or without brake waterproof ing and so on Select the appropriate Servomotor for your system according to the load conditions and installation environment Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web ...

Page 101: ...als and FG 1 500 V AC for 1 min at 50 60 Hz Run position All directions Insulation grade Type B Type F Type B Type F Type F Type F Structure Totally enclosed self cooling Protective structure IP 55 Excluding through shaft portion IP 67 Excluding through shaft portion See note 2 IP 55 Excluding through shaft portion See note 2 IP 67 Excluding through shaft portion See note 2 IP 67 Excluding through...

Page 102: ... 234 0 238 0 268 0 378 0 327 Induced voltage constant mV r min 5 48 6 36 5 10 8 18 8 30 9 36 13 2 11 4 Power rate kW s 5 49 11 5 27 8 38 2 5 49 11 5 27 8 38 2 Mechanical time constant ms 1 4 0 85 0 61 0 41 1 4 0 88 0 53 0 39 Winding resistance Ω 7 1 4 3 1 14 0 71 15 8 9 6 7 0 1 3 Winding impedance mH 6 8 4 8 1 3 3 1 15 6 10 3 8 7 6 0 Electrical time con stant ms 1 0 1 1 1 1 4 4 1 0 1 1 1 2 4 6 All...

Page 103: ...ue Rating Continuous Continuous Insula tion grade Type F Type F Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C for models of 750 W or less or 20 C for models of 1 kW or more combined with the Servo Driver Other values are at normal conditions 20 C 65 The momentary maxi mum torque shown above indicates the standard value Note 2 The brakes ...

Page 104: ...14 7 Allowable radial load N 245 392 686 686 686 980 1 176 1 176 Allowable thrust load N 74 147 196 196 196 392 392 392 Weight Without brake kg Approx 1 7 Approx 3 4 Approx 4 6 Approx 5 8 Approx 7 0 Approx 11 0 Approx 14 0 Approx 17 0 With brake kg Approx 2 2 Approx 4 3 Approx 6 0 Approx 7 5 Approx 8 5 Approx 14 0 Approx 17 0 Approx 20 0 Radiation shield dimensions material t6 j250 mm Al t12 j300 ...

Page 105: ...tant ms 0 97 0 8 0 66 0 76 0 32 0 29 0 62 0 55 Built in resistor resistance Ω 108 1 8 45 45 108 108 45 0 32 0 Built in resistor capacity W 70 70 140 140 70 70 140 0 180 0 Minimum allowable resistance Ω 73 73 44 44 73 73 28 0 28 0 Regenerative power pro cessed by built in resistor W 14 14 28 28 14 14 36 0 36 0 Electrical time constant ms 6 3 6 8 7 3 16 3 4 2 8 14 4 15 2 Allowable radial load N 686 ...

Page 106: ...74 289 Mechanical time constant ms 5 6 3 1 2 9 2 4 2 1 4 1 4 1 1 1 1 1 0 Built in resistor resistance Ω 108 108 108 45 45 32 18 18 14 3 14 3 Built in resistor capacity W 70 70 70 140 140 180 880 880 1760 1760 Minimum allowable resistance Ω 73 73 73 44 44 28 18 14 2 14 2 14 2 Regenerative power pro cessed by built in resistor W 14 14 14 28 28 180 880 880 1760 1760 Electrical time constant ms 4 5 5 ...

Page 107: ...N 98 98 196 196 Weight Without brake kg 4 6 5 8 11 14 With brake kg 6 7 5 14 17 Applicable load inertia 5 5 5 5 Applicable Servo Driver R88D WT10HF WT15HF WT30HF WT50HF Brake inertia kgm2 x 104 0 325 0 325 2 1 2 1 Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C for models of 750 W or less or 20 C for models of 1 kW or more combined with th...

Page 108: ...n Servomotors 100 V AC The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M W03030L S 30 W R88M W05030L S 50 W R88M W10030L S 100 W R88M W20030L S 200 W Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 511...

Page 109: ...30H T 4 kW R88M W5K030H T 5 kW Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Co...

Page 110: ... Continuous usage N m 0 0 1000 2000 3000 23 3 8 34 10 20 30 r min Repeated usage Continuous usage R88M W85015F 0 0 1000 2000 3000 28 7 11 5 10 20 30 40 r min Repeated usage Continuous usage N m R88M W1K315F R88M W1K815F R88M W2K915F Repeated usage Continuous usage N m r min 0 0 1000 2000 3000 10 20 30 40 50 45 1 18 6 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Re...

Page 111: ...e increases and as the temperature rises the Servomotor s momentary maximum torque decreases When the normal temperature of 20 C and 10 C are compared the momentary maximum torque increases by approximately 4 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 8 Generally in a mechanical system whenthe temperatured...

Page 112: ...n at low temper atures Check to see whether there is optimal operation at low temperatures too Caution Do not use 2 kW or 5 kW Servomotors within the shaded portions of the following diagrams If used in these regions the Servomotor may heat causing the encoder to malfunction Effective torque N m Effective torque N m Ambient temperature _C Ambient temperature _C R88M W2K030j 2 kW R88M W5K030j 5 kW ...

Page 113: ...10 5 4 91 10 6 1 93 10 5 3 31 10 5 2 10 10 4 4 02 10 4 0 193 10 4 0 331 10 4 2 1 10 4 4 02 10 4 Torque constant NSm A 0 160 0 258 0 392 0 349 0 535 0 641 0 687 0 481 0 963 0 994 1 135 Induced voltage constant mV r min 5 60 9 00 13 7 12 2 18 7 22 4 24 0 Power rate kW s 20 6 21 0 20 6 21 0 49 0 27 1 56 7 21 0 49 0 27 1 56 7 Mechanical time constant ms 0 56 0 64 0 53 0 54 0 36 0 66 0 46 0 65 0 43 0 7...

Page 114: ...x 40 max 40 max 40 max 40 max Release time See note 3 ms 20 max 20 max 20 max 20 max 20 max 20 max 20 max 20 max 20 max 20 max 20 max Back lash 1 reference value 1 reference value Rating Continuous Continuous Continuous Insula tion grade Type F Type F Type F Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C combined with the Servo Driver Oth...

Page 115: ...C The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M WP10030H T 100 W R88M WP20030H T 200 W R88M WP40030H T 400 W R88M WP75030H T 750 W R88M WP1K530H T 1 5 kW Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Standard Models and Specifications C...

Page 116: ...tem whenthe temperaturedrops thefriction torqueincreases and the load torque becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twice the load torque at normal temperatures Check with a current monitor to see whether overload ing is occurring at low temperatures and how ...

Page 117: ...tage constant mV r min 35 8 37 0 42 4 36 1 37 5 41 5 46 8 44 0 Power rate kW s 11 2 23 2 36 3 41 5 79 4 120 164 221 Mechanical time constant ms 5 1 3 8 2 8 2 0 1 7 1 4 1 3 1 1 Winding resistance Ω 2 47 1 02 0 68 0 22 0 144 0 097 0 089 0 048 Winding imped ance mH 12 7 4 8 3 9 3 0 2 0 1 5 1 3 0 79 Electrical time con stant ms 5 1 4 7 5 7 13 5 13 9 15 5 14 6 16 5 Allowable radial load N 490 490 686 1...

Page 118: ... 100 max Backlash 1 reference value Rating Continuous Insulation grade Type F Note 1 The values for items marked by asterisks are the values at an armature winding temperature of 100 C combined with the Servo Driver Other values are at normalconditions 20 C 65 The momentary maximum torque shown above indicates the standard value Note 2 The brakes are the non excitation operation type released when...

Page 119: ...W3K010H T 3 kW R88M W4K010H T 4 kW R88M W5K510H T 5 5 kW Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Repeated usage Continuous usage Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims Fr...

Page 120: ...t monitor to see whether overload ing is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjusted at a normal temperature there may not be optimal operation...

Page 121: ...le 1 000 1 500 r min 30 to 750 W 1 to 5 kW Flat style Servomotors 1 500 r min Servomotors Encoder method Optical encoder 16 bits 17 bits 16 bits 17 bits Number of output pulses A B phase 16 384 pulses revolution Z phase 1 pulse revolution A B phase 32 768 pulses revolution Z phase 1 pulse revolution A B phase 16 384 pulses revolution Z phase 1 pulse revolution A B phase 32 768 pulses revolution Z ...

Page 122: ...xes Model Length L Outer diameter of sheath Weight 1 R88A CPW001M1 1 m 8 3 dia Approx 0 2 kg R88A CPW002M1 2 m Approx 0 3 kg R88A CPW003M1 3 m Approx 0 4 kg R88A CPW005M1 5 m Approx 0 6 kg 2 R88A CPW001M2 1 m 8 3 dia Approx 0 3 kg R88A CPW002M2 2 m Approx 0 4 kg R88A CPW003M2 3 m Approx 0 5 kg R88A CPW005M2 5 m Approx 0 7 kg D Connection Configuration and External Dimensions Cables for One Axis Mo...

Page 123: ...lug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M White Black Pink Black Yellow Black Gray Black Gray Red Orange Black White Red White Black Yellow Red Yellow Black Pink Red Pink Black Orange Red Orange Black Orange Black Gray Black AWG20 Red AWG20 Black Cable AWG26 5P AWG26 6C Servo Driver Shell Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Re...

Page 124: ...te Black Yellow Red Yellow Black Pink Red Pink Black Orange Red Orange Black Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M AWG20 Black AWG20 Red Signal Signal Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Shell Motion Control Unit Servo Driver Shell Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo...

Page 125: ... Cable servo driver to terminal block 4 R88A TC04 E 1 m Approx 0 5 kg Terminal block connection kit 4 R88A CMX001J 1 E 1 m Approx 0 1 kg Axis connector cable MC402 E to terminal block for total 4 axes R88A CMX001 S E 1 m Approx 0 1 kg I O connnector cable MC402 E to terminal block D Wiring Servo driver connection E 24V_DRV 0V_ENC 0V_drv ALARM Vref 0V_ref A A B B Z Z ENABLE ALARMRST Terminal block ...

Page 126: ... a connector to match the controller Note There is one method for connecting to a Controller with no special cable provided and another method for using connector Terminal Block cable and a connector Terminal Block D Cable Models Model Length L Outer diameter of sheath Weight R88A CPW001S 1 m 12 8 dia Approx 0 3 kg R88A CPW002S 2 m Approx 0 6 kg D Connection Configuration and External Dimensions C...

Page 127: ... Red CCW 12 Yellow Black CCW 13 Yellow Black PCOM 14 Pink Black ECRST 15 Pink Red ECRST 16 Orange Red 17 Orange Black 18 Pink Red PCOM 19 Gray Red Z Z 20 Gray Black Z Z 21 Gray Red BAT BAT 22 Gray Black BATGND BATGND 23 White Red 24 White Black 25 Orange Red INP1 VCMP 26 Orange Black INP1COM VCMPCOM Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 ...

Page 128: ... Red ABS ABS 49 Yellow Black ABS ABS 50 Pink Black Shell FG FG Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Cable AWG24 25P UL20276 Note Wires with the same wire color and the same number of marks form twisted pairs For example the orange wire with one red mark is twisted together with the orange wire with one black mark H Servo Driver Connector Terminal Block ...

Page 129: ... Pink Black Pink Red Orange Red Orange Black Pink Red Gray Black Gray Red Gray Black Gray Red White Black White Red Yellow Red Yellow Black Pink Red Pink Black Orange Red Orange Black Gray Black Gray Red White Black White Red Pink Red Yellow Red Pink Black Orange Red Orange Black Gray Black White Black White Red Gray Red Yellow Red Yellow Black Pink Black Orange Red Orange Black White Black White ...

Page 130: ...t R88A CRWA003C DE 3 m 6 mm dia Approx 0 25 kg R88A CRWA005C DE 5 m Approx 0 35 kg R88A CRWA010C DE 10 m Approx 0 6 kg R88A CRWA015C DE 15 m Approx 0 9 kg R88A CRWA020C DE 20 m Approx 1 2 kg R88A CRWBjN E Model Length L Outer diameter of sheath Weight R88A CRWB003N E 3 m 6 5 mm dia Approx 0 4 kg R88A CRWB005N E 5 m Approx 0 5 kg R88A CRWB010N E 10 m Approx 0 8 kg R88A CRWB015N E 15 m Approx 1 1 kg...

Page 131: ...ex Japan Cable AWG22 2C AWG24 2P UL20276 3 to 20 m AWG16 2C AWG26 2P UL20276 30 to 50 m Shell Signal Servo Driver Black Red Orange White Orange Servomotor Signal Open White Open Shell Connector plug 3 to 20 m 55101 0600 Molex Japan Crimp terminal 50639 8091 Molex Japan Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 ...

Page 132: ... Crimp terminal 50639 8091 Molex Japan 2 6 3 Power Cable Select a Power Cable to match the Servomotor being used The cables range in length from 3 to 20 me ters The maximum distance between the Servomotor and Servo Driver is 50 meters H R88A CAWAj The R88A CAWAj Cables are for 3 000 r min Servomotors 30 to 750 W and 3 000 r min Flat style Servomotors 100 to 750 W All Servomotors are 230 VAC type S...

Page 133: ...020S DE 20 m Approx 1 6 kg For Servomotors with Brakes Model Length L Outer diameter of sheath Weight R88A CAWA003B 3 m 7 4 mm dia Approx 0 3 kg R88A CAWA005B 5 m Approx 0 5 kg R88A CAWA010B 10 m Approx 0 9 kg R88A CAWA015B 15 m Approx 1 3 kg R88A CAWA020B 20 m Approx 1 7 kg Model Length L Outer diameter of sheath Weight R88A CAWA003B DE 3 m 9 2 mm dia Approx 0 45 kg R88A CAWA005B DE 5 m Approx 0 ...

Page 134: ...E R88D WTj R88M Wj D Servo Driver Servomotor For Servomotors with Brakes R88A CAWAjjjB Servo Driver Servomotor R88D WTj R88M Wj R88A CAWAjjjB DE R88D WTj R88M Wj D Servomotor Servo Driver Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 135: ...an Ltd company Connector pins 350690 3 AMP Japan Ltd company 770210 1 AMP Japan Ltd company Cable AWG20 4C UL2464 Servo Driver Red Servomotor White M4 crimp terminal Blue Green Yellow Phase U Phase V Phase W Symbol R88A CAWAjjjS DE cable connection Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr...

Page 136: ...00 r min Flat style Servomotors 1 5 kW 230 VAC type D Cable Models For Servomotors without Brakes Model Length L Outer diameter of sheath Weight R88A CAWB003S 3 m 10 4 mm dia Approx 0 6 kg R88A CAWB005S 5 m Approx 1 0 kg R88A CAWB010S 10 m Approx 1 9 kg R88A CAWB015S 15 m Approx 2 8 kg R88A CAWB020S 20 m Approx 3 7 kg Model Length L Outer diameter of sheath Weight R88A CAWB003S DE 3 m 9 5 mm dia A...

Page 137: ...m dia Approx 0 6 kg R88A CAWB005B DE 5 m Approx 0 9 kg R88A CAWB010B DE 10 m Approx 1 7 kg R88A CAWB015B DE 15 m Approx 2 5 kg R88A CAWB020B DE 20 m Approx 3 3 kg D Connection Configuration and External Dimensions For Servomotors without Brakes R88A CAWBjjjS Servo Driver Servomotor R88D WTj R88M Wj R88A CAWBjjjS DE R88D WTj R88M Wj D Servo Driver Servomotor Standard Models and Specifications Chapt...

Page 138: ...0550 6 AMP Japan Ltd company Servomotor Connector plug 350779 1 AMP Japan Ltd company Connector pins 350547 6 AMP Japan Ltd company 350669 1 AMP Japan Ltd company Cable AWG14 4C UL2463 Servo Driver Red Servomotor White Blue Green Yellow Phase U Phase V Phase W Symbol M4 crimp terminal R88A CAWBjjjS DE cable connection Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 R...

Page 139: ...s upto 1 3 kW 3 000 r min Servomotors 1 to 2 kW and 6 000 r min Servomotors upto 1 5 kW D Cable Models For Servomotors without Brakes Model IP67 Length L Outer diameter of sheath Weight R88A CAWC003S E 3 m 10 4 dia Approx 0 6 kg R88A CAWC005S E 5 m Approx 1 0 kg R88A CAWC010S E 10 m Approx 1 9 kg R88A CAWC015S E 15 m Approx 2 8 kg R88A CAWC020S E 20 m Approx 3 7 kg For Servomotors with Brakes only...

Page 140: ...s only 230 VAC type Servomotor R88A CAWCjjjB cable connection Cable Connector plug MS3106B20 15S DDK Ltd Cable clamp MS3057 12A DDK Ltd Servomotor Receptacle MS3102A20 15P DDK Ltd Cable AWG14 6C UL2463 Servo Driver Servomotor Red White Blue Green Yellow Black Brown Phase U Phase V Phase W Brake Brake Symbol M4 crimp terminals For certain 400 VAC type Servomotor with brake a seperate braking cable ...

Page 141: ...5S E 15 m Approx 6 0 kg R88A CAWD020S E 20 m Approx 8 0 kg For Servomotors with Brakes only 230 VAC type Servomotor Model Length L Outer diameter of sheath Weight R88A CAWD003B 3 m 17 8 dia Approx 1 9 kg R88A CAWD005B 5 m Approx 3 0 kg R88A CAWD010B 10 m Approx 5 8 kg R88A CAWD015B 15 m Approx 8 6 kg R88A CAWD020B 20 m Approx 11 4 kg D Connection Configuration and External Dimensions For Servomoto...

Page 142: ...h brake a seperate braking cable is needed Therefore it is necessary to use both power cable for Servomotor without brake R88A CAWCjS E and braking cable R88A CAWCjB E R88A CAWCjB E is only used for wiring 2 CORE the brake line and is applicable for certain 400 VAC type Servomotors Model Length L R88A CAWC003B E 3 m R88A CAWC005B E 5 m R88A CAWC010B E 10 m R88A CAWC015B E 15 m R88A CAWC020B E 20 m...

Page 143: ...ower Cable forServomotors withbrakes R88A CAWEjB R88A CAWEjB Cable is used for wiring 2 core the brake line only D Connection Configuration and External Dimensions For Power Connector R88A CAWEjjjS Servo Driver Servomotor R88D WTj R88M Wj 56 3 dia For Brake Connector R88A CAWEjjjB Servo Driver Servomotor R88D WTj R88M Wj 22 2 dia D Wiring For Power Connector R88A CAWEjjjS Cable Connector plug MS31...

Page 144: ...s with Brakes To the Servomotor s brake connector connect R88A CAWEjB Cable just as for 4 kW 1 000 r min Servomotors with brakes Refer to the previous page for R88A CAWEjB specifications Note For 5 5 kW 1 000 r min Servomotors there are separate connectors for power and brakes For that reason whenever a Servomotor with a brake is used it is necessary to use both Power Cable for Servomotors without...

Page 145: ...CAWF015S E 15 m R88A CAWF020S E 20 m For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required Brake cable only Model Length L R88A CAWC003B E 3 m R88A CAWC005B E 5 m R88A CAWC010B E 10 m R88A CAWC015B E 15 m R88A CAWC020B E 20 m D Wiring for Power Connector Connector MS3108E32 17S DDK Ltd Servo Driver Black 1 Black 2 Black 3 Yellow ...

Page 146: ... Connector MS310822 22S Black 1 Black 2 Black 3 Yellow Green Phase U Phase V Phase W Symbol Crimp terminal hole M5 H R88A CAWHj The R88A CAWHj Cables are for 1 500 r min Servomotors 7 5 kW and 11 kW D Cable Models For Servomotors without Brakes Model Length L R88A CAWH003S E 3 m R88A CAWH005S E 5 m R88A CAWH010S E 10 m R88A CAWH015S E 15 m R88A CAWH020S E 20 m For Servomotors with Brakes For Servo...

Page 147: ...J005S E 5 m R88A CAWJ010S E 10 m R88A CAWJ015S E 15 m R88A CAWJ020S E 20 m For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required Brake cable only Model Length L R88A CAWC003B E 3 m R88A CAWC005B E 5 m R88A CAWC010B E 10 m R88A CAWC015B E 15 m R88A CAWC020B E 20 m D Wiring for Power Connector Connector MS3108E32 17S DDK Ltd Blue B...

Page 148: ... 15 m R88A CAWK020B E 20 m D Wiring for Power Connector Connector cap 350780 1 socket 350570 3 or 350689 3 AMP Yellow Green Phase U Phase V Phase W Symbol Crimp terminal hole M5 1 2 3 4 Black 1 Black 2 Black 3 D Wiring for Power Connector Connector cap 350781 1 socket 350536 6 or 350550 6 AMP Yellow Green Phase U Phase V Phase W Symbol Crimp terminal hole M5 Brake Brake 1 2 3 4 5 6 Black 1 Black 2...

Page 149: ...4 1 2 3 4 Black 1 Black 2 Black 3 FG D Wiring for Power Connector Connector LPRA06BFRBN170 Interconnectron Hypertac Yellow Green Phase U Phase V FG Symbol Crimp terminal hole M4 Brake Brake 1 2 3 4 5 6 Phase W Black 1 Black 2 Black 3 Black 4 Black 5 2 6 4 Peripheral Cables and Connector Specifications H Analog Monitor Cable R88A CMW001S This is cable for connecting to the Servo Driver s Analog Mon...

Page 150: ... parameters for a Servo Driver There are two kinds of cable one for DOS V computers and the other for NEC PC98 notebook computers but not for PC98 desktop computers D Cable Models For DOS V Computers Model Length L Outer diameter of sheath Weight R88A CCW002P2 2 m 6 dia Approx 0 1 kg For NEC PC98 Notebook Computers Model Length L Outer diameter of sheath Weight R88A CCW002P3 2 m 6 dia Approx 0 1 k...

Page 151: ... 10314 52A0 008 Sumitomo 3M Gray Black Gray Red White Red Orange Red Cable AWG26 3C UL2464 Servo Driver Shell Shell Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52F0 008 Sumitomo 3M H Control I O Connector R88A CNU11C This is the connector for connecting to the Servo Driver s Control I O Connector CN1 This connector is used when the cable is prepared by the user D External Dimensio...

Page 152: ...ll dimensions are in millimeters unless otherwise specified 2 7 1 Servo Relay Units H XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units C200H NC112 C200HW NC113 D External Dimensions Position Control Unit connector Servo Driver connector Two 3 5 dia Note Terminal Block pitch 7 62 mm Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 511...

Page 153: ... Com mon Com mon Com mon Com mon External interrupt See note 1 24 V DC See note 5 24 V DC H XW2B 40J6 2B This Servo Relay Unit connects to the following OMRON Posi tion Control Units C200H NC211 C500 NC113 NC211 C200HW NC213 NC413 D External Dimensions Position Control Unit connector X axis Servo Driver connector Two 3 5 dia Note Terminal Block pitch 7 62 mm Y axis Servo Driver connector Standard ...

Page 154: ... 2 Do not connect unused terminals 3 The 0 V terminal is internally connected to the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end 5 Allocate BKIR Braking Lock to CN1 pin 27 See note 5 See note 5 24 V DC 2 7 2 Cable for Servo Relay Units H Servo Driver Cable XW2Z jJ B4 D Cable Models Model Length L Outer diameter of sheath Weight XW2Z 100J B4 1 m 8 0 dia...

Page 155: ...Control Unit and an XW2B 20J6 1B Servo Relay Unit D Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A1 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A1 1 m Approx 0 1 kg D Connection Configuration and External Dimensions C200H NC112 Position Control Unit XW2B 20J6 1B Servo Relay Unit Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26...

Page 156: ...lay Unit D Cable Models Model Length L Outer diameter of sheath Weight XW2Z 050J A2 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A2 1 m Approx 0 2 kg D Connection Configuration and External Dimensions Position Control Unit Servo Relay Unit C200H NC211 C500 NC113 C500 NC211 XW2B 40J6 2B Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 2...

Page 157: ... NC113 Position Control Unit and an XW2B 20J6 1B Servo Relay Unit D Cable Models 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 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 158: ...Z jJ A7 This is the cable for connecting between a C200HW NC213 or C200HW NC413 Position Control Unit and an XW2B 40J6 2B Servo Relay Unit D Cable Models 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 Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28...

Page 159: ...HW NC413 XW2B 40J6 2B Servo Relay Unit D Wiring Position Control Unit Cable AWG28 8P AWG28 16C Servo Relay Unit Crimp terminal Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 160: ...ervo Driver then use the R88A CCW002C Parameter Unit Cable 2 meters purchased separately H General Specifications Item Standards Operating ambient temperature 0 to 55 C Storage ambient temperature 10 to 75 C Operating ambient humidity 35 to 85 with no condensation Storage ambient humidity 35 to 85 with no condensation Storage and operating atmosphere No corrosive gasses Vibration resistance 4 9 m ...

Page 161: ... or a time overrun 1 s has occurred for three consecu tive times 2 8 2 Parameter Unit Cable R88A CCW002C If the 1 meter cable provided with the Parameter Unit is not long enough then replace it with R88A CCW002C Parameter Unit Cable 2 meters Note If this cable is connected to an OMNUC U series Hand held Parameter Unit R88A PR02U the Parameter Unit can be used as an OMNUC W series Parameter Unit Op...

Page 162: ... connect an External Regenera tion Resistor or an External Regeneration Resistance Unit H R88A RR22047S External Regeneration Resistor R88A RR88006 External Regeneration Resistance Unit H Specifications Servodrive Model Resistance Nominal capacity Regeneration absorption N A R88A RR22047S 47 Ω 5 220 W 70 W R88D WT60H R88A RR8806 6 25 Ω 10 880 W 180 W R88D WT75H 110H 150H R88A RR1K803 3 13 Ω 1760 W...

Page 163: ...rnal Regeneration Resistor Thermal switch output D R88A RR88006 External Regeneration Resistance Unit Four 6 dia Standard Models and Specifications Chapter 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 164: ...R3V Toshiba Battery voltage 3 6 V Current capacity 1 000 mASh D Connection Configuration and External Dimensions 1 7 dia 15 dia Unit mm D Wiring Connector housing DF3 2S 2C Hirose Electric Contact pin DF3 2428SCFC Hirose Electric Black Red Cable AWG24 2C UL1007 Symbol R88A BAT02W Absolute Encoder Backup Battery Unit The R88A BAT02W is used for servodrivers of 6 kW and higher Specifications are the...

Page 165: ...5 40 0 Approx 0 5 R88D WT02H R88A PX5070 1 65 20 0 Approx 0 8 R88D WT04H R88A PX5069 3 3 10 0 Approx 1 0 R88D WT08HH R88A PX5079 5 3 4 1 2 R88D WT15HH R88A PX5078 10 5 2 5 2 0 R88D WT05H 08H 10H R88A PX5061 4 8 2 0 Approx 0 5 R88D WT15H 20H R88A PX5060 8 8 1 5 Approx 1 0 R88D WT30H R88A PX5059 14 0 1 0 Approx 1 1 R88D WT50H R88A PX5068 26 8 0 47 Approx 1 9 400 V R88D WT05HF R88A PX5074 1 5 4 7 0 3...

Page 166: ...5 125 45 60 65 4 R88A PX5070 40 59 100 120 35 45 50 4 R88A PX5071 35 52 80 95 30 40 45 4 R88A PX5074 30 47 70 85 28 38 45 4 R88A PX5075 40 59 100 120 40 50 55 4 R88A PX5076 50 74 125 140 35 45 60 5 R88A PX5077 50 74 125 155 53 66 75 5 R88A PX5078 50 74 125 155 60 70 80 5 R88A PX5079 50 74 125 140 35 45 60 5 Standard Models and Specifications Chapter 2 Four H dia AUDIN 7 bis rue de Tinqueux 51100 R...

Page 167: ...ign and Installation 3 1 Installation Conditions 3 2 Wiring 3 3 Regenerative Energy Absorption AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 168: ...burning Caution Always use the power supply voltages specified in the this manual An incorrect volt age may result in malfunctioning or burning Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunctioning Caution Instal...

Page 169: ... following conditions Ambient operating temperature 0 to 55 C Take into account temperature rises in the individ ual Servo Drivers themselves Ambient operating humidity 20 to 90 with no condensation Atmosphere No corrosive gases H Ambient Temperature Servo Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise ...

Page 170: ...ldup may damage the Units Take measures during installation and operation to prevent foreign objects such as metal particles oil machining oil dust or water from getting inside of Servo Drivers 3 1 2 Servomotors H Operating Environment The environment in which the Servomotor is operated must meet the following conditions Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 w...

Page 171: ...ghtening strength When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension If an excessive radial load is applied the motor shaft may be damaged Set up the structure so that the radial load ...

Page 172: ...JL04 2022CK 12 Industry Ltd JAE 1 500 r min 400 VAC 1 8 kW R88M W1K815j j JL04 2022CK 12 For sheath external diame 400 VAC type 2 9 kW R88M W2K915j j For sheath external diame ter of 12 9 to 15 9 dia JL04 2022CK 14 4 4 kW R88M W4K415j j JL04V 8A22 22SE EB 5 5 kW R88M W5K515j j JL04V 6A32 17SE 7 5 kW R88M W7K515j j JL04V 6A32 17SE 11 kW R88M W11K015j j JL04V 6A32 17SE 15kW R88M W15K015j j JL04V 6A3...

Page 173: ...C 450 W R88M W45015j j For power connector Angled type For sheath external diame ter of 6 5 to 8 7 dia DDK Ltd 400VAC type 850 W R88M W85015j j Angled type CE05 8A18 10SD B BAS Straight type ter of 6 5 to 8 7 dia CE3057 10A D265 For sheath external diame 1 3 kW R88M W1K315j j Straight type CE06 6A18 10SD B BSS For sheath external diame ter of 8 5 to 11 dia CE3057 10A 2 D265 4 4 kW R88M W4K415j Bj ...

Page 174: ...88M W30010j j to R88M W5K530j j For sheath external diam eter of 12 9 to 16 dia JL04 2022CKE 14 H Water and Drip Resistance The enclosure ratings for the Servomotors are as follows 6 000 r min Servomotors 1 to 4kW IP67 except for through shaft parts Models are also avail able with IP67 ratings that include through shaft parts 3 000 r min Servomotors 30 to 750 W IP55 except for through shaft parts ...

Page 175: ...out the motor coils Take measures to prevent the shaft from rusting The shafts are coated with anti rust oil when shipped but anti rust oil or grease should also be applied when connecting the shaft to a load Absolutely do not remove the encoder cover or take the motor apart The magnet and the encoder are aligned in the AC Servomotor If they become misaligned the motor will not operate System Desi...

Page 176: ...Parameter Unit Cable Computer Monitor Cable Analog Monitor Cable Motion Control Unit Motion Control Unit Cable For 1 axis Cable to Position Control Unit Servo Relay Unit Cable Servo Relay Unit Terminal Block Cable Connector Terminal Block Terminal Block Cable General Control Cable and Control I O Connector Other Controllers Position Control Unit C200HW NC113 C200HW NC213 C200HW NC413 C500 NC113 C5...

Page 177: ...oxes in the model numbers are for cable length The cables can be 0 5 or 1 meter long For example XW2Z 050J A1 is 0 5 meter long Note 2 When 2 axis control is used with C200HW NC213 C200HW NC413 C200H NC211 or C500 NC211 Position Control Units two cables are required to the Servo Driver 3 Connector Terminal Block Cables These cables are used for connecting to Controllers for which no special cable ...

Page 178: ...30 V AC 1 5 kW R88A CAWBjjjS DE R88A CAWBjjjB DE 3 000 r min S C 30 to 750 W R88A CAWAjjjS DE R88A CAWAjjjB DE Servomotors 230 V AC 1 to 2 kW R88A CAWCjjjS E R88A CAWCjjjB 3 to 5 kW R88A CAWDjjjS E R88A CAWDjjjB 1 500 r min Servomotors 400 V AC 450 to 1 3 kW R88A CAWCjjjS E R88A CAWCjjjB E brake cable only Se o o o s 00 C 1 8 to 2 9 kW R88A CAWDjjjS E R88A CAWCjjjB E brake cable only 1 500 r min S...

Page 179: ...e for cable length The cables can be 3 5 10 15 3 000 r min Flat style Servomotors 100 W to 1 5 kW R88A CRWAjjjC DE The cables can be 3 5 10 15 20 meters long For example R88A CRWA003C is 3 meters 1 000 r min Servomotors 300 W to 5 5 kW R88A CRWBjjjN E R88A CRWA003C is 3 meters long 1 500 r min Servomotors 450 W to 15 kW R88A CRWBjjjN E 6 000 r min Servomotors 1 kW to 3 kW R88A CRWBjjjN E Note The ...

Page 180: ...A CCW002P2 Only 2 meter cables are available 9 Analog Monitor Cable This is the cable for connecting to the Servo Driver s Analog Monitor Connector CN5 It is required for connecting analog monitor outputs to an external device such as a measuring instrument Name specifications Model Remarks Analog Monitor Cable 1 m R88A CMW001S Only 1 meter cables are available System Design and Installation Chapt...

Page 181: ...4 R88D WT08HH and R88D WT15HH servodrivers have changed from three phase specifications to single phase power supply specifications Main circuit connection terminals L1 L2 L3 remain These Servodrivers have terminal B3 and internal regenerative resistor Observe the following points 1 Connect main power supply shown above to L1 and L3 terminals Single phase 220 to 230 V AC 10 to 15 50 60 Hz If a pow...

Page 182: ...r Class 3 ground Encoder Cable OMNUC W series AC Servomotor User controlled device Control cable DC Reactor Note 1 Set by user parameter Pn50F 2 Recommended product in 3 2 4 Wiring for Noise Resistance For conformity to EC Directives refer to 3 2 5 Wiring for Conformity to EMC Directives 3 Recommended relay MY relay 24 V by OMRON 24 V DC 0 V System Design and Installation Chapter 3 AUDIN 7 bis rue...

Page 183: ...utput negative Do not connect anything to these terminals L1C Control circuit power supply input R88D WTjH H Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WTjHL L2C R88D WTjHL Single phase 100 115 V AC 85 to 127 V 50 60 Hz R88D WTjHF 24 V DC B1 External regeneration resistance 30 to 400 W These terminals normally do not need to be connected If there is high regenerative energy connect an Ex...

Page 184: ... 4 3 5 9 7 5 12 5 Main circuit power supply i t L1 L2 Effective current A rms 0 8 1 1 2 0 3 4 5 5 4 0 5 4 7 0 9 5 12 0 17 0 28 0 32 0 power supply input L1 L2 or L1 L2 Wire size mm2 1 25 1 25 1 25 1 25 2 2 2 2 3 5 3 5 3 5 5 5 8 or L1 L2 L3 See note 1 Screw size M4 M4 M5 M6 Torque NSm 1 2 1 2 2 2 5 Control cir cuit power l i t Effective current A rms 0 13 0 13 0 13 0 13 0 13 0 15 0 15 0 15 0 15 0 1...

Page 185: ...2 1 25 1 25 1 25 2 2 3 5 5 5 5 5 8 14 Screw size M4 M4 M5 M5 M5 M8 M8 Torque Nm 1 2 1 2 2 2 2 6 6 Frame ground Wire size mm2 2 2 2 2 2 2 2 2 2 2 Screw size M4 M4 M4 M4 M4 M4 M8 M8 M8 M8 Torque Nm 1 2 1 2 1 2 1 2 1 2 1 2 6 6 6 6 H Wire Sizes and Allowable Current The following table shows the allowable current for when there are three wires D 600 V Heat resistant Vinyl Wiring HIV Reference Values A...

Page 186: ...of the right sizes according to the tables provided under Terminal Block Wire Sizes above and strip off 8 or 9 mm of the covering from the end of each wire 8 to 9 mm 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows S Pry the slot open using the lever that comes with the Servo Driver as in Fig A S Insert a flat blade screwdriver en...

Page 187: ...d D R88D WTA3Hj to R88D WT15H H Servo Drivers Single phase Power Supply Input NFB AC power supply Surge absorber Noise filter Contactor X1 Metal duct Fuse Class 3 ground to 100Ω or less Controller power supply Thick power line 3 5 mm2 Machine ground Ground plate Ground control box D R88D WT05H to R88D WT60H Servo Drivers Three phase Power Supply Input NFB AC power supply Surge absorber Noise filte...

Page 188: ...nd wired using the shortest distance possible Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control box whenever possible Correct Separate input and output WRONG Noise not filtered effectively AC output AC input Ground AC input AC output Ground Use twisted pair cables for the power supply cables whenever possibl...

Page 189: ...30 90 R88D WTA3H to WT04H 35 90 R88D WT05H to WT10H 60 130 R88D WT15H 60 130 R88D WT20H WT30H 60 140 R88D WT50H 60 140 R88D WT60H 65 140 D Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance The...

Page 190: ...single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drivers D Noise Filters for Servomotor Output Use noise filters without built in capacitors on the Servomotor output lines Select a noise filter with a rated current at least two times the total rated current of the Servo Driver s continuous output current The following table ...

Page 191: ...ric Industries Co Ltd CR 50500 0 5 µF 50 Ω CRE 50500 0 5 µF 50 Ω S2 A 0 0 2 µF 500 Ω Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co D Contactors When selecting contactors take into consideration the circuit s inrush cur...

Page 192: ...line length is less than 10 meters It varies depending on the power line length and the insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Leakage Breaker Connection Example AC power supply side No fuse breaker Surge absorber Leakage breaker Noise filter Servo Driver side D Harmonic Current Countermeasures AC React...

Page 193: ...ctor Connection Example DC Reactor Servo Driver AC Reactor Servo Driver R88D WT60H R88D WTA3j to R88D WT50H H Improving Encoder Cable Noise Resistance The OMNUC W Series uses serial encoders with phase Ssignals from the encoder The phase Scom munications speed is 4 Mbits s In order to improve the encoder s noise resistance take the following measures for wiring and installa tion Always use the spe...

Page 194: ... frame grounds Always use twisted pair shielded cable for speed and torque command signal lines and connect both ends of the shield to frame grounds If the control power supply wiring is long noise resistance can be improved by adding 1 µF laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section or the controller output section For encoder output p...

Page 195: ...ote 3 For single phase power supply input models R88D WTA3Hj to R88D WT04H the main circuit power supply input terminals will be L1 and L2 For single phase powersupply models R88D WT08HH and R88D WT15HH the main circuit powersupply will be L1 and L3 Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for the frame ground for each Unit as shown ...

Page 196: ...f metal and weld the joints between the top bottom and sides so that they will be electrically conductive For assembly strip the paint off of joined areas or mask them during painting to make them electri cally conductive If gaps are opened in the control box case when tightening down screws make adjustments to prevent this from occurring Do not leave any conducting part unconnected Connect to the...

Page 197: ...proximately three times that of the rated out put and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable The table in 3 2 3 Terminal Block Wiring shows the rated power supply input currents for each Servomotor Sele...

Page 198: ...stor voltage the amount of surge immunity and the amount of energy resistance For 200 V AC systems use surge absorbers with a varistor voltage of 470 V The surge absorbers shown in the following table are recommended Maker Model Max limit voltage Surge immunity Type Remarks Okaya Electric I d i C L d RSASV 781BYZ 2 783 V 1 000 A Block Between power supply lines y Industries Co Ltd RSASV 781BXZ 4 7...

Page 199: ...H FN351 16 29 16 A 440 VAC 17 5 mA at 400 V Schaffner R88D WT30H FN351 25 29 25 A 160 mA at 400 V Schaffner R88D WT50H FN351 36 33 36 A 160 mA at 400 V Schaffner R88D WT60H FN351 50 33 50 A 175 mA at 400 V Schaffner R88D WT05HF to R88A FIW4006 SE 6 A 480 VAC 12 6 mA at 400 V Schaffner WT15HF R88A FIW4006 E 6 A 0 5 mA at 400 V Rasmi R88D WT20HF and R88A FIW4010 SE 10 A 12 6 mA at 400 V Schaffner WT...

Page 200: ...36 33 FN351 50 33 Noise Filter for Brake Power Supply Use the following noise filter for the brake power supply Refer to the SUP PjH EPR diagram above for dimensions Model Rated current Rated voltage Leakage current Maker SUP P5H EPR 5 A 250 V 0 6 mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 ...

Page 201: ...IW Noise Filters R88A FIW104 E R88A FIW107 E System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 202: ...3 36 R88A FIW115 E R88A FIW125 E System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 203: ...3 37 R88A FIW4006 E R88A FIW4010 E System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 204: ... 38 R88A FIW4020 SE R88A FIW4030 SE System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 205: ... EPR diagram above for dimensions Model Rated current Rated voltage Leakage current Maker SUP P5H EPR 5 A 250 V 0 6 mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 206: ...ric Industries Co Ltd CR 50500 0 5 µF 50 Ω CRE 50500 0 5 µF 50 Ω S2 A 0 0 2 µF 500 Ω Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Industrial Co D Contactors When selecting contactors take into consideration the circuit s inrush cur...

Page 207: ... less than 10 meters It varies depending on the power line length and the insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Leakage Breaker Connection Example AC power supply side No fuse breaker Surge absorber Leakage breaker Noise filter Servo Driver side H Improving Encoder Cable Noise Resistance The OMNUC W Se...

Page 208: ...lines separate from the control power supply Be particularly careful not to connect the two power sup ply ground lines It is recommended that a line driver be used for pulse command and deviation counter reset outputs Always use twisted pair shielded cables for pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds Always use twisted pair shield...

Page 209: ...e Energy Calculation H Horizontal Axis Servomotor operation Servomotor output torque Note In the output torque graph acceleration in the positive direction is shown as positive and accel eration in the negative direction is shown as negative The regenerative energy values for Eg1 and Eg2 are derived from the following equations Eg1 1 2 2π 60 N1 TD1 t1 J Eg2 1 2 2π 60 N2 TD2 t2 J N1 N2 Rotation spe...

Page 210: ...rgy Ab sorption Capacity The average amount of regeneration Pr is the power consumed by regeneration resistance in one cycle of operation Pr Eg1 Eg2 T W T Operation cycle s H Vertical Axis Fall Rise Servomotor operation Servomotor output torque Note In the output torque graph acceleration in the positive direction rise is shown as positive and acceleration in the negative direction fall is shown a...

Page 211: ...eneration resistance in one cycle of operation Pr Eg1 Eg2 Eg3 T W T Operation cycle s 3 3 2 Servo Driver Regenerative Energy Absorption Capacity H Amount of Internal Regeneration Resistance in Servo Drivers W series Servo Drivers absorb regenerative energy by means of internal capacitors or resistors If the regenerative energy is more than can be processed internally an overvoltage error is genera...

Page 212: ...T10H 12 50 40 R88D WT15H 14 30 20 R88D WT20H 28 25 12 R88D WT30H 28 12 5 12 R88D WT50H 56 8 8 R88D WT60H 5 8 R88D WT05HF 14 108 73 R88D WT10HF 14 108 73 R88D WT15HF 14 108 73 R88D WT20HF 28 45 44 R88D WT30HF 28 45 44 R88D WT50HF 36 32 28 Note 1 These are the values at 100 V AC for 100 V AC models and at 200 V AC for 200 V AC models Note 2 The R88D WT60H and R88D WT60HF 75HF 110HF 150HF do not have...

Page 213: ...d must be installed according to the radiation conditions Note 2 For external dimensions refer to 2 9 External Regeneration Resistors Resistance Units H External Regeneration Resistors and External Regeneration Resistance Units D Specifications Model Resistance Nominal capacity Regeneration absorption at 120 C Heat radiation Thermal switch output R88D RR22047S External Regeneration Resistor 47 Ω 5...

Page 214: ...nnection resistance for any given Servo Driver Refer to the following table for the minimum connection resistance values for each Servo Driver and select a suitable combination System Design and Installation Chapter 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 215: ...R88D WT08HH 40 1 2 3 R88D WT15HH 20 1 2 3 4 5 R88D WT05H 40 1 2 3 R88D WT08H 40 1 2 3 R88D WT10H 40 1 2 3 R88D WT15H 20 1 2 3 4 5 R88D WT20H 12 1 2 3 4 5 6 R88D WT30H 12 1 2 3 4 5 6 R88D WT50H 8 1 2 3 4 5 6 R88D WT60H 5 8 1 2 3 4 5 6 or External Regeneration Resistance Unit R88D WT05HF 73 R88D WT10HF 73 R88D WT15HF 73 R88D WT20HF 44 2 3 R88D WT30HF 44 2 3 R88D WT50HF 28 2 System Design and Install...

Page 216: ...e 1 The short circuit wiring between B2 and B3 must be removed 2 When using the R88A RR22047S connect the thermal switch output so that the power supply will be shut off when open Remove Servo Driver External Regeneration Resistor D R88D WT60H F WT75H F WT110HF WT150HF Connect an External Regeneration Resistor or an External Regeneration Resistance Unit between the B1 and B2 terminals Servo Driver...

Page 217: ...ters 4 5 Operation Functions 4 6 Trial Operation Procedure 4 7 Making Adjustments 4 8 Advanced Adjustment Functions 4 9 Using Displays 4 10 Using Monitor Output 4 11 System Check Mode AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 218: ...n unstable operation and injury Caution Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Caution Do not use the built in brake of the Servomotor for ordinary braking Doing s...

Page 219: ...er to 4 2 2 Absolute Encoder Setup and Battery Changes 4 Checking operation Check the operation of the Servomotor and Servo Driver alone by performing a jogging operation without a load Refer to 4 4 3 Important Parameters 5 Function settings By means of the user parameters set the functions according to the operating conditions Refer to 4 4 4 Parameter Details and 4 5 Operation Functions 6 Trial o...

Page 220: ...le phase 220 V AC input Main circuit power supply Single phase 220 230 V AC 187 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WT05H 08H 10H 15H 20H 30H 50H 60H Three phase 200 V AC input Main circuit power supply Three phase 200 230 V AC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz R88D WT05...

Page 221: ... is being supplied with the Host Controller connected H Checking Displays When the power is turned ON one of the codes shown below will be displayed at either the indicators or the Parameter Unit Normal Base Block Error Alarm Display Note 1 bb baseblock means that the Servomotor is not receiving power Note 2 The alarm code the number shown in the alarm display changes depending on the contents of ...

Page 222: ...everse rotation Forward rotation Seen from the Servomotor output shaft counterclockwise CCW is forward rotation and clockwise CW is reverse rota tion Forward reverse Servomotor rotation If the direction of Servomotor rotation and the speed feedback monitor symbols do not agree the Encoder Cable may be incorrectly wired Check the conduction for each cable If there is an error refer to Chapter 5 Tro...

Page 223: ...etup is complete donE will flash for approximately 1 s Approx 1 s later After donE has been displayed the display will return to PGCL5 1 s min Press the DATA Key front panel DATA Key for 1 s min to display the System Check Mode function code Note When connecting a Servomotor with an absolute encoder and turning ON the power for the first time A 81 backup error will be displayed D Turn ON the Power...

Page 224: ...the CS1W MC221 MC241 Motion Control Unit The rotation data will be different from before the battery was replaced so reset the initial Motion Control Unit parameters including for the CS1W MC221 MC421 Motion Control Unit Note It is not necessary to set up and reset the initial parameters for the Motion Control Unit if no alarm occurs after the Battery Unit has been replaced If the Battery Unit is ...

Page 225: ...ted not alarm display A jj System Check Mode Alarm history display rigidity setting during online auto tuning jog operation Servomo tor origin search user parameter initialization alarm history data clear online auto tun ing results storage absolute encoder setup automatic command offset adjustment manual command offset adjustment manual analog monitor output offset adjustment analog monitor outpu...

Page 226: ...itialization Alarm history data clear See 4 11 1 Alarm History Online auto tuning results storage See 4 11 2 Online Auto tuning Related Functions Absolute encoder setup See 4 2 2 Absolute Encoder Setup and Battery Changes Automatic command offset adjustment See 4 11 5 Command Offset Adjustment Manual speed command offset adjustment See 4 11 5 Command Offset Adjustment Manual analog monitor output ...

Page 227: ...ls In Setting Mode use the Up or Down Key to set the parameter number Pnjjj If the parameter number is too big you can set the operation to be performed more quickly while changingtheoperationdigits usingtheLeft Key front panel DATA Key forless than1 s or Right Key After selecting the parameter number press the DATA Key front panel DATA Key 1s min to display the contents To change the contents of ...

Page 228: ...e Servomotor is unloaded i e when the shaft is not connected to the mechanical system Also to prevent the Servomotor rotating sideways fasten the Servomotor mounting surface firmly to the machinery Use the jog operation when the power to the Host Controller is turned OFF or the Host Controller is not connected H Using the Jog Operation The jog operation is System Check Mode function code Fn002 You...

Page 229: ... Fn002 the Servomotor will turn OFF automatically Note 2 The 2 digit LED bit display before the JoG display is the same as the bit display in Status Display Mode D Changing the Rotation Speed The default setting for user parameter number Pn304 jog speed is 00500 500 r min You can change this setting to change the rotation speed during a jog operation Try changing the jog speed setting to 01000 100...

Page 230: ...ous operations to change the parameter number and parameter settings Use these operations as needed to shorten the time required for a setting operation Try changing the jog speed setting using various different operations Note Do not change any other parameter settings at this stage Before changing other parameter set tings make sure you read and fully understand 4 4 User Parameters Changing the ...

Page 231: ...in the parameter setting data Press the Left Key front panel DATA Key for less than 1 s to shift the operation digit to the left in the same way After you reach the leftmost digit you can change the display returns to digit No 0 Use the following operation to shift the operation digit if for example you want to change the setting from 00500 to 01000 Select operation digit No 2 using the Left Key f...

Page 232: ...d for checking only S Return to parameter number display for 1 s min H Operation Procedure D Going into Setting Mode PR02W operation Front panel key operation Display example Explanation Status Display Mode Press the MODE SET Key to go into Setting Mode D Setting the Parameter Number PR02W operation Front panel key operation Display example Explanation less than 1 s Set the parameter number you wa...

Page 233: ...tion Function selection switches Pn000 to Pn003 Speed control setting Pn10b Online auto tuning setting Pn110 Position control settings 1 and 2 Pn200 Pn207 Torque command setting Pn408 I O signal selection Pn50A to 512 For parameters displayed as n jjjj each of the 4 digits after the n indicate different function settings i e 4 different function settings are performed using 1 parameter No For thes...

Page 234: ...l key operation Display example Explanation 1 s min Press the DATA Key front panel DATA Key for 1 s min to return to the parameter No display 4 4 2 Parameter Tables Some parameters are enabled by turning OFF the Unit then turning it ON again See the tables be low When changing these parameters turn OFF the power check that the power lamp is not lit then turn ON the power again The specific digit n...

Page 235: ...ibition 2 Unit No setting 0 to F Servo Driver communications unit number setting necessary for multiple Servo Driver connections when using personal computer monitoring software 3 Not used 0 Do not change setting Pn001 Func tion selec ti 0 Select stop if an l 0 Servomotor stopped by dynamic brake 1002 0000 Yes tion ap plica tion switch alarm occurs when Servo 1 Dynamic brake OFF after Servomotor s...

Page 236: ...der used without phase Z for full closed loop en d 2 Full closed loop encoder used without phase Z loop en coder 3 Full closed loop encoder used in reserse rotation mode without phase Z 4 Full closed loop encoder used in reserse rotation mode without phase Z Pn003 Func tion l 0 Analog monitor 1 AM 0 Servomotor rotation speed 1V 1000 r min 0002 0002 selec tion ap 1 AM alloca 1 Speed command 1 V 100...

Page 237: ...n constant 2 Speed loop integral time constant enabled by gain switching input 2000 2000 x 0 01 ms 15 to 51200 Pn106 Position loop gain 2 Adjusts position loop responsiveness enabled by gain switching input 40 40 1 s 1 to 2000 Pn107 Bias rotational speed Sets position control bias 0 0 r min 0 to 450 Pn108 Bias addition band Sets the position control bias operation start using deviation counter pul...

Page 238: ...cts speed feed back com 0 ON back com pensation function 1 OFF 2 Selects adhesive f i ti 0 Friction compensation OFF friction compensa tion function 1 Friction compensation rated torque ratio small 2 Friction compensation rated torque ratio large 3 Not used 0 Do not change setting Pn111 Speed feedback compensat ing gain Adjusts speed loop feedback gain 100 100 1 to 500 Pn112 Not used Do not change...

Page 239: ...e signal x1 Positive logic 3 90 phase difference A B phase signal x2 Positive logic 4 90 phase difference A B phase signal x4 Positive logic 5 Feed pulses Forward reverse signal Negative logic 6 Forward pulse reverse pulse Negative logic 7 90 phase difference A B phase signal x1 Negative logic 8 90 phase difference A B phase signal x2 Negative logic 9 90 phase difference A B phase signal x4 Negati...

Page 240: ...384 16384 Command unit 25 to 65535 Pn207 Position control set 0 Selects position 0 Primary filter Pn204 0000 0000 Yes control set ting 2 position command filter 1 Linear acceleration and deceleration Pn208 1 Speed command input 0 Function not used input switching during position control 1 REF used as feed forward input 2 to 3 Not used 0 Do not change setting Pn208 Position command filter time cons...

Page 241: ...er time constant Sets the constant when filtering the internal torque command 40 100 x 0 01 ms 0 to 65535 Pn402 Forward torque limit Forward rotation output torque limit rated torque ratio 350 800 0 to 800 Pn403 Reverse torque limit Reverse rotation output torque limit rated torque ratio 350 800 0 to 800 Pn404 Forward rotation external current limit Output torque limit during input of forward rota...

Page 242: ...the speed conformity output VCMP 10 10 r min 0 to 100 Pn504 Positioning completion range 2 Sets the range for positioning completed output 2 INP2 3 7 Command unit 1 to 250 Pn505 Deviation counter overflow level Sets the detection level for the deviation counter over alarm 1024 1024 x 256 command unit 1 to 32767 Pn506 Brake timing 1 Sets the delay from the brake command to the Servomotor turning OF...

Page 243: ...d to CN1 pin 43 Valid for low output 4 Allocated to CN1 pin 44 Valid for low output 5 Allocated to CN1 pin 45 Valid for low output 6 Allocated to CN1 pin 46 Valid for low output 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 40 Valid for high output A Allocated to CN1 pin 41 Valid for high output b Allocated to CN1 pin 42 Valid for high output C Allocated to CN1 pin 43 Valid for high ou...

Page 244: ...3 0 RDIR signal Input terminal allocation 0 to F Same as Pn50A 1 RDIR rotation direction command signal allocation 8888 8888 Yes 1 SPD1 signal Input terminal allocation 0 to F Same as Pn50A 1 SPD1 speed selection reference 1 signal allocation 2 SPD2 signal Input terminal allocation 0 to F Same as Pn50A 1 SPD2 speed selection command 2 signal allocation 3 TVSEL signal Input terminal allocation 0 to...

Page 245: ...t terminal allocation 0 to 3 Same as Pn50E 0 READY Servomotor warmup complete signal allocation Pn50F Output signal selection 2 0 CLIMT signal output terminal allocation 0 to 3 Same as Pn50E 0 CLIMT current limit detection signal allocation 0000 0000 Yes 1 VLIMT signal output terminal allocation 0 to 3 Same as Pn50E 0 VLIMT speed limit detection signal allocation 2 BKIR signal output terminal allo...

Page 246: ...eters requiring each digit No to be set separately H Other Parameters From 600 Parameter No Parameter name Explanation Default setting Unit Setting range Restart power Pn600 Regeneration resistor ca pacity Setting for regeneration resistance load ratio monitoring calculations 0 x 10 W From 0 varies by Unit Pn601 Not used Do not change setting 0 4 4 3 Important Parameters This section explains the ...

Page 247: ...ed control Analog command 8 Position control Pulse train command Torque control Analog command 9 Speed control Analog command Torque control Analog command A Speed control with position lock function Analog command b Position control with pulse disable function Pulse train command Set to match the application content and the output form of the Host controller you are using If using switching contr...

Page 248: ...e Drive Prohibit is OFF Pn001 0 0 or 1 1 or 2 2 POT NOT is OFF Deceleration Method Dynamic brake Free run Emergency stop torque Pn406 Servo unlocked Stopped Status Servo unlocked Servo locked Pn001 1 2 1 See note 1 Pn001 1 0 Note 1 The position loop is disabled when the servo stops in servolock mode during position control Note 2 During torque control the stopping process depends on Pn001 0 the Pn...

Page 249: ...n512 With the OMNUC W series you can freely change the I O signal allocation If using an OMRON position controller Position Control Unit or Motion Control Unit you do not need to change the default settings The various special Control Cables are also based on the default al locations The default allocations which are the same as for the R88D UT OMRON Servo Driver are as follows CN1 pin No Signal n...

Page 250: ...GON Servomotor rotation detection output 29 30 READY Servo ready output D Input Signal Selection Pn50A to Pn50d Pn50A 0 Input signal selection 1 Input signal allocation mode All operation modes Setting range 0 1 Unit Default setting 0 Restart power Yes Setting Explanation Setting Explanation 0 Sets the sequence input signal allocation to the same as R88D UT 1 User defined sequence input signal all...

Page 251: ...using H input d Allocated to CN1 44 pin enabled using H input E Allocated to CN1 45 pin enabled using H input F Allocated to CN1 46 pin enabled using H input If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 toF aredisabled andall are set to CN1 pin 40 enabled by L input Settings 7 and 8 are both enabled To change the pin number set Pn50A 0 to 1 When set to 7 the servo ...

Page 252: ...he NOT signal permits reverse rotation drive upon input Pn50b 1 Input signal selection 2 RESET signal alarm reset input terminal allocation All operation modes Setting range 0 to F Unit Default setting 4 Restart power Yes Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to 6 and 9 toF aredisabled andall are set to CN1 pin 44 enabled by L input...

Page 253: ...erminal allocation internally set speed control Setting range 0 to F Unit Default setting 8 Restart power Yes Settings are the same as for Pn50A 1 If Pn50A 0 is set to 0 you cannot change the pin number Settings 0 to F are all disabled To change the pin number set Pn50A 0 to 1 Pn50C 3 Input signal selection 3 TVSEL signal control mode switching input terminal allocation Switching control Setting r...

Page 254: ...tor ready is allocated to pins 29 and 30 Pn50E 0 Output signal selection 1 INP1 signal positioning completed output 1 output terminal allocation Position Setting range 0 to 3 Unit Default setting 1 Restart power Yes Setting Explanation Setting Explanation 0 No output 1 Allocated to pins CN1 25 and 26 pin 26 is the COM port 2 Allocated to pins CN1 27 and 28 pin 28 is the COM port 3 Allocated to pin...

Page 255: ...d turns OFF when an alarm occurs Pn512 0 Output signal reverse Pins CN1 25 and 26 output signal reverse All operation modes Setting range 0 1 Unit Default setting 0 Restart power Yes Setting Explanation Setting Explanation 0 Not reversed 1 Reversed Select the characteristics of the output signal allocated to pins CN1 25 and 26 If you set 1 reverse ON OFF outputs are reversed Pn512 1 Output signal ...

Page 256: ...ge 0 to F Unit Default setting 0 Restart power Yes Setting Explanation Setting Explanation 0 to F Sets the Servo Driver unit number You must make settings if connecting multiple Servo Drivers using OMNUC W series Servo Driver Computer Monitoring Software for Windows95 Refer to the software for details Pn000 3 Function selection basic switch Not used Setting range Unit Default setting 0 Restart pow...

Page 257: ...ply the residual voltage in the main circuit power supply is not dis charged rapidly when the power is turned OFF Be sure to mount a discharge circuit on the DC power supply Also check that the charge indicator is not lit before storing the power supply input when the power supply has been turned OFF the discharge time for the Servo Driver is approximately 30 minutes Pn001 3 Function selection app...

Page 258: ...ion externalcurrent limit and Pn405 Reverse rotationexternal current lim it The smallest output torque from among the enabled limitations is limited Pn002 1 Function selection application switch 2 Speed command input switching Torque Setting range 0 1 Unit Default setting 0 Restart power Yes Setting Explanation Setting Explanation 0 Function not used 1 REF used as analog speed limit Set the REF sp...

Page 259: ... Position speed internally set speed control 2 Torque command current monitor 1 V rated torque forward acceleration voltage reverse acceleration voltage All operation modes 3 Position deviation 0 05 V 1 command Plus deviation voltage minus deviation voltage Position 4 Position deviation 0 05 V 100 commands Plus deviation voltage minus deviation voltage Position 5 Command pulse frequency 1 V 1000 r...

Page 260: ...ed internally set speed control Setting range 1 to 2000 Unit Hz Default setting 80 Restart power No This gain adjusts the speed loop response Increase the setting i e increase the gain to raise servo rigidity Generally the greater the inertia ratio the higher the setting There is a risk of oscillation however if the gain is too high Servomotor speed speed monitor Overshoots when speed loop gain is...

Page 261: ...e the specific oscillation This should be 50 to 70 1 s for ordinary machine tools 30 to 50 1 s for general use and assembly machines and 10 to 30 1 s for production robots The default position loop gain is 40 1 s so be sure to lower the setting for machines with low rigidity Raising the position loop gain in systems with low mechanical rigidity or systems with low specific os cillation may result ...

Page 262: ...can achieve the appropriate control by setting the gain and time constant beforehand for each of these conditions and then switching according to the conditions We recommend using Racks on which online auto tuning can set to be always enabled Online auto tuning cannot be always enabled under the following conditions S When using torque feed forward function S When load inertia fluctuates by 200 ms...

Page 263: ...mum Check and adjust machine response Pn10A Feed forward command filter Position Setting range 0 to 6400 Unit x 0 01 ms Default setting 0 Restart power No Sets the feed forward primary lag command filter during position control If the positioning completed signal is interrupted i e repeatedly turns ON and OFF because of per forming feed forward compensation and a speed overshoot is generated allev...

Page 264: ...tting Pn10b 1 speed control loop switching to 1 P control changes the parameter to switch from PI control to P control Pn10b 1 Speed control setting Speed control loop switching Position speed internally set speed control Setting range 0 1 Unit Default setting 0 Restart power Yes Setting Explanation Setting Explanation 0 PI control 1 P control Set the speed control loop to either PI control or P c...

Page 265: ...et Pn10F if you set Pn10b 0 P control switching condition to 3 switching by deviation pulse Set the deviation pulse to switch to P control The servo switches to P control if the deviation counter residual pulses exceed the setting level D Online Auto tuning Setting Pn110 Default Setting 0012 Online auto tuning is a control function that constantly maintains the target speed loop gain and posi tion...

Page 266: ... System Check Mode opera tion Make this setting 0 or 2 if auto tuning is disabled See above S When load inertia fluctuates by 200 ms maximum S During operations where rotation speed does not exceed 500 r min or output torque does not exceed 50 of the rated torque S When external power is constantly applied as with the vertical axis Pn110 1 Online auto tuning setting Speed feedback compensation fun...

Page 267: ...etting Not used Setting range Unit Default setting 0 Restart power No Note Do not change the setting Pn111 Speed feedback compensating gain Position speed internally set speed control Setting range 1 to 500 Unit Default setting 100 Restart power No Use this parameter to adjust the speed loop feedback gain for when Pn110 1 speed feedback com pensation function selection is set to ON The smaller the...

Page 268: ...D Position Control Setting 1 Pn200 Default Setting 1011 Pn200 0 Position control setting 1 Command pulse mode Position Setting range 0 to 9 Unit Default setting 1 Restart power Yes Note Refer to 4 4 3 Important Parameters for details Pn200 1 Position control setting 1 Deviation counter reset Position Setting range 0 to 3 Unit Default setting 1 Restart power Yes Setting Explanation Setting Explanat...

Page 269: ...d filter selection Setting range 0 1 Unit Default setting 1 Restart power Yes Setting Explanation Setting Explanation 0 Command filter for line driver signal input 500 kpps 1 Command filter for open collector signal input 200 kpps Sets the pulse command input filter Set this parameter to conform to the command pulse input line driver input or open collector input Pn201 Encoder dividing rate All op...

Page 270: ...is input the Servomotor will rotate once the internal Servo Driver will operate at x4 Set within the range 0 01 G1 G2 100 Note Refer to 4 5 12 Electronic Gear Function for details Pn204 Position command filter time constant 1 primary filter Setting range 0 to 6400 Unit x 0 01 ms Default setting 0 Restart power No Sets the command pulse soft start The soft start property is the primary filter expon...

Page 271: ...ated To cancel this alarm the setting for the number of multi turns Fn013 must be changed in the System Check Mode Pn206 Sets the number of pulses for full closed encoder for one rotation of the motor Setting range 25 to 65535 Unit Default setting 16384 Restart power Note Set higher than 513 D Position Control Setting 2 Pn207 Default Setting 0000 Pn207 0 Position control setting 2 Position command...

Page 272: ...details Pn207 2 Position control function 2 Not used Setting range Unit Default setting 0 Restart power No Note Do not change the setting Pn207 3 Position control function 2 Not used Setting range Unit Default setting 0 Restart power No Note Do not change the setting Pn208 Position command filter time constant 2 trapezoidal acceleration and deceleration Setting range 0 to 6400 Unit x0 01 ms defaul...

Page 273: ...ommand input Note 1 If a value that exceeds the maximum Servomotor rotation speed is set that value will be re garded as the maximum Servomotor rotation speed Note 2 Refer to 4 5 4 Internally Set Speed Control for details Pn304 Jog speed All operation modes Setting range 0 to 10000 Unit r min Default setting 500 Restart power No Sets the speed for when the jog operation is used Note 1 If a value t...

Page 274: ...om Pn400 Pn400 Torque command scale All operation modes Setting range 10 to 100 Unit 0 1 V rated torque Default setting 30 Restart power No This parameter sets the relationship between TREF torque command input voltage and output torque Set the TREF voltage to output the rated torque The default setting is for a rated torque at TREF 3 V Note TREF voltage functions as an input voltage according to ...

Page 275: ...nge 0 to 800 Unit Default setting 100 Restart power No Set in Pn404 the torque limit for when PCL forward current limit input is input and set in Pn405 the torque limit for when NCL reverse current limit input is input using the ratio of the Servomotor rated torque for each Note The following torque limit functions are available Analog torque limit Pn002 0 1 or 3 Pn402 forward torque limit Pn403 r...

Page 276: ...ng Pn408 3 Torque command setting Not used Setting range Unit Default setting 0 Restart power No Note Do not change the setting Pn409 Notch filter frequency All operation modes Setting range 50 to 2000 Unit Hz Default setting 2000 Restart power No Enabled when Pn408 0 notch filter function selection is set to 1 Set the mechanical resonance frequency H Sequence Parameters From Pn500 Pn500 Positioni...

Page 277: ... is less than the set value Note Related parameter Pn50E 1 VCMP signal output terminal allocation Pn504 Positioning completion range 2 Setting range 1 to 250 Unit Command unit Default setting 3 Restart power No Set the deviation counter to output INP2 positioning completed output 2 during position control INP2 is ON when the deviation counter residual pulses are less than the set value You can red...

Page 278: ... modes Setting range 20 to 1000 Unit ms Default setting 20 Restart power No Sets the time during which alarm detection is disabled if a momentary power failure occurs When the power supply voltage to the Servo Driver is OFF the Servo Driver detects that the power supply is OFF and turns OFF the servo The 20 ms default setting means that if the power supply volt age is recovered within 20 ms operat...

Page 279: ... set the regen eration absorption amount Set the regeneration absorption amount for when the temperature rises above 120 C not the nominal amount Refer to Regenerative Energy Absorption Using External Re generation Resistance for details Perform Un00A regeneration load monitor calculations and A 92 regeneration overload warning and A 32 regeneration overload alarm based on the Pn600 setting Note I...

Page 280: ...Parameters Requiring Settings Parameter No Parameter name Explanation Reference Pn000 1 Function selection basic switch 1 Control mode selection Select the control mode you wish to use for position control settings 1 5 7 8 b 4 4 3 Important Parameters Pn200 0 Position control setting 1 Command pulse mode Set to match the controller command pulse status 4 4 3 Important Parameters Pn202 Electronic g...

Page 281: ...itches speed loop command from PI control to P control by inputting a MING gain reduction signal to lower servo rigidity 4 5 9 Gain Reduction P control switching function Switches the speed control loop automatically from PI control to P control to lower servo rigidity Switching conditions can be selected 4 8 9 P Control Switching 4 5 2 Speed Control Speed H Function Performs Servomotor speed cont...

Page 282: ...ps the Servomotor in servolock status position control status using PLOCK position lock command signal input 4 5 14 Position Lock Function Torque feed forward function Calculates TREF torque command input for the current loop to reduce acceleration and deceleration time 4 8 3 Torque Feed forward Function Torque limit function This function limits the Servomotor s output torque 4 5 10 Torque Limit ...

Page 283: ...Requiring Settings Parameter No Parameter name Explanation Reference Pn000 1 Function selection basic switch 1 Select the control mode for torque control Settings 2 6 8 9 4 4 3 Important Parameters Pn400 Torque command scale Set the TREF torque command input voltage to output the rated torque Output torque output torque rate Default setting Torque command voltage V 4 4 4 Parameter Details Note Ser...

Page 284: ... 46 and sets the rotation direction using the rotation direction command RDIR CN1 41 Pin No is the default allocation When SPD1 and SPD2 are both OFF the Servomotor decelerates and stops according to the decel eration time At this time you can make pulse train inputs during position control speed command inputs during speed control and torque commandinputs duringtorque control using theparameter s...

Page 285: ... settings Note 2 If the maximum Servomotor rotation speed setting is greater than Pn301 Pn302 and Pn303 the setting will be taken to be the maximum rotation speed H Related Functions The following functions related to internal speed setting control can be used during internal speed set ting control Function name Explanation Reference Position lock function This function stops the Servomotor in ser...

Page 286: ... 1 6 Internally set speed control Torque control Torque control No 1 internal speed setting Pn301 No 3 internal speed setting Pn303 No 2 internal speed setting Pn302 H Operation Examples D Internally set Speed Control Settings Only Pn000 1 3 Speed selection command 1 SPD1 Speed selection command 2 SPD2 Rotation direction command RDIR Servomotor op eration Speed 2 Speed 3 Speed 1 Speed 1 reverse ro...

Page 287: ...nd RDIR Pulse command Servomotor op eration Speed 2 Speed 3 Speed 1 Speed 1 reverse rotation Positioning com pleted INP1 Speed compare VCMP 2 ms min 2 ms min Note 1 When SPD1 and SPD2 are turned OFF the Servomotor will decelerate to a stop INP1 posi tion completed output 1 will be output and the servo will be position locked Pulse train com mand inputs can be received in this status The pulse comm...

Page 288: ...eed 1 reverse rotation Torque Control Mode Note 1 Operation follows the speed command input TREF immediately after SPD1 and SPD2 are both OFF although there is a delay of up to 2 ms in reading the input signal Note 2 Servomotor operation with torque control varies according to the Servomotor load conditions e g friction external power inertia Perform safety measures on the devices to prevent Servo...

Page 289: ... Explanation Reference Pn000 1 Function selection basic switch 1 Control mode selection Select control mode for switching control Settings 7 8 9 4 4 3 Important Parameters Pn50C 3 Input signal selection 3 TVSEL signal selection You must set Pn50C 3 TVSEL signal selection See note 4 4 3 Important Parameters Note If you select the switching control mode with the default settings the mode will be all...

Page 290: ...com pleted INP1 Speed compare VCMP Servomotor op eration 2 ms min 2 ms min Note 1 There is a maximum delay of 2 ms in reading the input signal Note 2 When switching from speed control to position control input the pulse command after TVSEL control mode switching has turned OFF INP1 positioning completed output 1 signal has turned ON and 2 ms has elapsed The pulses will be ignored until the positio...

Page 291: ...NP1 signal has turned ON and 2 ms has elapsed The pulses will be ignored until the positioning com pleted output 1 INP1 signal has turned ON D Speed and Torque Control Switching Example Pn000 1 9 Control mode switching TVSEL Speed command input REF Servomotor op eration Torque Control Mode Torque command input TREF Note 1 There is a maximum delay of 2 ms in reading the input signal Note 2 Servomot...

Page 292: ...0 setting be sure to set Pn 001 0 stop selection for alarm generation with servo OFF 4 4 3 Important Parameters Pn406 Emergency stop torque If Pn001 1 is set to 1 or 2 set emergency stop torque in Pn406 4 4 4 Parameter Details Note POT and NOT are allocated to CN1 42 43 in the default settings but are both set to disabled i e drive prohibition will not operate If changing the default setting set P...

Page 293: ...per Servomotor revolution can be set within a range of 16 to number of encoder resolution pulses The upper limit is 16 384 pulses rotation Use this function for the following applications When using a controller with a low response frequency When it is desirable to set a pulse rate that is easily divisible For example in a mechanical system in which a single Servomotor revolution corresponds to a ...

Page 294: ...e B and n is an integer that satisfies the following formula with digits below the decimal point discarded n resolution encoder divider rate Phase A Phase B Input to frequency divider processing circuit output T 4 5 8 Brake Interlock All Operating Modes H Precautions for Using Electromagnetic Brake The electromagnetic brake Servomotor with a brake is a non excitation brake especially for holding F...

Page 295: ...Is Stopped RUN BKIR brake interlock Brake power supply Brake operation Speed command or pulse command Servomotor energizing 200 ms max Approx 2 ms 100 ms max Pn506 See note 2 0 to 35 ms See note 1 Deenergized Energized Note 1 The time from turning ON the brake power supply to the brake being released is 200 ms max Set the speed command pulse command to be given after the brake has been released ta...

Page 296: ...deenergizing to dynamic brake being applied the Servomotor will continue to rotate due to its momentum Note 2 If the Servomotor rotation speed falls below the speed set in Pn507 brake command speed or the time set in Pn508 brake timing 2 after the Servomotor deenergizes is exceeded the BKIR brake interlock signal is turned OFF 4 5 9 Gain Reduction Position Speed Internally set speed Control H Func...

Page 297: ...s function can be used to protect the Servomotor and mechanical system by preventing excessive force or torque on the mechanical system when the machine moving part pushes against the work piece with a steady force such as in a bending machine There are four methods that can be used to limit the torque pin No is allocated at the factory Limit the steady force applied during normal operation with u...

Page 298: ... a percentage of the rated torque setting range 0 to 800 Pn300 Integration Pn101 Speed loop gain Pn100 Speed feedback Pn400 Torque limit value Speed reference TREF VREF Torque reference Pn403 Torque limit Pn404 PCL ON Pn402 Pn405 NCL ON Note 1 Set these parameters to 350 the default setting when the torque limit function is not being used Note 2 If the connected Servomotor is set to a value greate...

Page 299: ...omentary torque will become the set limit Note 3 If using this function with internally set speed control set Pn50A 1 to 1 user defined set tings and allocate the required input signals PCL NCL SPD1 SPD2 RDIR etc D Limiting Normal Operation with Analog Voltage Position Speed Internally set Speed Control When Pn002 0 torque command input switching is set to 1 TREF torque command input becomes the a...

Page 300: ...ng this function with internally set speed control set Pn50A 1 to 1 user defined set tings and allocate the required input signals PCL NCL SPD1 SPD2 RDIR etc 4 5 11 Soft Start Function Speed Internally set Speed Control H Functions This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times You can set the acceleration and deceleration independently of e...

Page 301: ...of pulses obtained by multiplying the command pulses by the electronic gear ratio This function is enabled under the following conditions When fine tuning the position and speed of two lines that are to be synchronous When using a position controller with a low command pulse frequency When you want to set the travel distance for machinery per pulse to 0 01 mm for example H Parameters Requiring Set...

Page 302: ...nd Filter Function Position H Functions Perform soft start processing for the command pulses usingthe selectedfilter togently accelerateand decelerate Select the filter characteristics using Pn207 0 position command filter selection When Pn204 position command filter time constant 1 is selected acceleration and deceleration are performed using the primary filter exponentiation function When Pn208 ...

Page 303: ...and deceleration times setting range 0 to 6400 x 0 01 ms Note If not using the position command filter function set each content to 0 i e the default setting H Operation The characteristics for each filter are shown below Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain delay Acceleration 2 Kp s Deceleration 3 Kp s Kp Posit...

Page 304: ... greater than Pn501 position lock rotation speed the Servomotor will rotate Loop gain during position lock is set using Pn102 position loop gain H Parameters Requiring Settings Parameter No Parameter name Explanation Reference Pn50d 0 Input signal selection 4 PLOCK signal selection PLOCK must be allocated See note 1 4 4 3 Important Parameters Pn501 Position lock rotation speed Set the position loc...

Page 305: ...motor rotations varies depending on the load There are two methods that can be used for limiting the speed Apply a constant fixed speed limit for torque control by means of user parameters Limit the speed by means of analog voltage Use REF speed command input as an analog speed limit input When the speed limit is in operation VLIMT speed control output is output when the signal has been allocated ...

Page 306: ...ramming devices are connected then turn ON the power First perform a trial operation at low speed to confirm that the system is operating correctly Next perform a normal run pattern to con firm that the system is operating correctly Note 1 If an error occurs during the trial operation refer to Troubleshooting to eliminate the cause Then check for safety and reset the alarm and then retry the trial...

Page 307: ...ng Adjustments and adjust the gain 3 Operation Under Actual Load Conditions Operate the Servomotor in a regular pattern and check the following items Is the operating speed correct Use the speed feedback monitor Is the load torque roughly equivalent to the measured value Use the torque command monitor and the accumulated load monitor Are the positioning points correct When an operation is repeated...

Page 308: ...on function is used Pn110 1 0 H Online Auto tuning Related Settings The following tables show the user parameters and System Check Modes relating to online auto tun ing D User Parameters Pnjjj Parameter No Parameter name Explanation Pn100 Speed loop gain Target value for auto tuning Pn101 Speed loop integration time constant Integration time constant for auto tuning Pn102 Position loop gain Target...

Page 309: ...and load If no errors occur stop the operation and store the auto tuning results Fn007 Turn ON the power to enable the parameter settings then perform the operation If an error occurs reset the rigidity Fn001 and perform the operation again If an error occurs set the viscous friction compensation Pn110 2 1 or 2 See note 1 If an error occurs stop the operation and adjust the gain manually Set the o...

Page 310: ...ives etc Medium 04 40 40 2000 100 XY tables Car tesian coordi nate robots general pur pose machin ery etc High 05 60 60 1500 70 Ball screws g 06 85 85 1000 50 direct coupling 07 120 120 800 30 coupling feeders etc 08 160 160 600 20 feeders etc 09 200 200 500 15 10 250 250 400 10 Note 1 The servo system loop gain will rise in response to a higher rigidity setting shortening posi tioning time If the...

Page 311: ...nsation OFF friction compensati on function 1 Friction compensation Rated torque ratio small on function selection 2 Friction compensation Rated torque ratio large 3 Not used 0 Do not change the setting Pn401 Torque com mand fil ter time constant Sets the filter time constant for the internal torque command 40 x 0 01 ms 0 to 65535 No Note Refer to 4 4 4 Parameter Details for details of each parame...

Page 312: ...rge however the machinery may vibrate so make the set ting small Note 2 When the rigidity is set the user parameters in the above table will change automatically H Manual Tuning related User Parameters Parame ter No Parame ter name Explanation Default setting Unit Setting range Restart power Pn100 Speed loop gain Adjusts speed loop responsiveness 80 Hz 1 to 2000 No Pn101 Speed loop integrati on ti...

Page 313: ...volock ON Any hunting vibration when the Servomotor rotates Rotate Servomotor and monitor operation Increase Pn102 position loop gain until there is no overshooting Increase Pn401 torque command filter time constant Note If vibration does not cease no matter how many times you perform adjustments or if positioning is slow Adjustment complete Increase rigidity setting Fn001 until there is no huntin...

Page 314: ...oning Increase Pn300 speed control scale or position loop gain on the controller until there is no overshooting Increase Pn401 torque command filter time constant Note If vibration does not cease no matter how many times you per form adjustments or if positioning is slow End adjustment Increase rigidity setting Fn001 until there is no hunting Increase Pn101 speed loop integration constant Reduce P...

Page 315: ... inner loops and for outer loops to perform suitable control operations it is necessary that inner loops respond sufficiently to their inputs i e inner loop respon siveness must be high Also be sure to adjust the gain starting from the innermost loop The current loop is adjusted at the factory for sufficient response so adjust the speed loop first then adjust the position loop Adjust the speed loo...

Page 316: ...not using the bias function set Pn107 to 0 Note 2 If the bias rotational speed is set too high it will cause Servomotor operation to be unstable The optimum setting depends on the load the gain and the bias addition band so adjust the setting while observing the Servomotor response Begin with a bias setting of Pn107 0 and gradually increase it H Setting Procedure Complete the gain adjustment befor...

Page 317: ...tting Procedure Finish adjusting the gain before adjusting the feed forward Increase the Pn109 feed forward amount setting until positioning time is minimal At this point if there are no problems with using overshoot adjustments are complete A high setting may cause the machinery to vibrate With ordinary machinery set the gain to 80 maximum Adjust the gain while checking the machine response If th...

Page 318: ...ale Adjust the torque feed forward amount See note Note The default setting is 30 x 0 1 V rated torque H Operation REF speed command input TREF torque feed forward input Servomotor output torque Servomotor operation Without the torque feed forward function Without the torque feed forward function Note 1 If torque feed forward is input when the Servomotor s rotation speed is fixed the rotation spee...

Page 319: ... too large an overshoot may occur so adjust Pn300 speed command scale as required Speed Feed forward Function Block Diagram Host Controller Differ ential Position command Speed feed forward Command pulses Encoder output Speed com mand scale Electronic gear ratio G1 G2 Encoder di viding rate Deviation counter Speed detection Current detection Current loop Speed loop Servo Driver H Parameters Requir...

Page 320: ...Pn105 speed loop integration constant 2 and Pn106 position loop gain 2 If the mechanical system inertia fluctuates too much or if there is no difference between operation and standby responses you can perform applicable control using gain switching If online auto tuning is not enabled under the conditions shown below the gain switching function will be enabled When using the torque feed forward fu...

Page 321: ...ng to the above table 4 8 6 Notch Filter Position Speed Internally set Speed Control H Functions You can set the notch filter for the internal torque command commands to the current loop Set the resonance frequency in Pn409 notch filter frequency to prevent machine resonance You can reduce positioning time by setting a high speed loop gain H Parameters Requiring Settings Parameter No Parameter nam...

Page 322: ... 0 2 H Parameters Requiring Settings Parameter No Parameter name Explanation Reference Pn110 1 Selects speed feedback compensation function To use the speed feedback compensation function set Pn110 1 to 1 speed feedback compensation function ON 4 4 4 Parameter Details Pn111 Speed feedback compensating gain Adjusts the speed loop feedback gain Reduce the setting value for Pn111 speed feedback compe...

Page 323: ...ing Procedure Measure the machinery vibration cycle and set Pn308 speed feedback filter time constant to that value 4 8 9 P Control Switching Position Speed Internally set Speed Control H Functions This function automatically switches the control method for the speed loop control from PI proportion al integration control to P proportional control Normally control is sufficient using the speed loop...

Page 324: ...en Pn10b 0 3 switch using deviation pulse value Set the deviation pulse value command unit to switch to P control If the output torque is saturated during acceleration and deceleration switch to P control using the internal torque command value or acceleration command value If the output torque is not saturated during acceleration and deceleration and an overshoot or under shoot occurs switch to P...

Page 325: ... Acceleration com mand value Time D Switching Using Deviation Pulse You can switch to P control when the deviation pulse value exceeds the setting in Pn10F to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high speed area Deviation pulse value Time 4 9 Using Displays OMNUC C series AC Servomotors have unique servo software that enables quantita tive...

Page 326: ... The indicator stays lit while the main circuit capacitor remains charged even after the power is turned OFF Do not touch the Servo Driver terminal 4 9 2 Status Display Mode The Status Display Mode indicates the internal status of the driver using bit display LED ON OFF and symbol display 3 digit 7 segment LEDs Status Display Mode is the mode in which the Servo Driver starts when the power supply ...

Page 327: ...ection Lit when the Servomotor rotation speed is equal to or greater than Pn502 rotation speed for motor rotation detection setting Inputting command pulses Lit when command pulses are being input Inputting speed command Lit when a speed command input meets or is greater than Pn502 rota tion speed for motor rotation detection setting Inputting deviation counter reset signal Lit when the ECRST devi...

Page 328: ...d moni tor value 1 s min 1 s min 1 s min Operating Procedure Example Displaying Monitor Value of Electrical Angle Un 004 PR02W operation Front panel key operation Display Explanation Status Display Mode Press the MODE SET Key to switch to Monitor Mode Set monitor No Un004 using the Up or Down Key See note 1 s min Press the DATA Key front panel DATA Key for 1 s min to display monitor value for Un00...

Page 329: ...esidual pulses in deviation counter input pulse standard Cumulative load ratio all output modes Displays effective torque rated torque 10 10 s cycle Regeneration load ratio all output modes Displays regeneration absorption current due to regeneration resistance calculates internal resistance capacity or Pn600 setting as 100 in 10 s cycles Dynamic brake resistance load ratio all output modes Displa...

Page 330: ...gnal allocation D Output Signal Monitor Contents Un006 LED No OFF high level top is lit ON low level bottom is lit Indicator No Output terminal Signal name default 1 CN1 31 32 ALM alarm 2 CN1 25 26 INP1 positioning completed output 1 VCMP speed conformity 3 CN1 27 28 TGON Servomotor rotation detection 4 CN1 29 30 READY servo ready 5 CN1 37 ALO1 alarm code output 1 6 CN1 38 ALO2 alarm code output 2...

Page 331: ...s min to return to monitor number display Note 1 Digits that can be manipulated will flash Note 2 Press Up and Down Keys simultaneously when the monitor value is displayed i e H jjjj or L jjjj is displayed to clear the counter i e reset to H 0000 or L 0000 4 10 Using Monitor Output OMNUC W series AC Servo Drivers output in analog form the Servomotor rotation speed torque command position differenc...

Page 332: ...g monitor 2 Default setting Speed monitor 1 V 1000 r min change using Pn003 1 2 AM Analog monitor 1 Default setting Current monitor 1 V rated torque change using Pn003 0 3 GND Analog monitor ground Ground for analog monitors 1 and 2 4 GND Analog monitor ground g Note 1 Displays status with no change to scaling Note 2 Maximum output voltage is 8 V Exceeding this value may result in an abnormal outp...

Page 333: ...tion voltage All operation modes 1 Speed command 1 V 1000 r min Forward rotation command voltage reverse rotation command voltage Position speed internally set speed control 2 Torque command current monitor 1 V rated torque forward acceleration voltage reverse acceleration voltage All operation modes 3 Position deviation 0 05 V 1 command Plus deviation voltage minus deviation voltage Position 4 Po...

Page 334: ...history data clear 4 11 1 Alarm history Store online auto tuning results Writes the load data calculated using online auto tuning to Pn103 inertia ratio 4 11 2 Online Auto tuning Related Functions Absolute encoder setup ABS 4 2 2 Absolute Encoder Setup and Battery Changes Speed and torque command offset automatic adjustment 4 11 5 Command Offset Adjustment Speed command offset manual adjustment Ad...

Page 335: ...ck Mode Fn000 Note 1 Alarms CPF00 Parameter Unit transmission error 1 and CPF01 Parameter Unit transmis sion error 2 are Parameter Unit alarms and so are not stored in the alarm history Note 2 Warnings are not stored in the alarm history Note 3 If the same alarm occurs continuously it is entered in the alarm history only as a single alarm System Check Mode alarm history display Error number Alarm ...

Page 336: ...g the alarm history and return to the function code display Note 1 The digits you can manipulate will flash Note 2 The larger the error number the older the alarm Note 3 The display A indicates no alarm H Alarm History Data Clear Fn006 Use the alarm history data clear Fn006 to clear all the alarm history in memory Note When you clear the alarm log data the alarm history display for all alarms will...

Page 337: ... H Rigidity Setting During Online Auto tuning Fn001 The rigidity setting during online auto tuning sets the target speed loop gain and position loop gain for the servo system Select the rigidity setting according to the following 10 levels for the mechanical system Rigidity setting Fn001 d 00jj Position loop gain s 1 Pn102 Speed loop gain Hz Pn100 Speed loop integration time constant x 0 01 ms Pn1...

Page 338: ...o display d 00jj Press the Up or Down Key to select the rigidity Press the MODE SET Key to set the rigidity When rigidity setting is completed donE will flash for approximately 1 s Approx 1 s later After donE has been displayed the display will return to d 00jj 1 s min Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code Note The digits...

Page 339: ...isplay will return to d jjjj 1 s min Press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code Note 1 The digits you can manipulate will flash Note 2 jjjj denotes the inertia ratio calculated by online auto tuning The example given shows a display of 200 4 11 3 Servomotor Origin Search H Servomotor Origin Search Fn003 The Servomotor origin s...

Page 340: ... the Up or Down Key to set function code Fn003 See note 1 s min Press the DATA Key front panel DATA Key for 1 s min to display Servomotor origin search Turn ON the servo Press the Up Key to rotate the Servomotor forwards and press the Down Key to rotate the Servomotor in reverse The Servomotor will rotate at 60 r min while the Key is being pressed Servomotor origin search complete When Servomotor ...

Page 341: ...ocedure PR02W operation Front panel key operation Display Explanation Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code Fn005 See note 1 s min Press the DATA Key front panel DATA Key for 1 s min to display user parameter initialization Press the MODE SET Key to start user parameter initialization During initialization P InIt will flash After initia...

Page 342: ...the offset is adjusted the offset amount is stored in internal driver memory You can also check this offset amount using manual adjustment Fn00A or Fn00b Note Make sure the servo is turned OFF before performing speed and torque command offset auto matic adjustment Consequently you cannot use automatic adjustment with a status that in cludes position loop using the Host Controller i e when the serv...

Page 343: ...te The digits you can manipulate will flash H Speed Command Offset Manual Adjustment Fn00A Use manual adjustment for adjusting deviation pulses the deviation counter value in the host control ler to zero while servo locked with a position loop incorporated by the host controller Perform manual adjustment while checking the deviation counter value or the Servomotor shaft movement while the RUN sign...

Page 344: ...e note 3 Press the Up or Down Key to change the offset amount Adjust the offset until the Servomotor stops See note 4 1 s min After completing offset adjustment press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code Note 1 The digits you can manipulate will flash Note 2 Make sure that the servolock is ON if a position loop is incorporated...

Page 345: ...the DATA Key front panel DATA Key for 1 s min to display trq Input command 0 servo ON Input torque command command 0 from either the Host Controller or the external circuits and make sure that RUN is ON 1 s max Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the offset amount See note 2 Press the Up or Down Key to change the offset amount Adjust the offset until t...

Page 346: ...unction to adjust the analog output monitor offset You can adjust each of the two monitor outputs separately The analog monitor output offset adjustment range is 128 to 127 x 17 mV Note When adjusting the analog monitor output offset confirm that the output voltage is zero e g if outputting the Servomotor rotation speed confirm that the servo is OFF and the Servomotor shaft is not moving before co...

Page 347: ...n to the Ch1_o display Press the MODE SET Key to display Ch2_o 1 s max Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the analog monitor output 2 NM offset amount See note 3 Press the Up or Down Key to change the offset amount Adjust the measuring device measurement value to 0 V the same as for analog output monitor 1 1 s min After completing adjustments for anal...

Page 348: ...tor output voltage x 1 5 Make the setting in accordance with the measuring device input range At a setting of 100 if the analog monitor output voltage exceeds 8 V you can adjust the output range to normal i e within 8 V by setting the scale to a negative number System Check Mode Analog monitor out put scaling Word selection word 1 Analog monitor 1 AM scaling Word selection word 2 Analog monitor 2 ...

Page 349: ...n After completing adjustments for analog monitor 2 press the DATA Key front panel DATA Key for 1 s min The display will return to the System Check Mode function code Note 1 The digits you can manipulate will flash Note 2 Press the MODE SET Key in this mode to display Ch2_G then select analog monitor output 2 NM Press the same Key again to return to Ch1_G display Note 3 The scale unit is x 0 4 4 1...

Page 350: ...displayed for approximately 1 s Approx 1 s later After donE has been displayed the display will return to Cur_o 1 s min Press the DATA Key front panel DATA Key for 1 s min to return to the System Check Mode function code display Note The digits you can manipulate will flash H Servomotor Current Detection Offset Manual Adjustment Fn00F This function manually adjusts the Servomotor current detection...

Page 351: ...ent Detection Offset Manual Adjustment Adjust phase U offset 10 in the best direction for torque ripple Torque ripple does not improve even if adjusted in both and directions Characteristics OK Rotate Servomotor at approx 100 r min with no load End Adjust phase V offset 10 in the best direction for torque ripple Adjust phase U offset 1 in the best direction for torque ripple Adjust phase V offset ...

Page 352: ...ess the MODE SET Key to display Cu2_o V phase 1 s max Press the Left Key front panel DATA Key for less than 1 s or Right Key to display the V phase offset amount Press the Up or Down Key to change the offset amount Change the offset in units of 10 in the direction in which the torque ripple is reduced 1 s max Press the Left Key front panel DATA Key for less than 1 s or Right Key to return to the C...

Page 353: ...bled are as follows Display alarm log Fn000 password setting Fn010 Servomotor parameters check Fn011 and version check Fn012 If you try to perform any functions other than these nO OP will flashfor approximately 1 s and then the display will return to the function code If you set the write enabled password the write prohibited status will be cancelled i e you can write to the user parameters etc w...

Page 354: ...el DATA Key for 1 s min to return to the System Check Mode function code display Note 1 The digits you can manipulate will flash Note 2 If this is set to any value other than 0000 or 0001 Error will flash for approximately 1 s and then the display will return to the original password 4 11 9 Checking Servomotor Parameters H Checking Servomotor Parameters Fn011 You can check the type of Servomotor e...

Page 355: ...he example on the left shows a Servomotor capacity of 30 W Encoder Information Encoder resolution Encoder type Encoder type Encoder resolution Data Type Resolution 13 13 bit 2 048 pulses rotation 16 16 bit 16 384 pulses rotation 17 17 bit 32 768 pulses rotation 00 Incremental encoder 01 Absolute encoder Data Driver Specification Driver specification Note 0000 is displayed for standard specifi cati...

Page 356: ...4 11 10 Checking the Version H Version Check Fn012 You can use this function to check the Servo Driver and encoder software versions System Check Mode Version check Servo Driver software ver sion displayed Encoder software ver sion displayed 1 s min 1 s min Operation Procedure PR02W operation Front panel key operation Display Explanation Press the MODE SET Key to change to System Check Mode Press ...

Page 357: ...4 141 Note The digits you can manipulate will flash Operation Chapter 4 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 358: ...Operation Procedure PR02W operation Front panel key operation Display Explanation Status Display Mode See note 1 Press the MODE SET Key to change to System Check Mode Press the Up or Down Key to set function code Fn00E See note 2 1 s min Press the DATA Key front panel DATA Key for 1 s min to display PGSEt Press the MODE SET Key Automatic offset adjustment will be performed When automatic adjustmen...

Page 359: ...roubleshooting 5 4 Overload Characteristics Electron Thermal Characteris tics 5 5 Periodic Maintenance 5 6 Replacing the Absolute Encoder Battery ABS AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 360: ...this range there is a risk of misoperation so make sure that the power supply is correct Make sure that the voltage of the sequence input power supply 24 VIN Terminal CN1 47 pin is within the range 23 to 25 VDC If the voltage falls outside of this range there is a risk of misoperation so make sure that the power supply is correct H Selecting Analysis Tools D Check Whether an Alarm Has Occurred If ...

Page 361: ... noise When performing tests first check that there are no personnel inside the machine facilities and that the facilities will not be damaged even if the Servomotor runs away Also check that even if the Servo motor runs away you can immediately stop the machine using an emergency stop before performing the tests 5 1 3 Replacing the Servomotor and Servo Driver Perform the following procedure to re...

Page 362: ...imit setting an A CC rotation speed mismatch alarm will occur so change the rotation limit setting Fn013 using sys tem check mode Troubleshooting Chapter 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 363: ...al computer to the Servo Driver S If not using Computer Monitor Software set all the parameters using a Parameter Unit or Servo Driver operation keys 4 Set up the absolute encoder ABS S If using a Servomotor with an absolute encoder when replacingthe Servomotor the absolutedata in the absolute encoder will be cleared so you need to reset the data Also the rotation limit data will be different from...

Page 364: ...UN command before cancelling the alarm If the RUN command is ON or the servo is always ON setting Pn50A 1 7 first check safety sufficiently before cancelling the alarm H Alarm Table Display Alarm code Error detection f Cause of error p y ALO1 ALO2 ALO3 function OFF OFF OFF Parameter corruption The checksum for the parameters read from the EEP ROM does not match OFF OFF OFF Main circuit detection e...

Page 365: ...0 r min when encoder power was turned ON OFF OFF OFF Encoder overheating ABS Abnormal encoder temperature rise de tected OFF OFF OFF Speed command in put reading error The A D end signal was not output from the A D converter within a fixed time OFF OFF OFF Torque command in put reading error The A D end signal was not output from the A D converter within a fixed time OFF OFF OFF System error A con...

Page 366: ...OFF OFF Overload When a warning occurs before the over load alarm A 71 A 72 is reached the alarm may be generated if the Servomo tor continues to operate OFF ON OFF Regeneration overload When a warning occurs before the re generation overload alarm A 32 is reached the alarm may be generated if the Servomotor continues to operate ON ON OFF Battery low level Battery has reached a low level of 2 7 V ...

Page 367: ... Driver Main circuit detec tion error Occurs when main circuit power supply is turned ON Main circuit detec tion data error Replace the Servo Driver Parameter setting error Occurs when control circuit power supply is turned ON A value outside of the setting range was previously set in the parameters Reset the parameters within the setting range Control panel error Replace the Servo Driver Servomot...

Page 368: ...s ambient temperature to 55 C or less Radiation shield air convection is poor Mount according to mounting conditions The fan has stopped Replace the Servo Driver Operating above rated output Lighten the load Regeneration error Occurs during op eration Error in the regen erative circuit parts Replace the Servo Driver e a o External Regenera tion Resistor is burned out Replace the External Re genera...

Page 369: ...ge Reduce main circuit pow er supply voltage to with in tolerance range Occurs during de scent vertical axis Gravitational torque is too large Add a counterbalance to the machinery to lower gravitational torque Slow the descent speed Calculate the regenera tive energy and connect and external Regenera tion Resistor with the re quired regeneration ab sorption capacity Low voltage Occurs when the co...

Page 370: ...ocked If the Servomotor power line is wired incorrectly rewire it correctly Lighten the load Lengthen the accelera tion and deceleration times Adjust the gain Power supply volt age has fallen Check the power supply voltage and lower to within tolerance range Overload Occurs during op eration Running at 120 to 245 of rated torque effective torque Lighten the load Lengthen the accelera tion and dece...

Page 371: ...urs when control circuit power supply is turned ON Absolute encoder backup voltage has fallen Occurs the first time the encoder is used Set up the absolute en coder correctly Checksum error ABS Occurs when control circuit power supply is turned ON Absolute encoder memory check error Set up the absolute en coder correctly Battery error ABS Occurs when control circuit power supply is turned ON Absol...

Page 372: ...vo Driver Runaway detected Occurs when there is a slight movement upon startup Encoder is wired in correctly Servomotor power line is wired incor rectly Correct the wiring Rotation data error S Occurs when the Encoder is defective Replace the Servomotor ABS control circuit power supply is turned ON Servo Driver is de fective Replace the Servo Driver Encoder commu nications error Occurs when the co...

Page 373: ...ommand filter Pn207 0 Pn204 and Pn208 Load is too large Lighten the load Reselect the Servomotor Motor load deviation over level error Occurs during op eration Difference between internal and external encoder exceeds the setting of Pn51A Option Unit detec tion error Occurs if an option has been connected to the driver Option board has been removed Go to Fn014 Press data Display shows 0 unit Press ...

Page 374: ...counter reset setting is incorrect Reset Pn200 1 to match the Controller Position An error occurred with the RESET alarm reset signal ON Check the RESET signal s ON and OFF by means of the monitor mode Turn the RESET signal OFF and take measures according to the alarm display All modes Pn200 0 Command pulse mode setting is incorrect Check the Controller s com mand pulse type and the Servo Driver s...

Page 375: ...nitor mode Un002 Lighten the load Change to a larger capacity Servomotor and Servo Driv er All modes The correspondence be tween the Servo Driver and the Servomotor is incorrect Check the models Combine models that corre spond correctly All modes There are un usual noises The machinery is vibrating Inspect the machinery to see whether there are any foreign objects in the mov able parts or whether ...

Page 376: ... current of three times the Servomotor s rated current flows continuously it will be detected after approximately three seconds Load ratio Operation time s A 3 000 r min Servomotors 30 to 400 W 3 000 r min Flat style Servomotors 100 to 400 W B 3 000 r min Servomotors 750W to 5 kW 3 000 r min Flat style Servomotors 750 W to 1 5 kW 1 000 r min Servomotors 300 W to 5 5 kW 1 500 r min Servomotors up t...

Page 377: ...dic Maintenance Bearings 20 000 hours Reduction gear 20 000 hours Oil seal 5 000 hours Application Conditions Ambient Servomotor operating temperature of 40_C within allowable shaft load rated operation rated torque and r m installed as described inopera tion manual The radial loads during operation rotation on timingpulleys andother components contacting belts is twice the still load Consult with...

Page 378: ...d that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Servo Drivers If the Servomotor or Servo Driver is not to be used for a long time or if they are to be used under condi tions worse than those described above a periodic inspection schedule of five years is recom mended Please consult with OMRON to determin...

Page 379: ... Driver s control circuit S Turn ON the power supply to the Servo Driver s control circuit only This will supply power to the absolute encoder 2 Replace the battery S Remove the old battery from the Servo Driver s battery holder and disconnect the connector to the battery from the battery connector CN8 S Place the new battery in the battery holder and insert the connector correctly into battery co...

Page 380: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 381: ... Connection Examples 6 2 Encoder Dividing Rate for Servo Controllers 6 3 Parameter Setting Tables AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 382: ...al interrupt input X axis CCW limit input X axis origin proximity input Shell 24 V DC 24 V DC 24 V DC Note 1 The example shows a three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo ...

Page 383: ...e killer Shell DC reactor 24 V DC 24 V DC Note 1 The example shows a three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leave unused signal lines open and do not wire...

Page 384: ...iller Shell DC reactor 24 V DC 24 V DC Note 1 The example shows a 3 phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifi cations for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leave unused signal lines open and do not wire them ...

Page 385: ...wer supply specifi cations for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leave unused signal lines open and do not wire them Note 4 The diode recommended for surge absorption is the ERB44 02 Fuji Electric Note 5 This wiring diagram is an example of X axis wiring only For two axis control the external in put and Driver wiring must b...

Page 386: ...8 to 4 5 V DC Shell R88D WTj 24 V DC 24 V DC X axis RUN command output Noise filter Note 1 The example shows a three phase 200 V AC input to the Servo Driver for the main circuit power supply Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use Note 2 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 3 Leav...

Page 387: ... not wire them Note 4 This wiring diagram is an example of axis 0 of the Omron C200HW MC402 E 4 axis control ler To control more than one axis connect other pins and servo system in a similar way For a complete pin assignment of MC402 E please refer to MC402 E manual cat no W903 E2 Note 5 Make the driver parameter setting so that the Servo can be turned ON and OFF with the RUN signal Note 6 For mu...

Page 388: ...rom the Servo Driver 1 000 Pulses r 16 to 16 384 Yes H Encoder Divider Rates Pn201 and Maximum Rotation Speed r min Model 16 384 to 8 193 8 192 to 4 097 4 096 to 2 049 2 048 to 1 025 1 024 max 4 2 1 4 2 1 4 2 1 4 2 1 4 2 1 CS1W MC221 421 1 831 3 662 5 000 5 000 5 000 C200H MC221 915 1 831 3 662 5 000 5 000 CV500 MC221 421 622 1 245 2 490 4 980 5 000 C500 NC222 366 457 732 915 1 464 1 831 2 929 3 6...

Page 389: ...between internally set speed control and speed control 5 Switches between internally set speed control and position control 6 Switches between internally set speed control and torque control 7 Switches between position control and speed control 8 Switches between position control and torque control 9 Switches between torque control and speed control A Speed control with position lock b Position co...

Page 390: ... g code output 1 Alarm code and warning code output from ALO1 ALO2 ALO3 Pn002 Func tion 0 Torque com 0 Not used 0000 0000 Yes tion selec tion ap plica com mand input change 1 Use TREF as analog torque limit input plica tion switch 2 change during position and 2 Use TREF as torque feed forward input 2 and speed control 3 Use TREF as analog torque limit when PCL and NCL are ON 1 Speed com mand input...

Page 391: ...400 V g range power Pn100 Speed loop gain Adjusts speed loop responsiveness 80 40 Hz 1 to 2000 Pn101 Speed loop integration constant Speed loop integral time constant 2000 2000 x 0 01 ms 15 to 51200 Pn102 Position loop gain Adjusts position loop responsiveness 40 40 1 s 1 to 2000 Pn103 Inertia ratio Set using the ratio between the machine system inertia and the Servomotor rotor inertia 300 0 0 to ...

Page 392: ...to switch from PI control to P control 200 200 0 to 800 Pn10d P control switching speed command Sets level of speed command to switch from PI control to P control 0 0 r min 0 to 10000 Pn10E P control switching accelera tion com mand Sets level of acceleration command to switch from PI control to P control 0 0 10 r min s 0 to 3000 Pn10F P control switching deviation pulse Sets level of deviation pu...

Page 393: ...o not change setting 100 100 Pn118 Not used Do not change setting 100 100 Pn119 Not used Do not change setting 50 50 Pn11A Not used Do not change setting 1000 1000 Pn11b Not used Do not change setting 50 50 Pn11C Not used Do not change setting 70 70 Pn11d Not used Do not change setting 100 100 Pn11E Not used Do not change setting 100 100 Pn11F Not used Do not change setting 0 0 Pn120 Not used Do n...

Page 394: ... High level signal counter reset 1 Rising signal low to high reset 2 Low level signal 3 Falling signal low to high 2 Deviation counter reset if an alarm 0 Deviation counter reset if an alarm occurs when Servomotor is OFF alarm occurs when the Servomot 1 Deviation counter not reset if an alarm occurs when Servomotor is OFF Servomot or is OFF 2 Deviation counter reset 2 Deviation counter reset only ...

Page 395: ...n command filter time constant 2 Sets soft start for command pulse soft start characteristics are for the linear acceleration and deceleration 0 0 x 0 01 ms 0 to 6400 Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately Note 3 Do not set below 513 H Speed Control Parameters From Pn300 Para meter No Parameter name Explan...

Page 396: ...tio 100 100 0 to 800 Pn405 Reverse rotation external current limit Output torque limit during input of reverse rotation current limit rated torque ratio 100 100 0 to 800 Pn406 Emergency stop torque Deceleration torque when an error occurs rated torque ratio 350 800 0 to 800 Pn407 Speed limit Sets the speed limit in torque control mode 3000 10000 r min 0 to 10000 Pn408 Torque d 0 Selects h fil 0 Fu...

Page 397: ... 2 Sets the range for positioning completed output 2 INP2 3 7 Command unit 1 to 250 Pn505 Deviation counter overflow level Sets the detection level for the deviation counter over alarm 1024 1024 x 256 command unit 1 to 32767 Pn506 Brake timing 1 Sets the delay from the brake command to the Servomotor turning OFF 0 0 x 10 ms 0 to 50 Pn507 Brake command speed Sets the spread for outputting the brake...

Page 398: ...ed to CN1 pin 43 Valid for low output 4 Allocated to CN1 pin 44 Valid for low output 5 Allocated to CN1 pin 45 Valid for low output 6 Allocated to CN1 pin 46 Valid for low output 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 40 Valid for high output A Allocated to CN1 pin 41 Valid for high output b Allocated to CN1 pin 42 Valid for high output C Allocated to CN1 pin 43 Valid for high o...

Page 399: ... 3 0 RDIR signal Input terminal allocation 0 to F Same as Pn50A 1 RDIR rotation direction command signal allocation 8888 8888 Yes 1 SPD1 signal Input terminal allocation 0 to F Same as Pn50A 1 SPD1 speed selection reference 1 signal allocation 2 SPD2 signal Input terminal allocation 0 to F Same as Pn50A 1 SPD2 speed selection command 2 signal allocation 3 TVSEL signal Input terminal allocation 0 t...

Page 400: ...ut terminal allocation 0 to 3 Same as Pn50E 0 READY Servomotor warmup complete signal allocation Pn50F Output signal selection 2 0 CLIMT signal output terminal allocation 0 to 3 Same as Pn50E 0 CLIMT current limit detection signal allocation 0000 0000 Yes 1 VLIMT signal output terminal allocation 0 to 3 Same as Pn50E 0 VLIMT speed limit detection signal allocation 2 BKIR signal output terminal all...

Page 401: ...d 3 Not used 0 Do not change setting Pn51A Position er ror over flow level between motor and load Sets the allowable error for a full closed loop or semiclosed loop encoder 0 Comma nd unit 0 to 32767 Note 1 Explanation for parameters set using 5 digits Note 2 Explanation for parameters requiring each digit No to be set separately H Other Parameters From 600 Parameter No Parameter name Explanation ...

Page 402: ...speed reference offset Fn00B Manual adjustment of torque reference offset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjustment of analog monitor output Fn00E Automatic offset adjustment of motor current detection signal Fn00F Manual offset adjustment of motor current detection signal Fn010 Password setting protects user constants from being changed Fn011 Motor models ...

Page 403: ...ts Amount of position error Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 s cycle Un00A Regenerative load rate Value for the processable regenerative power as 100 Displays effective torque in 10 s cycle Un00B Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 Displays effective torque in 10 s cycle Un...

Page 404: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 405: ...owing table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 01 June 2001 Original production 02 March 2002 Update extension range to 15 kW AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 406: ...Revision History AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 407: ...e and clockwise rotation is negative 7 Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components 8 Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affect ing the service life 9 The OMNUC W Series can control both incremental and...

Page 408: ... USER S MANUAL Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 56 81 300 Fax 31 0 23 56 81 388 Website www eu omron com Authorized Distributor Cat No I531 E2 02 Note Specifications subject to change without notice Printed in The Netherlands AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin ...

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