Omron R88D-GT series User Manual Download Page 297

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5-10

5-4 Torque Control

Ope

rati

ng Func

tions

Parameter Block Diagram for Torque Control Mode

−

Tor

ue Input Setting

Pn5C: Tor

ue Scale

Pn5D: Output Direction

(Pn52: Offset)

(Pn57: Filter Time
Constant)

Sign

(

)

Internally Set
Speed Limit
Pn56: Speed Limit

Tor

Limit

Tor

ue Command

TREF1/

TREF2

Speed Limit

VLIM

Speed Command

Monitor

Actual Speed

Monitor

Tor

ue Command

Monitor

Speed PI Processor

Pn11: Speed Gain 1
Pn12: Integration Time
Constant

Pn19: Speed Gain 2
Pn1A: Integration Time
Constant

Pn20: Inertia Ratio

Notch Filter

Pn1D: Filter 1 Fre

uency

Pn1E: Filter 1 Width
Pn28: Filter 2 Fre

uency

Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Pn2F: Adaptive Filter

Tor

ue Command/Limit

Pn14: Filter

Pn1C: Filter 2

Pn5E: No.1 Tor

ue Limit

Pn5F: No.2 Tor

ue Limit

Divider Setting

Pn44: Numerator

Pn45: Denominator

Pn46: Direction

itch

Speed Detection Filter

Pn13: Filter 1

Pn1B: Filter 2

Phase A, B, Z

Tor

PI
Processor

Current Feedback

Receive
Encoder
Signal

Summary of Contents for R88D-GT series

Page 1: ...Cat No I562 E1 04 USER S MANUAL OMNUC GSERIES R88M G AC Servomotors R88D GT AC Servo Drives AC SERVOMOTORS SERVO DRIVES ...

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

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

Page 4: ...qual to the purchase price of the non complying Product provided that in no event shall Omron be re sponsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or inappropriate modification Return of any Products b...

Page 5: ...le Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Disclaimers Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of Omron s test conditions and the user mu...

Page 6: ...roduct in detail Make sure that these protective covers and shields are put in place as specified before using the product Consult your OMRON representative when using the product after a long period of storage Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω or less Incorrect grounding may result in electric shock Do not touch the inside of the Servo Drive ...

Page 7: ...the product Doing so may result in injury or damage to the product Provide a stopping mechanism on the machine to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes Not doing so may result in injury Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately Not doing so may result in injury Do not come...

Page 8: ...res outside the specified range Locations subject to humidity outside the specified range Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Do not touch the Servo Driv...

Page 9: ...inal Doing so may result in burning Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in equipment damage Ins...

Page 10: ...operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Do not operate the Servomotor connected to a load that exceeds the applicable load mom...

Page 11: ...on Be sure to follow the instructions given there Warning Label Contents Disposing of the Product Dispose of the batteries according to local ordinances and regulations Wrap the batteries in tape or other insulative material before disposing of them Dispose of the product as industrial waste R88D GT01H Location of warning label ...

Page 12: ...ed by the user Should you find any problems missing parts damage to the Servo Drive etc please contact your local sales representative or OMRON sales office Specifications Connector for main circuit power supply terminals and control circuit power supply terminals Connector for External Re generation Resistor con nection terminals and Motor connection terminals Mounting Brackets Single phase 100 V...

Page 13: ... the Servo Drive type the applicable Servomotor capacity and the power supply voltage R88D GT01H OMNUC G Series Servo Drive Drive Type T Three mode type Power Supply Voltage L 100 VAC H 200 VAC Applicable Servomotor Capacity A5 50 W 01 100 W 02 200 W 04 400 W 08 750 W 10 1 kW 15 1 5 kW 20 2 kW 30 3 kW 50 5 kW 75 7 5 kW ...

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

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

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

Page 17: ...fications for accessories such as encoders Chapter 4 System Design Describes the installation conditions for Servo Drives Servomo tors and Decelerators EMC conforming wiring methods calcula tions of regenerative energy and performance information on the External Regeneration Resistor Chapter 5 Operating Functions Describes the control functions parameter settings and operation Chapter 6 Operation ...

Page 18: ...1 Standard Models 2 1 2 2 External and Mounting Hole Dimensions 2 25 Chapter 3 Specifications 3 1 Servo Drive Specifications 3 1 3 2 Servomotor Specifications 3 32 3 3 Decelerator Specifications 3 47 3 4 Cable and Connector Specifications 3 57 3 5 Servo Relay Units and Cable Specifications 3 99 3 6 Parameter Unit Specifications 3 129 3 7 External Regeneration Resistor Specifications 3 130 3 8 Reac...

Page 19: ... 16 User Parameters 5 31 Chapter 6 Operation 6 1 Operational Procedure 6 1 6 2 Preparing for Operation 6 2 6 3 Using the Parameter Unit 6 6 6 4 Setting the Mode 6 7 6 5 Trial Operation 6 28 Chapter 7 Adjustment Functions 7 1 Gain Adjustment 7 1 7 2 Realtime Autotuning 7 4 7 3 Normal Mode Autotuning 7 14 7 4 Disabling the Automatic Gain Adjustment Function 7 19 7 5 Manual Tuning 7 21 Chapter 8 Trou...

Page 20: ...18 Table of Contents ...

Page 21: ...s 1 1 1 2 System Configuration 1 2 1 3 Names of Parts and Functions 1 3 Servo Drive Part Names 1 3 Servo Drive Functions 1 4 Forward and Reverse Motor Rotation 1 4 1 4 System Block Diagrams 1 5 1 5 Applicable Standards 1 10 EC Directives 1 10 UL and CSA Standards 1 10 Korean Radio Regulations KC 1 11 SEMI F47 1 11 ...

Page 22: ... Series Suppressing Vibration of Low rigidity Mechanisms during Acceleration Deceleration The damping control function suppresses vibration of low rigidity mechanisms or devices whose ends tend to vibrate Two vibration filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal In addition the settings can be...

Page 23: ...otion Controller SYSMAC PLC and Position Control Unit with pulse output functions SYSMAC CS series Programmable Controller SYSMAC CJ CS series Programmable Controller Motion Control Unit CS1W MC221 421 V1 Analog voltage OMNUC G Series AC Servo Drive R88D G Pulse string OMNUC G Series AC Servomotor R88M G FQM1 MMA22 FQM1 MMP22 Position Control Unit CJ1W NC113 213 413 CJ1W NC133 233 433 CS1W NC113 2...

Page 24: ...S 232 Communications connector Parameter Unit connector CN3B Analog monitor 1 check pin IM Analog monitor 2 check pin SP External Regeneration Resistor connection terminals B1 B2 B3 Display area Settings area Encoder connector CN2 Control I O connector CN1 Servomotor connection terminals U V W Protective ground terminals Main circuit power terminals L1 L2 L3 Control circuit power terminals L1C L2C...

Page 25: ...pe of signal to output and the output voltage level are set in the SP Selection Pn07 and IM Selection Pn08 parameters For details refer to 5 16 User Parameters on page 5 31 Unit No Switch The Servo Drive number in serial communications is set to a value from 0 to F This number is used to identify which Servo Drive the computer is accessing in RS 232 485 communications between multiple Servo Drives...

Page 26: ...3B connector MPU ASIC Position speed and torque processor PWM control Control I O interface Encoder communications interface Display setting circuits E5V Over current detection Regene rative control CN2 encoder signal connector SW power supply Main circuit control Relay drive Gate drive Current detection CN1 control I O connector Voltage detec tion RS 232 interface RS 485 interface RS 485 ...

Page 27: ...erface Encoder communications interface Display setting circuits Internal regeneration resistor Over current detection Regene rative control CN2 encoder signal connector SW power supply Main circuit control Relay drive Gate drive Current detection CN1 control I O connector Cooling fan except for the R88D GT04L GT08H Voltage detec tion Internal control power supply RS 232 interface RS 485 interface...

Page 28: ...M control Control I O interface Encoder communications interface Display setting circuits Internal regeneration resistor Regene rative control CN2 encoder signal connector SW power supply Main circuit control Relay drive Gate drive Current detection CN1 control I O connector Cooling fan Voltage detection Internal control power supply RS 232 interface RS 485 interface RS 485 E5V ...

Page 29: ...r PWM control Control I O interface Encoder communications interface Display setting circuits Internal regeneration resistor Regene rative control CN2 encoder signal connector SW power supply Main circuit control Relay Gate drive Gate drive Current detection CN1 control I O connector Cooling fan Voltage detection Internal control power supply RS 232 interface RS 485 interface RS 485 ...

Page 30: ...rque processor PWM control Control I O interface Encoder communications interface Display setting circuits Regene rative control CN2 encoder signal connector SW power supply Main circuit control Relay Gate drive Gate drive Current detection CN1 control I O connector Cooling fan Voltage detection Internal control power supply RS 232 interface RS 485 interface RS 485 ...

Page 31: ...Drive EN 55011 Class A Group1 Limits of radio disturbance and measurement methods for industrial scientific and medical radio frequency equipment EN 61000 6 2 Electromagnetic compatibility EMC Immunity standard for industrial environments IEC 61000 4 2 Electrostatic discharge immunity testing IEC 61000 4 3 Radio frequency radiation field immunity testing IEC 61000 4 4 Electrical fast transient bur...

Page 32: ...ulations KC The G series Servo Drives comply with the Korean Radio Regulations KC The G series Servomotors do not comply with the Korean Radio Regulations KC SEMI F47 Some Servo Drives conform to the SEMI F47 standard for momentary power interruptions voltage sag immunity for no load or light load operation This standard applies to semiconductor manufacturing equipment Note 1 It does not apply to ...

Page 33: ...r Combinations 2 5 Decelerators 2 7 Accessories and Cables 2 14 2 2 External and Mounting Hole Dimensions 2 25 Servo Drives 2 25 Servomotors 2 35 Parameter Unit Dimensions 2 45 Servomotor and Decelerator Combinations 2 46 Decelerator Dimensions 2 49 External Regeneration Resistor Dimensions 2 63 Reactor Dimensions 2 64 ...

Page 34: ... GTA5L 100 W R88D GT01L 200 W R88D GT02L 400 W R88D GT04L Single phase 200 VAC 50 W R88D GT01H 100 W 200 W R88D GT02H 400 W R88D GT04H Single phase three phase 200 VAC 750 W R88D GT08H 1 kW R88D GT10H 900 W R88D GT15H 1 kW 1 5 kW Three phase 200 VAC 2 kW R88D GT20H 2 kW R88D GT30H 3 kW 3 kW R88D GT50H 4 kW 4 5 kW 5 kW 6 kW R88D GT75H 7 5 kW ...

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

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

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

Page 38: ... 400 W R88M G40030L R88M G40030S R88D GT04L Single phase 200 V 50 W R88M G05030H R88M G05030T R88D GT01H 100 W R88M G10030H R88M G10030T R88D GT01H 200 W R88M G20030H R88M G20030T R88D GT02H 400 W R88M G40030H R88M G40030T R88D GT04H Single phase three phase 200 V 750 W R88M G75030H R88M G75030T R88D GT08H 1 kW R88M G1K030T R88D GT15H 1 5 kW R88M G1K530T R88D GT15H Three phase 200 V 2 kW R88M G2K0...

Page 39: ...10H 1 5 kW R88M G1K520T R88D GT15H Three phase 200 V 2 kW R88M G2K020T R88D GT20H 3 kW R88M G3K020T R88D GT30H 4 kW R88M G4K020T R88D GT50H 5 kW R88M G5K020T R88D GT50H 7 5 kW R88M G7K515T R88D GT75H Voltage Servomotor Servo Drive Rated output With absolute encoder Single phase three phase 200 V 900 W R88M G90010T R88D GT15H Three phase 200 V 2 kW R88M G2K010T R88D GT30H 3 kW R88M G3K010T R88D GT5...

Page 40: ...050B 1 21 R88G HPG14A21100B 1 33 R88G HPG14A33050B 1 45 R88G HPG14A45050B 100 W 1 5 R88G HPG11B05100B 1 11 R88G HPG14A11100B 1 21 R88G HPG14A21100B 1 33 R88G HPG20A33100B 1 45 R88G HPG20A45100B 200 W 1 5 R88G HPG14A05200B 1 11 R88G HPG14A11200B 1 21 R88G HPG20A21200B 1 33 R88G HPG20A33200B 1 45 R88G HPG20A45200B 400 W 1 5 R88G HPG14A05400B 1 11 R88G HPG20A11400B 1 21 R88G HPG20A21400B 1 33 R88G HP...

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

Page 42: ...11K0SB 1 33 R88G HPG50A332K0SB 1 45 R88G HPG50A451K0SB 1 5 kW 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB 1 21 R88G HPG50A213K0B 1 33 R88G HPG50A332K0SB 2 kW 1 5 R88G HPG32A053K0B 1 11 R88G HPG32A112K0SB 1 21 R88G HPG50A213K0B 1 33 R88G HPG50A332K0SB 3 kW 1 5 R88G HPG32A054K0B 1 11 R88G HPG50A115K0B 1 21 R88G HPG50A213K0SB 1 25 R88G HPG65A253K0SB 4 kW 1 5 R88G HPG50A054K0SB 1 11 R88G HPG50A114K0...

Page 43: ...900TBJ Specifications Model Motor capacity Gear ratio 900 W 1 5 R88G HPG32A05900TB 1 11 R88G HPG32A11900TB 1 21 R88G HPG50A21900TB 1 33 R88G HPG50A33900TB 2 kW 1 5 R88G HPG32A052K0TB 1 11 R88G HPG50A112K0TB 1 21 R88G HPG50A212K0TB 1 25 R88G HPG65A255K0SB 3 kW 1 5 R88G HPG50A055K0SB 1 11 R88G HPG50A115K0SB 1 20 R88G HPG65A205K0SB 1 25 R88G HPG65A255K0SB 4 5 kW 1 5 R88G HPG50A054K5TB 1 12 R88G HPG65...

Page 44: ... the box Example R88G HPG11B05100PBJ Specifications Model Motor capacity Gear ratio 100 W 1 5 R88G HPG11B05100PB 1 11 R88G HPG14A11100PB 1 21 R88G HPG14A21100PB 1 33 R88G HPG20A33100PB 1 45 R88G HPG20A45100PB 200 W 1 5 R88G HPG14A05200PB 1 11 R88G HPG20A11200PB 1 21 R88G HPG20A21200PB 1 33 R88G HPG20A33200PB 1 45 R88G HPG20A45200PB 400 W 1 5 R88G HPG20A05400PB 1 11 R88G HPG20A11400PB 1 21 R88G HPG...

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

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

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

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

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

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

Page 51: ...000 r min Servomotors of 50 to 750 W with an incremental encoder 3 000 r min Flat Servomotors of 100 to 400 W with an incremental encoder 3 m R88A CRGB003CR 5 m R88A CRGB005CR 10 m R88A CRGB010CR 15 m R88A CRGB015CR 20 m R88A CRGB020CR 30 m R88A CRGB030CR 40 m R88A CRGB040CR 50 m R88A CRGB050CR 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW 1 500 r min Servomotors of 7 5...

Page 52: ...R R88A CAGB003BR 5 m R88A CAGB005SR R88A CAGB005BR 10 m R88A CAGB010SR R88A CAGB010BR 15 m R88A CAGB015SR R88A CAGB015BR 20 m R88A CAGB020SR R88A CAGB020BR 30 m R88A CAGB030SR R88A CAGB030BR 40 m R88A CAGB040SR R88A CAGB040BR 50 m R88A CAGB050SR R88A CAGB050BR 3 000 r min Servomotors of 2 kW 2 000 r min Servomotors of 2 kW 3 m R88A CAGC003SR R88A CAGC003BR 5 m R88A CAGC005SR R88A CAGC005BR 10 m R8...

Page 53: ...ications Model RS 232 Communications Cable 2 m R88A CCG002P2 RS 485 Communications Cable 0 5 m R88A CCG0R5P4 1 m R88A CCG001P4 Specifications Model Absolute Encoder Battery Cable battery not supplied 0 3 m R88A CRGD0R3C Absolute Encoder Battery Cable R88A BAT01G battery 1 sup plied 0 3 m R88A CRGD0R3C BS Specifications Model Absolute Encoder Backup Battery R88A BAT01G Specifications Model Servomot...

Page 54: ...NC133 For CJ1W NC113 NC133 For C200HW NC113 XW2B 20J6 1B For CS1W NC213 NC413 NC233 NC433 For CJ1W NC213 NC413 NC233 NC433 For C200HW NC213 NC413 XW2B 40J6 2B For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A For FQM1 MMA22 For FQM1 MMP22 XW2B 80J7 12A For CQM1 CPU43 V1 XW2B 20J6 3B Specifications Model Servo Drive Cables For Position Control Unit XW2B J6 B For CQM1 XW2B 20J6 3B 1 m XW2Z 100J B...

Page 55: ...CJ1W NC113 XW2B 20J6 1B 0 5 m XW2Z 050J A14 1 m XW2Z 100J A14 For CJ1W NC213 NC413 XW2B 20J6 2B 0 5 m XW2Z 050J A15 1 m XW2Z 100J A15 For CJ1W NC133 XW2B 20J6 1B 0 5 m XW2Z 050J A18 1 m XW2Z 100J A18 For CJ1W NC233 NC433 XW2B 20J6 2B 0 5 m XW2Z 050J A19 1 m XW2Z 100J A19 For CJ1M CPU21 CPU22 CPU23 XW2B 20J6 8A XW2B 40J6 9A 0 5 m XW2Z 050J A33 1 m XW2Z 100J A33 For FQM1 MMA22 XW2B 80J7 12A General ...

Page 56: ... XW2Z 100J B24 2 m XW2Z 200J B24 Connector Terminal Block M3 screw type XW2B 50G4 M3 5 screw type XW2B 50G5 M3 screw type XW2D 50G6 Specifications Model Regeneration capacity 20 W 50 Ω with 150 C thermal switch R88A RR08050S Regeneration capacity 20 W 100 Ω with 150 C thermal switch R88A RR080100S Regeneration capacity 70 W 47 Ω with 150 C thermal switch R88A RR22047S1 Regeneration capacity 180 W ...

Page 57: ...g Brackets L Brackets for Rack Mounting Absolute Encoder Backup Battery Specifications Model R88D GTA5L GT01L GT01H GT02H R88A TK01G R88D GT02L GT04H R88A TK02G R88D GT04L GT08H R88A TK03G R88D GT10H GT15H R88A TK04G Specifications Model 2 000 mA h 3 6 V R88A BAT01G ...

Page 58: ...xternal and Mounting Hole Dimensions Servo Drives Single phase 100 VAC R88D GTA5L GT01L 50 to 100 W Single phase 200 VAC R88D GT01H GT02H 50 to 200 W Wall Mounting External Dimensions Mounting Hole Dimensions UNIT No AC SERVO DRIVER DATA IM SP G 130 4 70 40 28 0 5 6 40 Two M4 140 150 5 ...

Page 59: ...sing Mounting Brackets External Dimensions Mounting Hole Dimensions Reference 42 Two M4 158 170 0 5 Square hole 6 5 2 7 130 70 4 180 170 150 21 7 5 2 dia R2 6 2 6 22 2 6 8 Dimensions for front panel mounting are references values that provide leeway The dimensions of the square hole are reference values ...

Page 60: ...ensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference UNIT No AC SERVO DRIVER DATA IM SP G 43 6 55 Two M4 140 150 5 130 70 4 150 55 57 Two M4 158 170 Square hole 8 5 2 7 130 70 4 180 170 150 7 5 2 dia R2 6 55 28 2 6 22 2 6 Dimensions for front panel mounting are references values that provide leeway The dimensions of the square hole are referen...

Page 61: ...mensions Front Panel Mounting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference UNIT No AC SERVO DRIVER DATA IM SP G 50 7 5 65 Two M4 140 150 5 170 70 4 150 65 67 Two M4 158 170 Square hole 21 5 2 2 6 170 70 4 180 170 150 5 2 dia R2 6 65 40 20 20 40 22 2 6 6 Dimensions for front panel mounting are references values that provide leeway The dimensions of the square hole ...

Page 62: ...unting Using Mounting Brackets External Dimensions Mounting Hole Dimensions Reference UNIT No AC SERVO DRIVER DATA IM SP G 70 7 5 85 Two M4 140 150 5 170 70 4 150 85 87 Four M4 158 170 Square hole 40 11 6 5 2 5 2 170 70 4 180 170 150 5 2 dia 5 2 dia R2 6 R2 6 10 40 85 60 40 10 2 6 22 2 6 Dimensions for front panel mounting are references values that provide leeway The dimensions of the square hole...

Page 63: ...sions Three phase 200 VAC R88D GT20H 2 kW Wall Mounting External Dimensions Mounting Hole Dimensions UNIT No AC SERVO DRIVER DATA IM SP G 3 5 3 5 5 2 5 2 5 2 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 200 70 198 188 168 85 50 17 5 50 17 5 42 5 42 5 85 Four M4 168 188 0 5 17 5 50 ...

Page 64: ...nting Hole Dimensions Reference UNIT No AC SERVO DRIVER DATA IM SP G 5 2 5 2 5 2 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 200 70 32 2 6 198 188 168 85 50 17 5 50 17 5 42 5 42 5 89 Four M4 176 Square hole 188 20 5 50 6 Dimensions for front panel mounting are references values that provide leeway The dimensions of the square hole are reference values ...

Page 65: ...ons Three phase 200 VAC R88D GT30H GT50H 2 to 5 kW Wall Mounting External Dimensions Mounting Hole Dimensions G SP IM DATA AC SERVO DRIVER UNIT No 5 2 5 2 100 15 65 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 5 2 200 70 250 240 220 130 100 15 65 3 5 3 5 130 Six M4 220 15 240 100 50 ...

Page 66: ...unting Hole Dimensions Reference G SP IM DATA AC SERVO DRIVER UNIT No 5 2 5 2 100 15 65 5 2 R2 6 R2 6 R2 6 R2 6 5 2 dia 5 2 dia 5 2 200 70 32 3 2 6 250 240 220 130 100 15 65 132 Six M4 228 Square hole 16 240 100 50 6 Dimensions for front panel mounting are references values that provide leeway The dimensions of the square hole are reference values ...

Page 67: ...ounting Brackets External Dimensions Mounting Hole Dimensions Reference 5 2 5 2 5 2 Four 5 2 dia 5 2 5 2 5 2 248 339 3 70 45 1 4 2 3 4 250 220 235 85 90 90 82 5 90 37 5 250 Six M4 226 Square hole 38 5 235 90 90 4 5 The dimensions of the square hole are reference values Dimensions for front panel mounting are references values that provide leeway ...

Page 68: ...0S B S2 G10030T B S2 Note The standard models have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LN R88M G05030 72 26 5 R88M G10030 92 46 5 R88M G05030 B 102 26 5 R88M G10030 B 122 46 5 INC ABS 230 200 3 6 LL 25 32 40 40 LN Motor connector Encoder connector 8 dia h 6 46 dia Two 4 3 dia 30 dia h 7 Brake connector Three h 9 12 ...

Page 69: ...h a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL LR S D1 D2 C G KL1 Z QK b h M t1 L R88M G20030 79 5 30 11 70 50 60 6 5 43 4 5 18 4h9 4 M4 2 5 8 R88M G40030 99 14 22 5 5h9 5 M5 3 10 R88M G75030 112 2 35 19 90 70 80 8 53 6 22 6h9 6 3 5 R88M G20030 B 116 30 11 70 50 60 6 5 43 4 5 18 4h9 4 M4 2 5 8 R88M G40030 B 135 5 14 22 5 5h9 5 M5 3 10 R88M G75030 B 149 ...

Page 70: ...odel number Model Dimensions mm LL D1 D2 C D3 G KL1 Z R88M G1K030 175 100 80 90 120 7 98 6 6 R88M G1K530 180 115 95 100 135 10 103 9 R88M G2K030 205 R88M G1K030 B 200 100 80 90 120 7 98 6 6 R88M G1K530 B 205 115 95 100 135 10 103 9 R88M G2K030 B 230 Model Dimensions mm LL R88M G3K030 217 R88M G3K030 B 242 ABS 45 42 M5 depth 12 Six h 9 3 5 6 Dimensions of shaft end with key and tap LL 55 G 3 KL1 84...

Page 71: ...s have a straight shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL R88M G4K030 240 R88M G5K030 280 R88M G4K030 B 265 R88M G5K030 B 305 ABS LL 65 12 6 118 84 130 130 Four 9 dia 110 dia h 7 24 dia h 6 165 dia Encoder connector Servomotor brake connector 145 dia 55 51 Eight h 9 4 7 M8 depth 20 Dimensions of shaft end with key and tap ...

Page 72: ... M L R88M GP10030L R88M GP10030H 60 5 25 8 70 50 60 3 7 43 4 5 12 5 3h9 3 1 8 M3 6 R88M GP10030S R88M GP10030T 87 5 R88M GP20030L R88M GP20030H 67 5 30 11 90 70 80 5 8 53 5 5 18 4h9 4 2 5 M4 8 R88M GP20030S R88M GP20030T 94 5 R88M GP40030L R88M GP40030H 82 5 14 22 5 5h9 5 3 M5 10 R88M GP40030S R88M GP40030T 109 5 R88M GP10030L B R88M GP10030H B 84 5 25 8 70 50 60 3 7 43 4 5 12 5 3h9 3 1 8 M3 6 R88...

Page 73: ...e end of the model number Model Dimensions mm LL R88M G1K020 150 R88M G1K520 175 R88M G1K020 B R88M G1K520 B 200 Model Dimensions mm LL LR S LW QK M L R88M G2K020 200 55 22 45 41 M5 12 R88M G3K020 250 65 24 55 51 M8 20 R88M G2K020 B 225 55 22 45 41 M5 12 R88M G3K020 B 275 65 24 55 51 M8 20 ABS Encoder connector Servomotor brake connector LL 55 12 6 118 84 130 130 Four 9 dia 145 dia 110 dia h 7 22 ...

Page 74: ...l Dimensions mm LL LR S D1 D2 C D3 KL1 Z QK b h t1 M L R88M G4K020 242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20 R88M G5K020 225 70 35 200 114 3 176 233 143 13 5 50 10h9 8 5 M12 25 R88M G4K020 B 267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20 R88M G5K020 B 250 70 35 200 114 3 176 233 143 13 5 50 10h9 8 5 M12 25 ABS LL LR 18 3 2 KL1 84 C C D1 dia D2 dia h 7 S dia h 6 D3 dia Four Z dia Encoder...

Page 75: ...shaft Models with a key and tap are indicated with S2 at the end of the model number Model Dimensions mm LL R88M G7K515 340 5 R88M G7K515 B 380 5 ABS 90 96 M16 depth 32 12 h 9 8 5 Dimensions of shaft end with key and tap Eye bolt Nominal diameter 10 Brake connector LL 113 24 3 2 183 84 176 176 Four 13 5 dia 200 dia 114 3 dia h 7 42 dia h 6 233 dia Motor connector Encoder connector ...

Page 76: ... b h t1 M L R88M G90010 175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010 182 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 R88M G90010 B 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010 B 207 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 Model Dimensions mm LL R88M G3K010 222 R88M G3K010 B 271 ABS C C S dia h 6 D2 dia h 7 LR F LL G KL1 84...

Page 77: ...ed with S2 at the end of the model number Model Dimensions mm LL R88M G4K510 300 5 R88M G4K510 B 337 5 Model Dimensions mm LL R88M G6K010 340 5 R88M G6K010 B 380 5 ABS 114 3 dia h 7 42 dia h 6 113 LL 24 3 2 84 176 176 143 Four 13 5 dia Encoder connector Servomotor brake connector Eye bolt Nominal diameter 10 200 dia 233 dia 90 12 h 9 5 8 M16 depth 32 Dimensions of shaft end with key and tap ABS Ey...

Page 78: ...2 45 2 2 External and Mounting Hole Dimensions 2 Standard Models and Dimensions Parameter Unit Dimensions R88A PR02G Hand held Parameter Unit Mini DIN 8 pin MD connector 62 24 15 1500 M3 depth 5 114 15 ...

Page 79: ...5200B R88M G40030 R88G HPG14A05400B R88G HPG20A11400B R88G HPG20A21400B R88G HPG32A33400B R88G HPG32A45400B R88M G75030 R88G HPG20A05750B R88G HPG20A11750B R88G HPG32A21750B R88G HPG32A33750B R88G HPG32A45750B R88M G1K030T R88G HPG32A051K0B R88G HPG32A111K0B R88G HPG32A211K0B R88G HPG32A331K0B R88G HPG50A451K0B R88M G1K530T R88G HPG32A052K0B Also used with R88M G2K030T R88G HPG32A112K0B Also used ...

Page 80: ...R88M G3K030T R88G HPG32A112K0SB Also used with R88M G2K020T R88G HPG32A211K0SB R88G HPG50A332K0SB Also used with R88M G2K020T R88G HPG50A451K0SB R88M G1K520T R88G HPG32A053K0B Also used with R88M G3K030T R88G HPG32A112K0SB Also used with R88M G2K020T R88G HPG50A213K0B Also used with R88M G3K030T R88G HPG50A332K0SB Also used with R88M G2K020T R88M G2K020T R88G HPG32A053K0B Also used with R88M G3K03...

Page 81: ...010T R88G HPG32A052K0TB R88G HPG50A112K0TB R88G HPG50A212K0TB R88G HPG65A255K0SB Also used with R88M G5K020T R88M G3K010T R88G HPG50A055K0SB Also used with R88M G5K020T R88G HPG50A115K0SB Also used with R88M G5K020T R88G HPG65A205K0SB Also used with R88M G5K020T R88G HPG65A255K0SB Also used with R88M G5K020T R88M G4K510T R88G HPG50A054K5TB R88G HPG65A127K5SB Also used with R88M G7K515T R88G HPG65A...

Page 82: ...G HPG20A45100B 66 5 80 90 55 dia 105 46 85 0 84 0 59 53 7 5 27 10 200 W 1 5 R88G HPG14A05200B 64 0 58 60 60 60 70 70 56 0 55 5 40 37 2 5 21 8 1 11 R88G HPG14A11200B 64 0 58 60 60 60 70 70 56 0 55 5 40 37 2 5 21 8 1 21 R88G HPG20A21200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 10 1 33 R88G HPG20A33200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 10 1 45 R88G HPG20A45200B 71 0 80 90 89 di...

Page 83: ...5 13 1 45 R88G HPG32A45750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 13 Model Dimensions mm S T Z1 Z2 AT 1 Key dimensions Tap dimensions QK b h t1 M L 400 W 1 5 R88G HPG14A05400B 16 28 5 5 M4 10 M4 25 5 5 3 M4 8 1 11 R88G HPG20A11400B 25 42 9 0 M4 10 M4 36 8 7 4 0 M6 12 1 21 R88G HPG20A21400B 25 42 9 0 M4 10 M4 36 8 7 4 0 M6 12 1 33 R88G HPG32A33400B 40 82 11 0 M4 10 M4 70 12 8 5 0 M...

Page 84: ...2K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 21 R88G HPG32A211K5B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 45 R88G HPG50A451K5B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 2 kW 1 5 R88G HPG32A052K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0B 110 133 120 135 dia 13...

Page 85: ...16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 1 45 R88G HPG50A451K5B 16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 2 kW 1 5 R88G HPG32A052K0B 13 40 82 11 M8 10 M6 70 12 8 5 0 M10 20 1 11 R88G HPG32A112K0B 13 40 82 11 M8 10 M6 70 12 8 5 0 M10 20 1 21 R88G HPG50A212K0B 16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 1 33 R88G HPG50A332K0B 16 50 82 14 M8 10 M6 70 14 9 5 5 M10 20 3 kW 1 5 R88G HPG32A053K0B 13 40 82 11 M8...

Page 86: ...2 103 12 0 53 1 33 R88G HPG50A332K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 3 kW 1 5 R88G HPG32A054K0B 129 133 120 130 130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG50A115K0B 149 156 170 130 130 190 145 165 163 122 103 12 0 53 1 21 R88G HPG50A213K0SB 149 156 170 130 130 190 145 165 163 122 103 12 0 53 1 25 R88G HPG65A253K0SB 231 222 230 130 130 260 145 220 214 168 165 12 0 57 Model ...

Page 87: ...SB 184 5 222 230 180 180 260 200 220 214 168 165 12 0 57 1 12 R88G HPG65A127K5SB 254 5 222 230 180 180 260 200 220 214 168 165 12 0 57 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dimensions QK b h t1 M L 4 kW 1 5 R88G HPG50A054K0SB 16 50 82 14 M10 25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A114K0SB 16 50 82 14 M10 25 M6 70 14 9 5 5 M10 20 1 20 R88G HPG65A204K0SB 25 80 130 18 M10 25 M8 110...

Page 88: ...8G HPG32A052K0TB 129 133 120 180 180 135 200 115 114 84 98 12 5 35 1 11 R88G HPG50A112K0TB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 21 R88G HPG50A212K0TB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 25 R88G HPG65A255K0SB 231 222 230 180 180 260 200 220 214 168 165 12 0 57 3 kW 1 5 R88G HPG50A055K0SB 149 156 170 180 180 190 200 165 163 122 103 12 0 53 1 11 R88G HPG50A115K0SB 1...

Page 89: ...0TB 16 50 82 14 M12 25 M6 70 14 9 5 5 M10 20 1 25 R88G HPG65A255K0SB 25 80 130 18 M12 25 M8 110 22 14 9 0 M16 35 3 kW 1 5 R88G HPG50A055K0SB 16 50 82 14 M12 25 M6 70 14 9 5 5 M10 20 1 11 R88G HPG50A115K0SB 16 50 82 14 M12 25 M6 70 14 9 5 5 M10 20 1 20 R88G HPG65A205K0SB 25 80 130 18 M12 25 M8 110 22 14 9 0 M16 35 1 25 R88G HPG65A255K0SB 25 80 130 18 M12 25 M8 110 22 14 9 0 M16 35 4 5 kW 1 5 R88G H...

Page 90: ...L 100 W 1 5 R88G HPG11B05100PB 5 8 20 3 4 M4 9 M3 15 3 3 1 8 M3 6 1 11 R88G HPG14A11100PB 8 16 28 5 5 M4 10 M3 25 5 5 3 0 M4 8 1 21 R88G HPG14A21100PB 8 16 28 5 5 M4 10 M3 25 5 5 3 0 M4 8 1 33 R88G HPG20A33100PB 10 25 42 9 0 M4 10 M3 36 8 7 4 0 M6 12 1 45 R88G HPG20A45100PB 10 25 42 9 0 M4 10 M3 36 8 7 4 0 M6 12 Model Dimensions mm LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 200 W 1 5 R88G HPG14A05200PB 65...

Page 91: ...1 45 R88G HPG32A45400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 Model Dimensions mm G S T Z1 Z2 AT 1 Key dimensions Tap dimensions QK b h t1 M L 400 W 1 5 R88G HPG20A05400PB 10 25 42 9 0 M5 12 M4 36 8 7 4 0 M6 12 1 11 R88G HPG20A11400PB 10 25 42 9 0 M5 12 M4 36 8 7 4 0 M6 12 1 21 R88G HPG20A21400PB 10 25 42 9 0 M5 12 M4 36 8 7 4 0 M6 12 1 33 R88G HPG32A33400PB 13 40 82 11 0 M5 12 M6...

Page 92: ...10 3 6 1 15 R88G VRSF15B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 1 25 R88G VRSF25B100CJ 78 0 32 40 52 46 60 50 45 10 3 6 200 W 1 5 R88G VRSF05B200CJ 72 5 32 60 52 70 60 50 45 10 3 10 1 9 R88G VRSF09C200CJ 89 5 50 60 78 70 90 70 62 17 3 8 1 15 R88G VRSF15C200CJ 100 0 50 60 78 70 90 70 62 17 3 8 1 25 R88G VRSF25C200CJ 100 0 50 60 78 70 90 70 62 17 3 8 400 W 1 5 R88G VRSF05C400CJ 89 5 50 60 78 70 90 70...

Page 93: ...4 2 5 1 25 R88G VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2 5 200 W 1 5 R88G VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2 5 1 9 R88G VRSF09C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 25 R88G VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3 5 400 W 1 5 R88G VRSF05C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 9 R88G VRSF09C400CJ 19 30 M4 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C400CJ...

Page 94: ... 15 R88G VRSF15B100PCJ 78 0 32 60 52 70 60 50 45 10 3 8 1 25 R88G VRSF25B100PCJ 78 0 32 60 52 70 60 50 45 10 3 8 200 W 1 5 R88G VRSF05B200PCJ 72 5 32 80 52 90 60 50 45 10 3 12 1 9 R88G VRSF09C200PCJ 89 5 50 80 78 90 90 70 62 17 3 12 1 15 R88G VRSF15C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 1 25 R88G VRSF25C200PCJ 100 0 50 80 78 90 90 70 62 17 3 12 400 W 1 5 R88G VRSF05C400PCJ 89 5 50 80 78 90 90 ...

Page 95: ...1 25 R88G VRSF25B100PCJ 12 20 M4 M5 M3 12 16 4 4 2 5 200 W 1 5 R88G VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2 5 1 9 R88G VRSF09C200PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C200PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 25 R88G VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 400 W 1 5 R88G VRSF05C400PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 9 R88G VRSF09C400PCJ 19 30 M5 M6 M4 20 22 6 6 3 5 1 15 R88G VRSF15C400P...

Page 96: ...r Dimensions External Regeneration Resistor R88A RR08050S RR080100S R88A RR22047S1 R88A RR50020S 20 t1 2 104 122 130 43 5 28 4 2 6 Thermal switch output 500 1 5 dia 0 3mm 2 3 dia 0 75mm 2 20 t1 2 200 220 230 62 48 4 2 6 500 Thermal switch output 1 5 dia 0 3mm 2 3 dia 0 75mm 2 360 386 402 43 25 10 78 76 40 5 2 ...

Page 97: ...l and Mounting Hole Dimensions 2 Standard Models and Dimensions Reactor Dimensions 3G3AX DL2002 3G3AX DL2004 Ground terminal M4 66 56 72 90 Four 5 2 8 Two M4 98 85 66 56 72 90 98 95 Ground terminal M4 Two M4 Four 5 2 8 ...

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

Page 99: ...AX AL2025 AL2055 Model Dimensions mm A C Y 3G3AX AL2025 120 82 67 3G3AX AL2055 120 98 75 86 71 80 100 Four 6 9 116 105 Ground terminal M4 Two M4 Ground terminal M5 Six M4 terminal screws Terminal block 150 94 C 40 60 A Ro R So S To T Connection Diagram Y 1 50 1 Ro R So S To T 9 5 Four 6 dia Notch ...

Page 100: ...10 AL2220 Model Dimensions mm A C D H H1 X Y K W 3G3AX AL2110 150 103 70 170 108 60 80 5 3 12 3G3AX AL2220 180 113 75 190 140 90 90 8 4 16 5 W Terminal width H H1 A Ro R So S To T C Y 1 X 1 W 55 D Ro R So S To T Ground terminal M6 Connection Diagram Four 6 dia Notch Terminal holes Six K dia ...

Page 101: ...Specifications 3 47 Standard Models and Specifications 3 47 3 4 Cable and Connector Specifications 3 57 Encoder Cable Specifications 3 57 Absolute Encoder Battery Cable Specifications 3 63 Servomotor Power Cable Specifications 3 64 Communications Cable Specifications 3 84 Connector Specifications 3 86 Control Cable Specifications 3 89 3 5 Servo Relay Units and Cable Specifications 3 99 Servo Relay...

Page 102: ...average ambient temperature of 55 C at 100 of the rated torque Item Specifications Ambient operating temperature and operating humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature and storage humidity 20 to 65 C 90 RH max with no condensation Storage and operating atmosphere No corrosive gasses Vibration resistance Smaller of either 10 to 60 Hz with double amplitude of 0 1...

Page 103: ...W Control circuit 4 4 W 4 4 W 4 4 W 4 4 W Control method All digital servo Inverter method IGBT driven PWM method PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Maximum applicable motor capacity 50 W 100 W 200 W 400 W Applicable Servomo tors 3 000 r min Servomotors G05030H G10030L G20030L G40030L G05030T G10030S G20030S G40030S 3 000 r min Flat Servom...

Page 104: ... 05 A 0 07 A 0 07 A Heat generated Main circuit 14 3 W 14 8 W 23 6 W 38 7 W 52 9 W 105 9 W Control circuit 4 5 W 4 5 W 4 5 W 4 3 W 6 1 W 6 1 W PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Approx 1 7 kg Approx 1 7 kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 k W 1 5 kW Applicable Servomo tors 3 000 r min Servomotors G05030H G10030H ...

Page 105: ...391 7 W 376 2 W Control circuit 10 7 W 13 3 W 13 3 W 13 8 W PWM frequency 6 0 kHz Weight Approx 3 2 kg Approx 6 0 kg Approx 6 0 kg Approx 16 4 kg Maximum applicable motor capacity 2 kW 3 kW 5 kW 7 5 kW Applica ble Servo motors 3 000 r min Servomotors G2K030T G3K030T G4K030T G5K030T 3 000 r min Flat Servomo tors 2 000 r min Servomotors G2K020T G3K020T G4K020T G5K020T G7K515T 1 000 r min Servomotors...

Page 106: ...e of movement set in the Overrun Limit Setting Pn26 was exceeded by the Servomotor EEPROM parameter error The data in the parameter storage area was corrupted when the data was read from EE PROM at power ON EEPROM check code error The EEPROM write verification data was corrupted when the data was read from EEPROM at power ON Drive prohibit input Both the forward and reverse drive prohibit inputs w...

Page 107: ...er supply input R88D GT L Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GT H Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2C Symbol Name Function B1 External Regeneration Resistor connection terminals R88D GTA5L GT01L GT02L GT01H GT02H GT04H These terminals normally do not need to be connected If there is high regenerative energy connect an External Regeneration Re sistor between B1 ...

Page 108: ...hase 200 to 230 VAC 170 to 253V 50 60 Hz L2C B1 External Regeneration Resistor connection terminals 2 to 5 kW Normally B2 and B3 are connected If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 B2 B3 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sure to wire ...

Page 109: ...al Regeneration Resistor between B1 and B2 if necessary B2 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sure to wire them correctly V White W Blue Green Yellow Frame ground This is the ground terminal Ground to 100 Ω or less Symbol Name Function NC Do not connect L1C Control circuit power supply input R88D GT75H Single phase 200 to 230 VAC 170 to 253 V ...

Page 110: ...und Phase Z Output open collector output Alarm Output Positioning Completed Output Alarm Reset Input Deviation Counter Reset Input Gain Switch Input Electronic Gear Switch Input Reverse Drive Prohibit Input Forward Drive Prohibit Input Encoder Phase A Output Encoder Phase B Output Encoder Phase Z Output Line driver output Conforms to EIA RS 422A Load resistance 120 Ω min Vibration Filter Switch Co...

Page 111: ... POT 12 OUTM1 OUTM2 COM ZCOM Z 19 25 FG 50 21 22 49 48 23 24 BAT BATCOM Backup Battery Input 1 42 43 20 SEN REF AGND Speed Command Input PCL NCL AGND 16 17 14 15 SENGND 13 Sensor ON Input Brake Interlock Maximum operating voltage 30 VDC Maximum output current 50 mA DC RUN Command Input 12 to 24 VDC Frame ground Phase Z Output open collector output Alarm Output Alarm Reset Input Gain Switch Input R...

Page 112: ...0 100 Ω 4 7 kΩ 1μF SEN SENGND 13 Sensor ON Servomotor Rotation Speed Detection Output Y 7 Zero Speed Designation Input Brake Interlock Maximum operating voltage 30 VDC Maximum output current 50 mA DC RUN Command Input 12 to 24 VDC Frame ground Phase Z Output open collector output Alarm Output Alarm Reset Input Gain Switch Input Reverse Drive Prohibit Input Forward Drive Prohibit Input Encoder Phas...

Page 113: ...nputs All 8 NOT Reverse Drive Prohibit Input Reverse rotation overtravel input OFF Prohibited ON Permitted All 9 POT Forward Drive Prohibit Input Forward rotation overtravel input OFF Prohibited ON Permitted All 14 REF Speed Command Input Analog input terminal for speed commands 1 Speed TREF1 Torque Command Input Analog input terminal for torque command when Torque Command Speed Limit Selection Pn...

Page 114: ...n When the Gain Switching Input Operating Mode Selection Pn30 is set to 1 switches between Gain 1 and Gain 2 The selected Gain will differ depending on the settings for Pn31 and Pn36 All TLSEL Torque Limit Switch Torque limit switch input when the Torque Limit Selection Pn03 is set to 3 OFF No 1 Torque Limit Pn5E enabled ON No 2 Torque Limit Pn5F enabled All 28 GESEL Electronic Gear Switch Electro...

Page 115: ...ode 42 BAT Backup Battery Input Backup battery connector terminals when the absolute encoder power is interrupted When a backup battery is connected to this terminal the battery case is not required All 43 BATGND 44 CWLD Reverse Pulse input for line driver only Position command pulse input when the Command Pulse Input Selection Pn40 is set to 1 Line driver input Maximum response frequency 2 Mpps A...

Page 116: ...der Phase Z Output 35 READY Servo Ready Output Output signal to indicate that power can be supplied to the Servo Drive ON if no errors are found after the power is supplied to the main circuit All 34 READYCOM 37 ALM Alarm Output The output is OFF when an alarm is generated for the Servo Drive All 36 ALMCOM 39 INP Positioning Completed Output Positioning completed output ON The accumulated pulses i...

Page 117: ...ut Forward Drive Prohibit Input Brake Interlock Output Brake Interlock Output Sensor Input Ground Sensor Input Ground Ground Common General purpose Output 1 Reverse Pulses Input Feed Pulses Input or 90 Phase Difference Pulse Input Phase A Reverse Pulses Input Feed Pulses Input or 90 Phase Difference Pulse Input Phase A Zero Speed Designation Input Vibration Filter Switch Speed Command Rotation Dir...

Page 118: ...e input voltage is 10 V for each input The VR must be 2 kΩ with B characteristics and 1 2 W minimum R must be 200 Ω and 1 2 W minimum The shielded twisted pair cable should not exceed 20 m in length 3 3 V REF TREF1 VLIM PCL TREF2 NCL 14 AGND AGND ADC 1 ADC 2 15 16 17 18 3 3 V Precautions for Correct Use Applicable line driver AM26LS32A or the equivalent Applicable line driver AM26LS31A or the equi...

Page 119: ...maximum CW 3 CW 4 CCW 5 CCW 6 Select a resistance R value so that the input current will be from 7 to 15 mA Refer to the following table The twisted pair cable should not exceed 10 m in length The open collector wiring should not exceed 2 m in length VCC R 24 V 2 kΩ 1 2 W 12 V 1 kΩ 1 2 W Input current 9 mA 3 V Servo Drive Controller Applicable line driver AM26LS31A or the equivalent Precautions fo...

Page 120: ... V min OFF level 3 V max External power supply 12 VDC 5 to 24 VDC 5 Power supply capacity 50 mA min per Unit Photocoupler input To other input circuit ground commons To other input circuits ABS 13 SENGND 20 SEN 0 V High level 4 V min Low level 0 8 V max 4 7 k Servo Drive Input voltage 5 VDC 1 mA When at high level Approx 1 mA 7406 or the equivalent Signal Levels Precautions for Correct Use ...

Page 121: ...n 6 Forward Pulse Input CCW Direction Signal SIGN or Phase B Input FB Functions The functions of these signals depend on the settings of the Command Pulse Rotation Direction Switch Pn41 and the Command Pulse Mode Pn42 If the Command Pulse Rotation Direction Switch Pn41 is set to 1 the rotation direction will be reversed If the photocoupler LED is turned ON each signal will go high as shown above P...

Page 122: ...ut Frequency Line driver 500 kpps Open collector 200 kpps Feed pulses Forward command Reverse command t1 t1 t2 t2 t2 t1 t1 T τ t1 0 5 μs t2 2 5 μs τ 2 5 μs T 5 0 μs τ T 100 50 t1 0 1 μs t2 1 0 μs τ 1 0 μs T 2 0 μs τ T 100 50 Direction signal T τ t2 t1 t1 t1 0 5 μs t2 2 5 μs τ 2 5 μs T 5 0 μs τ T 100 50 t1 0 1 μs t2 1 0 μs τ 1 0 μs T 2 0 μs τ T 100 50 Reverse pulses Forward command Reverse command ...

Page 123: ...lse Input CCW Direction Signal SIGN or Phase B Input FB Functions The functions of these signals depend on the settings of the Command Pulse Rotation Direction Switch Pn41 and the Command Pulse Mode Pn42 If the Command Pulse Rotation Direction Switch Pn41 is set to 1 the rotation direction will be reversed Pn41 setting Pn42 setting Command pulse mode Input pins Servomotor forward command Servomoto...

Page 124: ...ne driver 2 Mpps 90 phase difference signals Maximum Input Frequency Line driver 2 Mpps t1 t1 t2 t2 t2 t1 t1 T τ t1 20 ns t2 500 ns τ 250 ns T 500 ns τ T 100 50 Feed pulses Forward command Reverse command Direction signal T τ t2 t1 t1 t1 20 ns t2 500 ns τ 250 ns T 500 ns τ T 100 50 Reverse pulses Forward command Reverse command Forward pulses t1 t1 T τ t1 20 ns τ 4 0 ns T 8 0 ns τ T 100 50 Phase A...

Page 125: ...on Pn02 is set to 1 Speed Control Use the Speed Command Scale Pn50 to set the rotation speed scale for the command input Torque Control Mode Pin 14 is the Torque Command Input when the Control Mode Selection Pn02 is set to 2 Torque Control The input gain polarity offset and filters can be set for the torque command RUN Command Input RUN Pin 29 RUN Command Input RUN Functions This input turns ON th...

Page 126: ...ontrol Mode Selection Pn02 is set to 3 4 or 5 the control mode can be switched as given in the following table Pulse Prohibit Input IPG and Internally Set Speed Selection 1 VSEL1 Pin 33 Pulse Prohibit Input IPG Internally Set Speed Selection 1 VSEL1 Functions Position Control Mode Pin 33 is the Pulse Prohibit Input When the input is OFF inputting command pulses will be disabled The Pulse Prohibit ...

Page 127: ...Phase B Phase Z Phase A Phase B Phase Z Output line driver AM26C31 or the equivalent Applicable line receiver AM26C32 or the equivalent R 120 to 180 Ω 0 V ZCOM Z 19 25 Servo Drive Maximum operating voltage 30 VDC Maximum output current 50 mA Controller X Di X Di Servo Drive External power supply 24 VDC 1 V To other output circuits Maximum operating voltage 30 VDC Maximum output current 50 mA Di Di...

Page 128: ...lization is completed Alarm Output ALM Positioning Completed Output INP Brake Interlock Output BKIR RUN Command Input RUN Approx 2 s Approx 100 to 300 ms Approx 2 ms Approx 2 ms 100 ms min 0 ms min 0 ms min 1 to 5 ms Approx 40 ms Dynamic brake Servomotor power supply Servomotor position speed or torque input Control power supply L1C L2C Internal control power supply MPU initialization completed Ma...

Page 129: ...t in the Encoder Output Direction Switch Pn46 The ground for the output circuit line driver is connected to the signal ground GND It is not isolated The maximum output frequency is 4 Mpps after multiplying by 4 The output frequency equals the Servomotor encoder resolution Pn44 Pn45 4 Servomotor rotation speed r min 60 The output phases are shown below They are the same for both incremental and abs...

Page 130: ...ions The alarm output is turned OFF when the Servo Drive detects an error This output is OFF at power ON but turns ON when the Servo Drive s initial processing has been completed Positioning Completed Output INP or Servomotor Rotation Speed Detection Output TGON Pin 39 Positioning Completed Output INP or Servomotor Rotation Speed Detection Output TGON Functions Position Control Mode The INP signal...

Page 131: ...ery Backup power supply output for the absolute encoder 3 6 V 100 μA for operation during power interruption 265 μA for power interruption timer and 3 6 μA when power is supplied to Servo Drive 4 BAT Battery 5 PS Encoder phase S input Line driver input corresponding with the EIA RS 485 communica tions method 6 PS Encoder phaseS input Shell FG Shield ground Cable shield ground Name Model Manufactur...

Page 132: ...mmunications data interface between Servo Drives 8 A Name Model Manufacturer Connector MD S8000 10 J S T Mfg Co Pin No Symbol Name Function Interface 3 TXD RS 232 send data Send data output to the Parameter Unit or personal computer 4 GND Ground 5 RXD RS 232 receive data Receive data input from the Parameter Unit or personal computer 7 B RS 485 communications data Communications data interface bet...

Page 133: ...ith no con densation 20 to 80 C 85 RH max with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 1 10 to 2 500 Hz and acceleration of 49 m s2 max in the X Y and Z directions 10 to 2 500 Hz and acceleration of 24 5 m s2 max in the X Y and Z directions 10 to 2 500 Hz and acceleration of 49 m s2 max in the X Y and Z direc tions 10 to 2 500 Hz and accelera tion o...

Page 134: ...l load 3 N 68 68 245 245 Allowable thrust load 3 N 58 58 98 98 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Radiation shield dimensions material 100 80 t10 AI 130 120 t12 AI Applicable Servo Drives R88D GTA5L GT01L GT02L GT04L Brake specifications Brake inertia kg m2 GD2 4 2 10 7 2 10 7 1 8 10 6 1 8 10 6 Excitation vo...

Page 135: ...245 392 Allowable thrust load 3 N 58 58 98 98 147 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 Approx 2 3 With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Approx 3 1 Radiation shield dimensions material 100 80 t10 AI 130 120 t12 AI 170 160 t12 AI Applicable Servo Drives R88D GT01H GT01H GT02H GT04H GT08H Brake specifications Brake inertia kg m2 GD2 4 2 10 7 2 10 7 1...

Page 136: ... Weight Without brake kg Approx 4 5 Approx 5 1 Approx 6 5 Approx 9 3 Approx 12 9 Approx 17 3 With brake kg Approx 5 1 Approx 6 5 Approx 7 9 Approx 11 Approx 14 8 Approx 19 2 Radiation shield dimensions material 170 160 t12 AI 320 300 t30 AI 320 300 t20 AI 380 350 t30 AI Applicable Servo Drives R88D GT15H GT15H GT20H GT30H GT50H GT50H Brake specifications Brake inertia kg m2 GD2 4 2 5 10 5 3 3 10 5...

Page 137: ...rvice life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 3 000 r min ...

Page 138: ...epetitive usage Continuous usage N m r min 4 0 0 1000 2000 3000 4000 5000 8 0 7 05 2 4 2 4 4 0 1 0 7 05 3600 Repetitive usage Continuous usage N m r min 5 0 1000 2000 3000 4000 5000 10 9 1 3 18 3 18 4 8 9 1 4000 Repetitive usage Continuous usage N m r min 2 0 0 1000 2000 3000 4000 5000 4 0 3 6 1 3 1 3 1 7 0 78 3 6 3800 Repetitive usage Continuous usage N m r min 10 0 1000 2000 3000 4000 5000 20 18...

Page 139: ...0 20 30 40 With brake 100 70 60 10 0 20 30 40 Without brake Rated Torque Ambient temperature With brake 100 95 10 0 20 30 40 Rated Torque Ambient temperature With brake 100 75 70 10 0 20 30 40 Without brake Rated Torque Ambient temperature With brake 100 80 70 10 0 20 30 40 Without brake Rated Torque Ambient temperature With brake 100 90 10 0 20 30 40 Rated Torque Ambient temperature With brake 10...

Page 140: ...able thrust load 3 N 58 98 98 58 98 98 Weight Without brake kg Approx 0 7 Approx 1 3 Approx 1 8 Approx 0 7 Approx 1 3 Approx 1 8 With brake kg Approx 0 9 Approx 2 Approx 2 5 Approx 0 9 Approx 2 Approx 2 5 Radiation shield dimensions material 130 120 t10 AI 170 160 t12 AI 130 120 t10 AI 170 160 t12 AI Applicable Servo Drives R88D GT01L GT02L GT04L GT01H GT02H GT04H Brake specifications Brake inerti...

Page 141: ...operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 3 000 r min Flat Servomotors 3 000 r min Flat Servomotors with 100 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M GP10030L S 100 W R88M GP20030L S 200 W R8...

Page 142: ...96 196 196 343 343 343 490 Weight Without brake kg Approx 6 8 Approx 8 5 Approx 10 6 Approx 14 6 Approx 18 8 Approx 25 Approx 41 With brake kg Approx 8 7 Approx 10 1 Approx 12 5 Approx 16 5 Approx 21 3 Approx 28 5 Approx 45 Radiation shield dimensions material 275 260 t15 AI 380 350 t30 AI 470 440 t30 AI Applicable Servo Drives R88D GT10H GT15H GT20H GT30H GT50H GT50H GT75H Brake specifications Br...

Page 143: ...gram 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 2 000 r min Servomotors 2 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard c...

Page 144: ... load 3 N 196 490 490 490 588 Weight Without brake kg Approx 8 5 Approx 17 5 Approx 25 Approx 34 Approx 41 With brake kg Approx 10 Approx 21 Approx 28 5 Approx 39 5 Approx 45 Radiation shield dimensions material 275 260 t15 AI 470 440 t30 AI Applicable Servo Drives R88D GT15H GT30H GT50H GT50H GT75H Brake specifications Brake inertia kg m2 GD2 4 1 35 10 4 4 7 10 4 4 7 10 4 4 7 10 4 4 7 10 4 Excita...

Page 145: ...hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram 4 This is an OFF brake It is reset when excitation voltage is applied 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufac tured by Okaya Electric Industries Co Ltd Torque Rotational Speed Characteristics for 1 000 r min Servomotors 1 000 r m...

Page 146: ...e For that reason overloading may occur at low temperatures In particular in systems that use a Decelerator the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures Check whether overloading may occur at low temperature startup Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures An increase in load friction...

Page 147: ...face RS 485 compliance Item Specifications Encoder system Optical encoder 17 bits No of output pulses Phases A and B 32 768 pulses rotation Phase Z 1 pulse rotation Maximum rotations 32 768 to 32 767 rotations Power supply voltage 5 VDC 5 Power supply current 110 mA max Applicable battery voltage 3 6 VDC Current consumption of battery 265 μA for a maximum of 5 s right after power interruption 100 ...

Page 148: ...R88G HPG14A21100B 143 2 18 65 238 6 13 5 00 10 6 340 1358 1 04 1 33 R88G HPG14A33050B 91 3 73 71 151 10 5 4 40 10 6 389 1555 1 04 1 45 R88G HPG14A45050B 67 5 09 71 111 14 3 4 40 10 6 427 1707 1 04 100 W 1 5 R88G HPG11B05100B 600 1 28 80 1000 3 6 5 00 10 7 135 538 0 29 1 11 R88G HPG14A11100B 273 2 63 75 454 7 39 6 00 10 6 280 1119 1 04 1 21 R88G HPG14A21100B 143 5 40 80 238 15 2 5 00 10 6 340 1358 ...

Page 149: ...3 88 454 68 1 6 00 10 5 659 2320 3 1 1 21 R88G HPG32A21750B 143 42 34 84 238 124 3 3 00 10 4 1367 5448 7 8 1 33 R88G HPG32A33750B 91 69 70 88 151 204 7 2 70 10 4 1565 6240 7 8 1 45 R88G HPG32A45750B 67 95 04 88 111 279 2 2 70 10 4 1718 6848 7 8 1 kW 1 5 R88G HPG32A051K0B 600 11 5 72 1000 32 9 3 90 10 4 889 3542 7 3 1 11 R88G HPG32A111K0B 273 28 9 83 454 82 6 3 40 10 4 1126 4488 7 8 1 21 R88G HPG32...

Page 150: ...y and tap are indicated with J at the end of the model number the suffix in the box Model Rated rota tion speed Rated torque Effi cien cy Maxi mum momen tary rotation speed Maxi mum momen tary torque Decelera tor inertia Allow able radial load Allow able thrust load Weight r min N m r min N m kg m2 N N kg 2 kW 1 5 R88G HPG32A052K0B 600 26 7 84 1000 77 4 3 90 10 4 889 3542 7 4 1 11 R88G HPG32A112K0...

Page 151: ...2A211K0SB 95 92 3 92 143 259 7 2 90 10 4 1367 5448 7 8 1 33 R88G HPG50A332K0SB 60 144 9 92 91 407 6 4 70 10 4 4135 14300 19 0 1 45 R88G HPG50A451K0SB 44 197 7 92 67 555 9 4 70 10 4 4538 15694 19 0 1 5 kW 1 5 R88G HPG32A053K0B 400 31 7 89 600 86 8 3 80 10 4 889 3542 7 3 1 11 R88G HPG32A112K0SB 182 72 1 92 273 197 7 3 40 10 4 1126 4488 7 8 1 21 R88G HPG50A213K0B 95 137 5 92 143 377 0 5 80 10 4 3611 ...

Page 152: ...3 80 10 4 889 3542 7 9 1 11 R88G HPG50A115K0B 182 145 2 92 273 418 3 8 80 10 4 2974 10285 19 1 1 21 R88G HPG50A213K0SB 95 260 0 1 93 143 806 4 6 90 10 4 3611 12486 19 1 1 25 R88G HPG65A253K0SB 80 322 9 90 120 930 1 3 00 10 3 7846 28654 52 0 4 kW 1 5 R88G HPG50A054K0SB 400 85 8 91 600 250 3 1 20 10 3 2347 8118 18 6 1 11 R88G HPG50A114K0SB 182 192 7 93 273 562 8 8 70 10 4 2974 10285 20 1 1 20 R88G H...

Page 153: ...6 4488 8 4 1 21 R88G HPG50A21900TB 47 169 8 94 95 362 4 7 00 10 4 3611 12486 19 1 1 33 R88G HPG50A33900TB 30 268 5 94 60 573 2 5 90 10 4 4135 14300 19 1 2 kW 1 5 R88G HPG32A052K0TB 200 90 2 95 400 196 1 4 90 10 4 889 3542 8 9 1 11 R88G HPG50A112K0TB 90 198 4 94 182 430 9 8 40 10 4 2974 10285 20 1 1 21 R88G HPG50A212K0TB 47 320 0 1 95 95 786 8 6 50 10 4 3611 12486 20 1 1 25 R88G HPG65A255K0SB 40 44...

Page 154: ...4 1 11 R88G HPG14A11100PB 273 2 63 75 454 7 06 6 89 6 00 10 6 280 1119 1 04 1 21 R88G HPG14A21100PB 143 5 40 80 238 14 5 14 2 5 00 10 6 340 1358 1 04 1 33 R88G HPG20A33100PB 91 6 91 65 151 18 6 18 1 4 50 10 5 916 3226 2 9 1 45 R88G HPG20A45100PB 67 9 42 65 111 25 3 24 7 4 50 10 5 1006 3541 2 9 200 W 1 5 R88G HPG14A05200PB 600 2 49 78 1000 7 01 2 07 10 5 221 883 0 99 1 11 R88G HPG20A11200PB 273 4 7...

Page 155: ... R88G VRSF15B100CJ 200 1 67 70 333 4 73 3 50 10 6 588 294 0 70 1 25 R88G VRSF25B100CJ 120 2 78 70 200 7 88 3 25 10 6 686 343 0 70 100 W 1 5 R88G VRSF05B100CJ 600 1 19 75 1000 3 38 4 00 10 6 392 196 0 55 1 9 R88G VRSF09B100CJ 333 2 29 80 556 6 48 3 50 10 6 441 220 0 55 1 15 R88G VRSF15B100CJ 200 3 81 80 333 10 8 3 50 10 6 588 294 0 70 1 25 R88G VRSF25B100CJ 120 6 36 80 200 18 0 3 25 10 6 686 343 0 ...

Page 156: ...o mentary torque Decelera tor inertia Allow able radial load Allow able thrust load Weight r min N m r min N m kg m2 N N kg 400 W 1 5 R88G VRSF05C400CJ 600 5 40 85 1000 15 6 15 3 3 63 10 5 784 392 1 70 1 9 R88G VRSF09C400CJ 333 9 50 83 556 27 4 26 8 2 75 10 5 931 465 1 70 1 15 R88G VRSF15C400CJ 200 15 8 83 333 45 7 44 8 3 00 10 5 1176 588 2 10 1 25 R88G VRSF25C400CJ 120 26 4 83 200 76 1 74 7 2 88 ...

Page 157: ... 1 5 R88G VRSF05B100PCJ 600 1 19 75 1000 3 15 4 00 10 6 392 196 0 72 1 9 R88G VRSF09B100PCJ 333 2 29 80 556 6 048 3 50 10 6 441 220 0 72 1 15 R88G VRSF15B100PCJ 200 3 81 80 333 10 08 3 50 10 6 588 294 0 87 1 25 R88G VRSF25B100PCJ 120 6 36 80 200 16 8 3 25 10 6 686 343 0 87 200 W 1 5 R88G VRSF05B200PCJ 600 2 70 85 1000 7 65 1 18 10 5 392 196 0 85 1 9 R88G VRSF09C200PCJ 333 3 77 66 556 10 692 2 75 1...

Page 158: ...prox 0 3 kg R88A CRGA010C 10 m Approx 0 6 kg R88A CRGA015C 15 m Approx 0 9 kg R88A CRGA020C 20 m Approx 1 2 kg R88A CRGA030C 30 m 6 8 dia Approx 2 4 kg R88A CRGA040C 40 m Approx 3 2 kg R88A CRGA050C 50 m Approx 4 0 kg Servo Drive Servomotor L R88D G R88M G 6 5 6 8 dia Signal No Servo Drive E5V 1 E0V 2 BAT 3 4 S 5 6 FG Shell Red Black Orange Orange White Cable AWG22 2C AWG24 2P UL20276 3 to 20 m AW...

Page 159: ...g R88A CRGB030C 30 m 6 8 dia Approx 2 4 kg R88A CRGB040C 40 m Approx 3 2 kg R88A CRGB050C 50 m Approx 4 0 kg Servo Drive Servomotor L R88D G R88M G 6 5 6 8 dia No E5V 1 E0V 2 S 5 6 FG No 4 5 2 3 E5V E0V S FG 6 Signal Servo Drive Shell Red Black Blue White Blue Cable AWG22 2C AWG24 2P UL20276 3 to 20 m AWG16 2C AWG26 2P UL20276 30 to 50 m Signal Servomotor Servo Drive Connector Servomotor Connector...

Page 160: ...ox 1 0 kg R88A CRGC020N 20 m Approx 1 5 kg R88A CRGC030N 30 m 6 8 dia Approx 2 5 kg R88A CRGC040N 40 m Approx 3 3 kg R88A CRGC050N 50 m Approx 4 1 kg L Servo Drive Servomotor R88D G R88M G 6 5 6 8 dia No E5V 1 E0V 2 BAT 3 4 S 5 6 FG Straight plug N MS3106B20 29S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics No H G T S K L E5V E0V BAT S FG J Signal Servo Drive Shell...

Page 161: ...ia Signal No Servo Drive E5V 1 E0V 2 3 BAT 4 5 S 6 FG Shell Pink Red Pink Black Green Red Orange Black Green Black Orange Red Cable AWG24 4P UL20276 No 7 8 1 2 4 5 E5V E0V BAT BAT S S FG Signal Servomotor 3 Servomotor Connector Connector 172161 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK Servo Drive Connector Connector Crimp type I O Connector Molex Japan Connector pi...

Page 162: ...tor R88D G R88M G L 7 5 8 2 dia Signal No Servo Drive E5V 1 E0V 2 S 5 S 6 FG Cable AWG24 4P UL20276 No 4 5 2 3 E5V E0V S S FG Servomotor 6 Signal Servomotor Connector Connector 172160 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK Servo Drive Connector Connector Crimp type I O Connector Molex Japan Connector pins 50639 8028 Molex Japan Shell Pink Red Pink Black Orange Bl...

Page 163: ...dia No Servo Drive E5V 1 E0V 2 BAT 3 BAT 4 S 5 S 6 FG No H G T S K L E5V E0V BAT BAT S S FG Signal Servomotor J Straight plug N MS3106B20 29S Japan Aviation Electronics Cable clamp N MS3057 12A Japan Aviation Electronics Servomotor Connector Cable AWG24 4P UL20276 Servo Drive Connector Connector Crimp type I O Connector Molex Japan Connector pins 50639 8028 Molex Japan Signal Pink Red Pink Black G...

Page 164: ...D0R3C 0 3 m ABS Servo Drive Battery holder Servomotor R88D GN ML2 R88M G 43 5 300 43 5 18 8 18 8 t 12 t 12 Signal No Servo Drive S 6 S 5 BAT 4 BAT 3 E0V 2 E5V 1 FG S S BAT BAT E0V E5V FG Shell Signal No Battery holder BAT 2 BAT 1 No 6 5 4 3 2 1 Shell Signal Servomotor Orange White Orange Red Black Blue Blue White Connector plug 55100 0670 Molex Japan Connector socket 54280 0609 Molex Japan ...

Page 165: ...on moving parts Model Length L Outer diameter of sheath Weight R88A CAGA003S 3 m 6 2 dia Approx 0 2 kg R88A CAGA005S 5 m Approx 0 3 kg R88A CAGA010S 10 m Approx 0 6 kg R88A CAGA015S 15 m Approx 0 9 kg R88A CAGA020S 20 m Approx 1 2 kg R88A CAGA030S 30 m Approx 1 8 kg R88A CAGA040S 40 m Approx 2 4 kg R88A CAGA050S 50 m Approx 3 0 kg Precautions for Correct Use 50 50 L Servo Drive Servomotor R88D G R...

Page 166: ...GB005S 5 m Approx 1 0 kg R88A CAGB010S 10 m Approx 2 0 kg R88A CAGB015S 15 m Approx 2 9 kg R88A CAGB020S 20 m Approx 3 8 kg R88A CAGB030S 30 m Approx 5 6 kg R88A CAGB040S 40 m Approx 7 4 kg R88A CAGB050S 50 m Approx 9 2 kg 70 L Servo Drive Servomotor R88D G R88M G 10 4 dia 37 3 dia No A B C D M4 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Cable AWG14 4C UL2463 Servo Drive Red Whit...

Page 167: ...g R88A CAGC010S 10 m Approx 2 0 kg R88A CAGC015S 15 m Approx 2 9 kg R88A CAGC020S 20 m Approx 3 8 kg R88A CAGC030S 30 m Approx 5 6 kg R88A CAGC040S 40 m Approx 7 4 kg R88A CAGC050S 50 m Approx 9 2 kg 70 L 37 3 dia 10 4 dia Servo Drive Servomotor R88D G R88M G No A B C D M5 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Cable AWG14 4C UL2463 Servo Drive Red White Signal Servomotor Ser...

Page 168: ...D005S 5 m Approx 2 1 kg R88A CAGD010S 10 m Approx 4 0 kg R88A CAGD015S 15 m Approx 6 0 kg R88A CAGD020S 20 m Approx 8 0 kg R88A CAGD030S 30 m Approx 11 9 kg R88A CAGD040S 40 m Approx 15 8 kg R88A CAGD050S 50 m Approx 19 7 kg 14 7 dia 40 5 dia 70 L Servo Drive Servomotor R88D G R88M G No A B C D M5 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Cable AWG10 4C UL2463 Servo Drive Red Wh...

Page 169: ...R88A CAGE010S 10 m Approx 12 6 kg R88A CAGE015S 15 m Approx 18 8 kg R88A CAGE020S 20 m Approx 24 9 kg R88A CAGE030S 30 m Approx 37 2 kg R88A CAGE040S 40 m Approx 49 5 kg R88A CAGE050S 50 m Approx 61 8 kg 28 5 dia 56 4 dia 120 L Servo Drive Servomotor R88D G R88M G No A B C D Cable AWG6 4C UL62 M5 crimp terminals Phase U Phase V Phase W FG Blue Green Yellow Servo Drive Red White Signal Servomotor S...

Page 170: ...R88A CAGA005SR 5 m Approx 0 3 kg R88A CAGA010SR 10 m Approx 0 7 kg R88A CAGA015SR 15 m Approx 1 0 kg R88A CAGA020SR 20 m Approx 1 3 kg R88A CAGA030SR 30 m Approx 1 9 kg R88A CAGA040SR 40 m Approx 2 6 kg R88A CAGA050SR 50 m Approx 3 2 kg 50 50 L Servo Drive Servomotor R88D G R88M G 6 9 dia No 1 2 3 4 FG Servo Drive Red White Black Green Yellow Cable AWG20 4C UL2464 Servomotor Servomotor Connector C...

Page 171: ...05SR 5 m Approx 1 3 kg R88A CAGB010SR 10 m Approx 2 4 kg R88A CAGB015SR 15 m Approx 3 5 kg R88A CAGB020SR 20 m Approx 4 6 kg R88A CAGB030SR 30 m Approx 6 9 kg R88A CAGB040SR 40 m Approx 9 2 kg R88A CAGB050SR 50 m Approx 11 4 kg 70 L Servo Drive Servomotor R88D G R88M G 12 7 dia 37 3 dia No A B C D FG Signal Servo Drive Red White Blue Green Yellow Servomotor Cable AWG14 4C UL2501 Straight plug N MS...

Page 172: ...R88A CAGC010SR 10 m Approx 2 4 kg R88A CAGC015SR 15 m Approx 3 5 kg R88A CAGC020SR 20 m Approx 4 6 kg R88A CAGC030SR 30 m Approx 6 9 kg R88A CAGC040SR 40 m Approx 9 2 kg R88A CAGC050SR 50 m Approx 11 4 kg 70 L 37 3 dia 12 7 dia Servo Drive Servomotor R88M G R88D G No A B C D Phase U Phase V Phase W FG Signal Servo Drive Red White Blue Green Yellow M5 crimp terminals Servomotor Cable AWG14 4C UL250...

Page 173: ...05SR 5 m Approx 2 2 kg R88A CAGD010SR 10 m Approx 4 2 kg R88A CAGD015SR 15 m Approx 6 3 kg R88A CAGD020SR 20 m Approx 8 3 kg R88A CAGD030SR 30 m Approx 12 4 kg R88A CAGD040SR 40 m Approx 16 5 kg R88A CAGD050SR 50 m Approx 20 5 kg 15 6 dia 40 5 dia 70 L Servo Drive Servomotor R88D G R88M G No A B C D Phase U Phase V Phase W FG Signal Servo Drive M5 crimp terminals Servomotor Straight plug N MS3106B...

Page 174: ...m Approx 1 3 kg R88A CAGB010B 10 m Approx 2 4 kg R88A CAGB015B 15 m Approx 3 5 kg R88A CAGB020B 20 m Approx 4 6 kg R88A CAGB030B 30 m Approx 6 8 kg R88A CAGB040B 40 m Approx 9 1 kg R88A CAGB050B 50 m Approx 11 3 kg L 70 L 70 5 4 d ia 10 4 dia Servo Drive Servomotor R88D G R88M G No G H A F Brake Brake NC Black Brown I B E D C Ground Ground NC Cable AWG20 2C UL2464 Cable AWG14 4C UL2463 M4 crimp te...

Page 175: ...015B 15 m Approx 3 5 kg R88A CAGC020B 20 m Approx 4 6 kg R88A CAGC030B 30 m Approx 6 8 kg R88A CAGC040B 40 m Approx 9 1 kg R88A CAGC050B 50 m Approx 11 3 kg L 70 37 3 dia 10 4 dia L 70 5 4 d ia Servo Drive Servomotor R88D G R88M G No G H A F Brake Brake NC I B E D C Ground Ground NC Cable AWG20 2C UL2464 Cable AWG14 4C UL2463 Crimp terminals M4 M5 Black Brown Phase U Phase V Phase W Blue Green Yel...

Page 176: ...Approx 4 5 kg R88A CAGD015B 15 m Approx 6 7 kg R88A CAGD020B 20 m Approx 8 8 kg R88A CAGD030B 30 m Approx 13 1 kg R88A CAGD040B 40 m Approx 17 4 kg R88A CAGD050B 50 m Approx 21 8 kg L 70 43 7 dia 14 7 dia L 70 5 4 d ia Servo Drive Servomotor R88D G R88M G No A B C D Brake Brake NC E F G H I Ground Ground NC Cable AWG20 2C UL2464 Cable AWG10 4C UL2463 Crimp terminals M4 M5 Black Brown Phase U Phase...

Page 177: ...prox 1 5 kg R88A CAGB010BR 10 m Approx 2 8 kg R88A CAGB015BR 15 m Approx 4 2 kg R88A CAGB020BR 20 m Approx 5 5 kg R88A CAGB030BR 30 m Approx 8 2 kg R88A CAGB040BR 40 m Approx 10 9 kg R88A CAGB050BR 50 m Approx 13 6 kg Servo Drive Servomotor R88D G R88M G L 70 L 70 6 1 d i a 12 7 dia No G H A F Brake Brake NC Phase U Servo Drive I B E D C Phase W Ground Ground NC Phase V Servomotor M4 crimp termina...

Page 178: ...5BR 15 m Approx 4 2 kg R88A CAGC020BR 20 m Approx 5 5 kg R88A CAGC030BR 30 m Approx 8 2 kg R88A CAGC040BR 40 m Approx 10 9 kg R88A CAGC050BR 50 m Approx 13 6 kg Servo Drive Servomotor R88D G R88M G L 70 37 3 dia 12 7 dia L 70 6 1 d i a No G H A F Brake Brake NC Phase U Signal Servo Drive I B E D C Phase W Ground Ground NC Phase V Servomotor Crimp terminals M4 M5 Straight plug N MS3106B20 18S Japan...

Page 179: ...pprox 4 7 kg R88A CAGD015BR 15 m Approx 7 0 kg R88A CAGD020BR 20 m Approx 9 2 kg R88A CAGD030BR 30 m Approx 13 7 kg R88A CAGD040BR 40 m Approx 18 2 kg R88A CAGD050BR 50 m Approx 22 7 kg Servo Drive Servomotor R88D G R88M G L 70 43 7 dia 15 6 dia L 70 6 1 d i a No A B C D Brake Brake NC Phase U Signal Servo Drive E F G H I Phase W Ground Ground NC Phase V Servomotor Crimp terminals M4 M5 Red White ...

Page 180: ...0 1 kg R88A CAGA005B 5 m Approx 0 2 kg R88A CAGA010B 10 m Approx 0 4 kg R88A CAGA015B 15 m Approx 0 6 kg R88A CAGA020B 20 m Approx 0 8 kg R88A CAGA030B 30 m Approx 1 2 kg R88A CAGA040B 40 m Approx 1 6 kg R88A CAGA050B 50 m Approx 2 1 kg 5 4 dia 50 50 L Servo Drive Servomotor R88D G R88M G No A B Brake Brake Cable AWG20 2C UL2464 M4 crimp terminals Black Brown Servo Drive Signal Servomotor Servomot...

Page 181: ...GE005B 5 m Approx 0 3 kg R88A CAGE010B 10 m Approx 0 5 kg R88A CAGE015B 15 m Approx 0 7 kg R88A CAGE020B 20 m Approx 0 9 kg R88A CAGE030B 30 m Approx 1 3 kg R88A CAGE040B 40 m Approx 1 7 kg R88A CAGE050B 50 m Approx 2 1 kg 70 L Servo Drive Servomotor R88D G R88M G 5 4 dia No A B Brake Brake Cable AWG20 2C UL2464 M4 crimp terminals Straight plug N MS3106B14S 2S Japan Aviation Electronics Cable clam...

Page 182: ...kg R88A CAGA005BR 5 m Approx 0 2 kg R88A CAGA010BR 10 m Approx 0 4 kg R88A CAGA015BR 15 m Approx 0 7 kg R88A CAGA020BR 20 m Approx 0 9 kg R88A CAGA030BR 30 m Approx 1 3 kg R88A CAGA040BR 40 m Approx 1 8 kg R88A CAGA050BR 50 m Approx 2 2 kg Servo Drive Servomotor R88D G R88M G 6 1 dia 50 50 L No A B Brake Brake Signal Servo Drive Black White Servomotor M4 crimp terminals Servomotor Connector Connec...

Page 183: ... minimum bending radius is used it may result in mechanical damage or ground fault damage due to insulation breakdown If it is necessary to use a bending radius smaller than the minimum bending radius consult with your OMRON representative Encoder Cables 003 to 020 030 to 050 Power Cables for Servomotors without Brakes 003 to 050 Power Cables for Servomotors with Brakes 003 to 050 Model Minimum be...

Page 184: ...or Specifications 3 Specifications Brake Cables 003 to 050 Moving Bend Test 1 Encoder cable 30 to 50 m only Stroke 550 mm 50 times min Model Minimum bending radius R R88A CAGA BR 45 mm Stroke 750 mm Bending radius R 30 times min ...

Page 185: ...t Device After confirming the startup of the Servo Drive initiate communications with the host device Note that irregular signals may be received from the host interface during startup For this reason take appropriate initialization measures such as clearing the receive buffer Personal computer 2000 38 Servo Drive R88D G No Personal computer RTS 7 CTS 8 RXD 2 GND 5 TXD 3 FG Shell Cable AWG28 3C UL...

Page 186: ... RS 485 Communications Connection Configuration and Dimensions Wiring Model Length L Outer diameter of sheath Weight R88A CCG0R5P4 0 5 m 4 2 dia Approx 0 1 kg R88A CCG001P4 1 m L No GND 4 RS485 7 RS485 8 FG Cable AWG28 3C UL20276 No 4 7 8 GND RS485 FG RS485 Shell Shell Servo Drive Servo Drive Signal Signal ...

Page 187: ...ectors These connectors are used for encoder cables Use them when preparing an encoder cable yourself Dimensions R88A CNW01R for Servo Drive s CN2 Connector This connector is a soldering type Use the following cable Applicable wire AWG16 max Insulating cover outer diameter 2 1 mm dia max Outer diameter of sheath 6 7 dia 0 5 mm 52 4 39 Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52...

Page 188: ...m dia max Panel Mounting Hole Connector housing 172161 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK 1 Applicable panel thickness 0 8 to 2 0 mm Connector housing 172160 1 Tyco Electronics AMP KK Contact socket 170365 1 Tyco Electronics AMP KK 1 Applicable panel thickness 0 8 to 2 0 mm ABS 14 0 15 4 14 55 1 6 4 6 5 35 14 55 2 28 3 35 19 1 8 4 16 0 4 23 7 0 4 14 0 15 8 4 ...

Page 189: ...rake cable yourself Panel Mounting Hole Connector housing 172159 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm Connector housing 172157 1 Tyco Electronics AMP KK Contact socket 170366 1 Tyco Electronics AMP KK Applicable panel thickness 0 8 to 2 0 mm 10 35 1 6 2 5 5 35 10 35 2 28 3 35 14 9 23 7 0 4 9 8 0 15 4 11 8 0 4 9 8 0 15 2 ...

Page 190: ...tion Configuration and Dimensions Cables for One Axis Cables for Two Axes Model Length L Outer diameter of sheath Weight R88A CPG001M1 1 m 8 3 dia Approx 0 2 kg R88A CPG002M1 2 m Approx 0 3 kg R88A CPG003M1 3 m Approx 0 4 kg R88A CPG005M1 5 m Approx 0 6 kg Model Length L Outer diameter of sheath Weight R88A CPG001M2 1 m 8 3 dia Approx 0 3 kg R88A CPG002M2 2 m Approx 0 5 kg R88A CPG003M2 3 m Approx...

Page 191: ... 17 18 19 FDC GND 20 21 22 23 26 27 28 29 30 31 32 33 34 35 36 YALM YRUN YALMRS YSGND YSOUT YOUT YAGND 37 29 31 13 20 25 21 22 49 48 23 24 14 15 7 36 ALM RUN RESET SENGND SEN ZCOM A B Z REF TREF1 VLIM AGND FG 24VIN ALMCOM AWG20 Red AWG20 Black Motion Control Unit Servo Drive White Black 1 Pink Black 1 Yellow Black 1 Gray Black 1 Gray Red 1 Orange Black 2 White Red 1 Orange Black 1 Gray Black 1 Ora...

Page 192: ...MCOM No 37 29 31 13 20 25 21 22 49 48 23 24 14 15 ALM RUN RESET SENGND SEN ZCOM A B Z REF TREF1 VLIM AGND FG 7 36 24VIN ALMCOM AWG20 Red AWG20 Black Motion Control Unit Servo Drive White Black 1 Pink Black 1 Yellow Black 1 Gray Black 1 Gray Red 1 Orange Black 2 White Red 1 Orange Black 1 Gray Black 1 Orange Black 1 Orange Red 1 Pink Black 1 Pink Red 1 Yellow Black 1 Yellow Red 1 White Black 1 Sign...

Page 193: ...ified cable or connecting to another company s controller prepare wiring suited for the controller to be connected When connecting to a controller which doesn t have a specified cable either use a General purpose Control Cable or a Connector Terminal Block Cable and a Connector Terminal Block Cable Models Connection Configuration and Dimensions Model Length L Outer diameter of sheath Weight R88A C...

Page 194: ...FB 32 Gray Black 4 TVSEL 7 Yellow Red 1 24VIN 33 Orange Red 4 IPG VSEL1 8 Pink Red 1 NOT 34 White Red 4 READYCOM 9 Pink Black 1 POT 35 White Black 4 READY 10 Orange Red 2 BKIRCOM 36 Yellow Red 4 ALMCOM 11 Orange Black 2 BKIR 37 Yellow Black 4 ALM 12 Yellow Black 1 OUTM1 38 Pink Red 4 INPCOM TGONCOM 13 Gray Black 2 GND 39 Pink Black 4 INP TGON 14 White Red 2 REF TREF1 VLIM 40 Gray Red 4 OUTM2 15 Wh...

Page 195: ...control I O connector CN1 All of the pins in the control I O connector CN1 can be converted to terminals on the terminal block Cable Models Connection Configuration and Dimensions Model Length L Outer diameter of sheath Weight XW2Z 100J B24 1 m 11 2 dia Approx 0 2 kg XW2Z 200J B24 2 m Approx 0 4 kg Connector terminal block 52 4 39 L 16 1 68 1 t 18 t 6 1 Servo Drive R88D G ...

Page 196: ...rk color Connector Servo Drive Signal Wires with the same wire color and the same number of marks form a twisted pair Terminal block Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Terminal Block Connector Connector socket XG4M 5030 OMRON Strain relief XG4T 5004 OMRON Cable AWG28 25P UL2464 Blue Red 1 Blue Black 1 Pink Red 1 Pink Black 1 Gree...

Page 197: ...4 to convert the Servo Drive s control I O connector CN1 to a terminal block XW2B 50G4 M3 screw terminal block Dimensions Use 0 30 to 1 25 mm2 wire AWG22 to AWG16 The wire inlet is 1 8 mm height 2 5 mm width Strip the insulation from the end of the wire for 6 mm as shown below 3 5 15 5 45 3 5 29 5 5 08 20 5 38 1 45 3 157 5 Flat cable connector MIL plug Two 3 5 dia Terminal block Precautions for Co...

Page 198: ... with a tightening torque of 0 59 N m Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1 25 to 2 0 mm2 Fork Terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1 25 to 2 0 mm2 3 5 15 5 45 7 7 3 8 5 7 29 5 3 5 43 5 20 5 247 5 Flat cable connector MIL plug Terminal block Two 3 5 dia 45 3 Precautions for Correct Use Round Crimp Ter...

Page 199: ...ten them with a tightening torque of 0 7 N m Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 Fork Terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 B1 B2 B3 B4 B5 B 6 B7 B8 B9 B10 6 40 7 39 17 6 7 7 M3 5 8 1 2 184 144 DIN Track lock XG4A MIL Connector Two 4 5 dia 39 1 4 5 Precautions for Correct Use Round Crimp Terminals For...

Page 200: ...ollers SYSMAC Select the models that match the Position Control Unit to be used Servo Relay Units Specifications XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units Dimensions Terminal Block pitch 7 62 mm CJ1W NC113 NC133 CS1W NC113 NC133 C200HW NC113 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 29 5 7 3 5 7 3 5 135 15 5 45 20 5 44 3 2 0 10 9 19...

Page 201: ...ol Units Dimensions Terminal Block pitch 7 62 mm CJ1W NC213 NC233 NC413 NC433 CS1W NC213 NC233 NC413 NC433 C200HW NC213 NC413 0 V RUN ALM BKIR 10 0 19 9 RESET ALMCOM FG 24 VDC X1 XB 24 VDC X1 1 24 V CW limit CCW limit Common Common Common Common Common External interrupt Emer gency stop Origin prox imity 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 ...

Page 202: ...inal Block pitch 7 62 mm CQM1 CPU43 V1 20 0 39 19 FG X1 XB 24 VDC Y1 YB 24 VDC X1 Y1 1 1 0 V 24 VDC 24 V X axis RUN X axis ALM X axis RESET X axis ALMCOM Y axis RESET Y axis ALMCOM X axis BKIR Y axis ALM Y axis BKIR Common Common Common Common Common Common Common Common Common X Y axis emergency stop X axis origin proximity Y axis external interrupt X axis CW limit X axis CCW limit Y axis RUN Y a...

Page 203: ...3 The XB contacts are used to turn ON OFF the electromagnetic brake 4 The phase Z output is an open collector output 5 Do not connect unused terminals 6 The 0 V terminal is internally connected to the common terminals 7 The following crimp terminal is applicable R1 25 3 round with open end 0V CW CCW RUN INP ALM BKIR 10 0 19 9 CW Z RESET ALMCOM FG 24 VDC X1 XB 24 VDC X1 ECRST CCW 24 V Common Common...

Page 204: ... connects to the following OMRON Programmable Controllers Dimensions Terminal Block pitch 7 62 mm CJ1M CPU21 CPU22 CPU23 for 1 axis 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 29 5 7 3 5 7 3 5 135 15 5 45 20 5 42 8 2 0 10 9 19 CJ1M CPU21 22 23 connector Servo Drive connector 46 Two 3 5 dia ...

Page 205: ...can be controlled with an output from the ladder diagram using a bit allocated to the actual input CIO 2960 06 on the Input Unit as shown below Example 2 The XB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the common terminals 6 The following crimp termin...

Page 206: ...imensions Terminal Block pitch 7 62 mm CJ1M CPU21 CPU22 CPU23 for 2 axes 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 3 0 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 29 5 7 3 5 180 3 5 7 45 15 5 0 20 19 39 20 5 42 8 2 Y axis Servo Drive connector X axis Servo Drive connector CJ1M CPU21 22 23 connector 46 Two 3 5 dia ...

Page 207: ...ample 2 The XB and YB contacts are used to turn ON OFF the electromagnetic brake 3 Connection to the MING input terminal is invalid 4 Do not connect unused terminals 5 The 0 V terminal is internally connected to the common terminals 6 The following crimp terminal is applicable R1 25 3 round with open end 20 0 39 19 FG X1 XB 24 VDC Y1 YB 24 VDC X1 Y1 IN6 IN7 IN8 IN9 2 2 3 3 X axis CW limit CIO 2960...

Page 208: ...ervo Relay Unit connects to the following OMRON Programmable Controllers Dimensions FQM1 MMA22 FQM1 MMP22 160 100 90 41 7 15 9 30 7 X axis Servo Drive Servo Drive phase B selection switch Y axis Servo Drive Controller general purpose I O Controller special I O Signal selection switch 4 5 dia ...

Page 209: ... J B26 Servo Relay Unit Cables R88M G OMNUC G Series Servomotors FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM002 2 CN1 RS422 1 40 39 1 2 MMP22 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 MMA22 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 NC NC INPUT...

Page 210: ... 0 V 5 IN3 Common 0 V 5 Common 0 V 4 IN8 Common 0 V 4 IN9 Common 0 V 4 IN10 Common 0 V 4 IN11 Common 0 V 4 IN5 Common 0 V 4 IN6 Common 0 V 4 IN7 Common 0 V 4 Latch signal 1 common 0 V 5 Latch signal 2 common 0 V 5 Servo 1 READY Servo 2 READY Signal name Signal name 5 V 1 Latch signal 1 input Latch signal 2 input Servo 1 ALM Servo 1 BKIR Servo 1 RUN Servo 1 RESET Servo 1 ECRST IN4 IN5 IN6 IN7 Servo...

Page 211: ...0 V 5 IN2 Common 0 V 5 IN3 Common 0 V 5 Common 0 V 4 IN8 Common 0 V 4 IN9 Common 0 V 4 IN10 Common 0 V 4 IN11 Common 0 V 4 IN5 Common 0 V 4 IN6 Common 0 V 4 IN7 Common 0 V 4 Latch signal 1 common 0 V 5 Latch signal 2 common 0 V 5 Servo 1 INP Servo 2 INP Signal name Signal name 5 V 1 Latch signal 1 input Latch signal 2 input Servo 1 ALM Servo 1 BKIR Servo 1 RUN Servo 1 RESET Servo 1 ECRST IN4 IN5 I...

Page 212: ...o Drive 1 For Servo Drive 2 54 56 69 70 14 16 29 30 OUT0 OUT2 OUT4 OUT6 BKIR 68 28 71 31 IN6 IN10 IN4 IN5 IN8 IN9 60 61 62 63 64 65 66 67 69 70 71 72 73 74 75 76 77 78 79 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 68 XB Terminal block No 20 24 V ...

Page 213: ... Connector socket XG4M 2030 Strain relief XG4T 2004 Cable AWG28 10P UL2464 Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B25 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B25 2 m Approx 0 2 kg 52 4 30 Servo Drive Servo Relay Unit XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B L R88D GT 1 2 3 4 5 6 7 8 ...

Page 214: ...T 3004 Cable AWG28 13P UL2464 Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B26 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B26 2 m Approx 0 2 kg 52 4 Servo Drive Servo Relay Unit XW2B 80J7 12A R88D GT L 48 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 No 7 ...

Page 215: ...350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B27 1 m 9 1 dia Approx 0 1 kg XW2Z 200J B27 2 m Approx 0 2 kg 52 4 48 Servo Drive Servo Relay Unit XW2B 80J7 12A L R88D GT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 No 7 38 14 15 23 24 35 29 16 17 31 11 37 36 No 21 22 13 20 49 48 27 34 10 Servo Relay Unit Servo Drive Wire mark c...

Page 216: ...4M 2030 Strain relief XG4T 2004 Cable AWG28 10P UL2464 Servo Drive Connector Connector plug 10150 3000PE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M Model Length L Outer diameter of sheath Weight XW2Z 100J B31 1 m 8 1 dia Approx 0 1 kg XW2Z 200J B31 2 m Approx 0 2 kg 52 4 30 Servo Drive Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A L R88D GT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 2...

Page 217: ...M1 CPU43 V1 to a Servo Relay Unit XW2B 20J6 3B Cable Models Connection Configuration and Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm 7 5 dia Approx 0 1 kg XW2Z 100J A3 1 m Approx 0 1 kg L 25 6 39 32 2 t 15 CQM1 CQM1 CPU43 V1 Servo Relay Unit XW2B 20J6 3B No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 No 15 12 13 14 3 1 4 5 6 Servo Relay Unit Cable AWG28 4P AWG28 ...

Page 218: ...tion and Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A6 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A6 1 m Approx 0 1 kg 38 L 6 47 83 t 11 Position Control Unit CS1W NC113 Servo Relay Unit XW2B 20J6 1B No Position Control Unit A1 A2 A8 A6 A10 A16 A14 A24 A12 A21 A23 A22 A19 A20 Servo Relay Unit Cable AWG28 4P AWG28 10C No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ...

Page 219: ...th L Outer diameter of sheath Weight XW2Z 050J A7 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A7 1 m Approx 0 2 kg 48 L 6 47 83 t 11 Position Control Unit CS1W NC213 CS1W NC413 Servo Relay Unit XW2B 40J6 2B No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 No A1 B1 A2 B2 A8 A6 A10 A14 A16 A24 B24 A19 A21 A12 A23 A22 A20 B20 B8 B6 B10 B14 B16 B23 B22 B21 B19...

Page 220: ...Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A10 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A10 1 m Approx 0 2 kg 48 L 6 47 83 t 11 1000 Position Control Unit CS1W NC133 Servo Relay Unit XW2B 20J6 1B No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 26 No A1 A2 A7 A8 A5 A6 A10 A24 A12 A16 A14 A21 A23 24 25 A20 A19 A22 A3 A4 Servo Relay Unit Cable AWG28 4P AWG28 10C Posi...

Page 221: ...eight XW2Z 050J A11 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A11 1 m Approx 0 2 kg 48 L 6 47 83 t 11 1000 Position Control Unit CS1W NC233 CS1W NC433 Servo Relay Unit XW2B 40J6 2B No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 No A1 B1 A2 B2 A8 A7 A6 A5 A10 A16 A14 A24 B24 A19 A21 A12 A23 A22 A20 B20 B8 B6 B7 B5 B10 B16 B14 B23 B22 B21 B19 B12 A3 B3 A...

Page 222: ...ation and Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A14 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A14 1 m Approx 0 2 kg L 6 38 t 11 500 Position Control Unit CJ1W NC113 Servo Relay Unit XW2B 20J6 1B No A1 A2 A8 A6 A9 A20 A11 A14 A12 A17 A19 A18 A15 A16 No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 26 24 25 Position Control Unit Servo Relay Unit Cable ...

Page 223: ... L Outer diameter of sheath Weight XW2Z 050J A15 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A15 1 m Approx 0 2 kg L 6 t 11 500 48 Position Control Unit CJ1W NC213 CJ1W NC413 Servo Relay Unit XW2B 40J6 2B Servo Relay Unit Cable AWG28 8P AWG28 16C No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 No Position Control Unit A1 B1 A2 B2 A8 A6 A9 A14 A12 A20 B20 ...

Page 224: ... Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A18 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A18 1 m Approx 0 2 kg L 6 38 t 11 500 1000 Position Control Unit CJ1W NC133 Servo Relay Unit XW2B 20J6 1B No Position Control Unit A1 A2 A8 A6 A7 A5 A9 A20 A12 A14 A11 A17 A19 A18 A15 A16 Servo Relay Unit Cable AWG28 4P AWG28 10C No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23...

Page 225: ...h Weight XW2Z 050J A19 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A19 1 m Approx 0 2 kg L 6 t 11 500 48 1000 Position Control Unit CJ1W NC233 CJ1W NC433 Servo Relay Unit XW2B 40J6 2B Servo Relay Unit Cable AWG28 8P AWG28 16C No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 No Position Control Unit A1 B1 A2 B2 A8 A7 A6 A5 A9 A12 A20 B20 A15 A17 A11 A19 A18...

Page 226: ...del Length L Outer diameter of sheath Weight XW2Z 050J A33 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A33 1 m Approx 0 2 kg CJ1M CPU22 23 20J6 8A 40J6 9A L 500 43 6 6 56 Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A CJ1M CJ1M CPU21 CJ1M CPU22 CJ1M CPU23 Number Number CJ1M side Servo Relay Unit side Cable AWG28 6P AWG28 14C Crimp terminal 37 39 32 31 35 3 17 6 23 24 33 34 1 2 3 4 5 6 7 8 10 11 12 13 14 15...

Page 227: ...nfiguration and Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A28 1 m Approx 0 2 kg XW2Z 200J A28 2 m Approx 0 3 kg L 17 17 38 FQM1 FQM1 MMP22 FQM1 MMA22 500 48 Servo Relay Unit XW2B 80J7 12A FQM1 MMA22 80J7 12A No No 1 2 3 4 5 6 7 8 11 12 13 14 15 16 17 18 19 20 21 22 23 34 24 9 10 33 1 2 3 4 5 6 7 8 11 12 13 14 15 16 17 18 1...

Page 228: ...iring Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A30 1 m Approx 0 2 kg XW2Z 200J A30 2 m Approx 0 3 kg L 17 17 56 Servo Relay Unit XW2B 80J7 12A 500 48 FQM1 FQM1 MMP22 80J7 12A FQM1 MMP22 No FQM1 3 5 9 11 17 21 15 19 13 27 29 31 33 35 10 4 Servo Relay Unit Cable AWG28 14P AWG28 4C No 1 2 3 4 5 6 7 8 11 12 13 14 15 16 21 22 23 24 27 30 28 31 ...

Page 229: ...ion and Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A31 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A31 1 m Approx 0 2 kg XW2Z 200J A31 2 m Approx 0 3 kg L 17 17 55 Servo Relay Unit XW2B 80J7 12A 500 55 FQM1 FQM1 MMA22 80J7 12A FQM1 MMA22 No FQM1 3 5 9 11 17 21 15 19 27 37 39 33 35 10 4 Servo Relay Unit Cable AWG28 18P No 1 2 3 4 5 6 7 8 11 12 15 16 17 18 21 22 23 24 27 2...

Page 230: ...fications Ambient operating temperature and humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature and humidity 20 to 80 C 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 5 9 m s2 max Item Specifications Type Hand held Cable length 1 5 m Connectors Mini DIN 8 pin MD connector Display 7 segment LED Dimensions 62 W 114 H ...

Page 231: ...x 30 VDC 0 1 A max minimum current 1 mA Model Resistance Nominal capacity Regeneration absorptionfor120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR080100S 100 Ω 80 W 20 W Aluminum 350 350 Thickness 3 0 Operating temperature 150 C 5 C NC contact Rated output resistive load 125 VAC 0 1 A max 30 VDC 0 1 A max minimum current 1 mA Model Resistance Nominal c...

Page 232: ...al capacity Regeneration absorptionfor120 C temperature rise Heat radiation condition Thermal switch output specifications R88A RR50020S 20 Ω 500 W 180 W Aluminum 600 600 Thickness 3 0 Operating temperature 200 C 7 C NC contact Rated output resistive load 250 VAC 0 2 A max 42 VDC 0 2 A max minimum current 1 mA ...

Page 233: ... A 3 51 mH Approx 1 6 kg R88D GT01H 3G3AX DL2002 1 6 A 21 4 mH Approx 0 8 kg R88D GT02H 3G3AX DL2004 3 2 A 10 7 mH Approx 1 0 kg R88D GT04H 3G3AX DL2007 6 1 A 6 75 mH Approx 1 3 kg R88D GT08H Single phase 3G3AX DL2015 9 3 A 3 51 mH Approx 1 6 kg 3 phase 3G3AX AL2025 10 0 A 2 8 mH Approx 2 8 kg R88D GT10H Single phase 3G3AX DL2015 9 3 A 3 51 mH Approx 1 6 kg 3 phase 3G3AX AL2025 10 0 A 2 8 mH Appro...

Page 234: ...3 133 3 8 Reactor Specifications 3 Specifications ...

Page 235: ...es 4 17 Main Circuit and Servomotor Connections 4 21 4 3 Wiring Conforming to EMC Directives 4 27 Wiring Method 4 27 Selecting Connection Components 4 32 4 4 Regenerative Energy Absorption 4 45 Calculating the Regenerative Energy 4 45 Servo Drive Regenerative Energy Absorption Capacity 4 48 Absorbing Regenerative Energy with an External Regeneration Resistor 4 49 Connecting an External Regeneratio...

Page 236: ...ive gases Altitude 1 000 m max Ambient Temperature Control Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in any Unit installed in a closed space such as a control box will cause the Servo Drive s ambient temperature to rise Use a fan or air conditioner to prevent the Servo Drive s ambient temperat...

Page 237: ...life Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects such as drill filings from getting into the Units during installation Be sure to remove the cover after installation is complete If the cover is left on during operation Servo Drive s heat dissipation is blocked which may result in malfunction Take measures during i...

Page 238: ... If an axial load greater than that specified is applied to a Servomotor it will reduce the service life of the motor bearings and may break the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and declination For spur gears an extremely large radial load may be applied depending on the gear precision Use spur gears with a high degree of prec...

Page 239: ...he Servomotor is used with the shaft pointing upwards be careful to not allow oil to accumulate at the lip of the oil seal Radiator Plate Installation Conditions When the Servomotor is installed in a small space the Servomotor temperature may rise unless sufficient surface area is provided to allow heat dissipation from the Servomotor mounting surface Take measures such as inserting a radiator pla...

Page 240: ...eal the oil seal which is made of rubber will be glazed Use the Servomotor in an environment with a suitable amount of oil Install the Servomotor so that oil does not accumulate around the oil seal Motor model Shaft diameter mm Outer diameter mm Width mm R88M G05030 8 9 17 4 R88M G10030 8 9 17 4 R88M G20030 14 28 4 R88M G40030 14 28 4 R88M G75030 19 8 30 4 R88M GP10030 8 9 22 4 R88M GP20030 14 28 ...

Page 241: ...afts are coated with anti corrosion oil when shipped but anti corrosion oil or grease should also be applied when connecting the shaft to a load Do not apply commercial power directly to the Servomotor Doing so may result in fire Do not dismantle or repair the product Doing so may result in electric shock or injury WARNING ...

Page 242: ...nnot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 4 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque for Aluminum 5 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Note Always use the torque given in the table above The Servomotor may slip or other problems may occur if the specif...

Page 243: ... surface is flat and that there are no burrs on the tap sections and then bolt on the mounting flanges Mounting Flange Bolt Tightening Torque for Aluminum R88G HPG 11 14 20 32 50 65 Number of bolts 4 4 4 4 4 4 Bolt size M3 M5 M8 M10 M12 M16 Mounting PCD mm 46 70 105 135 190 260 Tightening torque N m 1 4 6 3 26 1 51 5 103 255 E D C A B F ...

Page 244: ... making sure it does not fall over If the Decelerator cannot be stood upright tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt 3 Bolt together the Servomotor and the Decelerator flanges Bolt Tightening Torque 4 Tighten the input joint bolt Bolt Tightening Torque for Duralumin Note Always use the torque given in the table above Sliding or other probl...

Page 245: ...requires another company s decelerator to be used in combination with an OMNUC G Series Servomotor select the decelerator so that the load on the motor shaft i e both the radial and thrust loads is within the allowable range Refer to Characteristics on page 3 33 for details on the allowable loads for the motors Also select the decelerator so that the allowable input rotation speed and allowable in...

Page 246: ...PU Units with Pulse string Outputs Other Controllers Motion Control Unit Cable For 1 axis For 2 axes General purpose Control Cable and Control I O Connector Power Cable Servo Relay Unit Servo Drive Cable Cable for Connector Terminal Block Position Control Unit Cable Connector Terminal Block Servo Relay Unit Cable Connector Terminal Block and Cable Servo Drive Servo Drive CN2 Encoder Connector CN1 ...

Page 247: ...W R88A CRGA C The digits in the model number indicate the cable length 3 m 5 m 10 m 15 m 20 m 30 m 40 m or 50 m Example model number for a 3 m cable R88A CRGA003C 50 to 750 W R88A CRGB C 1 to 5 kW R88A CRGC N 3 000 r min Flat Servomotors 100 to 400 W R88A CRGA C 100 to 400 W R88A CRGB C 2 000 r min Servomotors 1 500 r min Servomotors 1 to 7 5 kW R88A CRGC N 1 000 r min Servomotors 900 W to 6 kW R8...

Page 248: ...S R88A CAGB B 2 kW R88A CAGC S R88A CAGC B 3 to 5 kW R88A CAGD S R88A CAGD B 3 000 r min Flat Servomotors 100 to 400 W R88A CAGA S R88A CAGA S For Power Connector R88A CAGA B For Brake Connector 2 000 r min Servomotors 1 500 r min Servomotors 1 to 1 5 kW R88A CAGB S R88A CAGB B 2 kW R88A CAGC S R88A CAGC B 3 to 5kW R88A CAGD S R88A CAGD B 7 5 kW R88A CAGE S R88A CAGE S For Power Connector R88A CAG...

Page 249: ...set Servo Drive parameters and perform monitoring with a personal computer Servomotor type Power Cables for Servomo tors without Brakes Power Cables for Servomotors with Brakes 3 000 r min Servomotors 50 to 750 W R88A CAGA SR R88A CAGA SR For Power Connector R88A CAGA BR For Brake Connector 1 to 1 5 kW R88A CAGB SR R88A CAGB BR 2 kW R88A CAGC SR R88A CAGC BR 3 to 5 kW R88A CAGD SR R88A CAGD BR 3 0...

Page 250: ...l is performed using one Position Control Unit Name specifications Model Remarks RS 485 Communications Cable R88A CCG P4 The digits in the model number indicate the cable length RS 485 Communications Ca bles come in two lengths 0 5 m and 1 m Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Drive Cable CQM1 CPU43 V1 XW2Z J A3 XW2B 20J6 3B XW2Z J B25 CS1W NC113 XW2Z J A6 XW2B...

Page 251: ...k Motion Control Unit Cable Remarks CS1W MC221 421 V1 For 1 axis R88A CPG M1 The digits in the model number indicate the cable length Motion Control Unit Cables come in four lengths 1 m 2 m 3 m and 5 m Example model number for 2 m 1 axis cable R88A CPG002M1 For 2 axes R88A CPG M2 Name Model Remarks General purpose Control Cable R88A CPG S A cable for the control I O connector CN1 The digits in the...

Page 252: ...nsure safety i e to ensure that the power supply can be shut OFF for contactor welding we recommend using two magnetic contactors MC The models GTA5L to GT02L and GT01H to GT04H do not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 Connect B2 B3 for the models with a built in regeneration resistor GT04L GT08...

Page 253: ...in circuit power supply Also to ensure safety i e to ensure that the power supply can be shut OFF for contactor welding we recommend using two magnetic contactors MC Connect B2 B3 for the models with a built in regeneration resistor GT08H to GT15H If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 Recommended relay MY Relay 24 V by OMRON ...

Page 254: ...ensure that the power supply can be shut OFF for contactor welding we recommend using two magnetic contactors MC Connect B2 B3 for the models with a built in regeneration resistor GT20H to GT50H If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2...

Page 255: ...re safety i e to ensure that the power supply can be shut OFF for contactor welding we recommend using two magnetic contactors MC The model GT75H does not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC ...

Page 256: ...upply input R88D GT L Single phase 100 to 115 VAC 85 to 127 V 50 60 Hz R88D GT H Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz L2C Sym bol Name Description B1 External Regeneration Resistor connection terminals R88D GTA5L GT01L GT02L GT01H GT02H GT04H These terminals normally do not need to be connected If there is high regenerative energy connect an External Regeneration Re sistor between B1 ...

Page 257: ...Hz L2C B1 External Regeneration Resistor connection terminals 2 to 5 kW Normally B2 and B3 are connected Do not short B1 and B2 Doing so may cause malfunctions If there is high regenerative energy remove the short circuit bar between B2 and B3 and connect an External Re generation Resistor between B1 and B2 B2 B3 U Servomotor connection terminals Red These are the output terminals to the Servomoto...

Page 258: ...d B2 if necessary Do not short B1 and B2 Doing so may cause mal functions B2 U Servomotor connection terminals Red These are the output terminals to the Servomotor Be sure to wire them correctly V White W Blue Green Yellow Frame ground This is the ground terminal Ground to 100 Ω or less Symbol Name Function NC Do not connect L1C Control circuit power supply input R88D GT75H Single phase 200 to 230...

Page 259: ...rrent A 1 2 1 7 2 5 4 6 Wire size AWG18 Frame ground GR Wire size AWG14 Screw size M4 Torque N m 1 2 Model R88D GT01H GT02H GT04H GT08H GT10H Item Unit Power supply capacity kVA 0 5 0 5 0 9 1 3 1 8 Main circuit power supply input L1 and L3 or L1 L2 and L3 1 Rated current A 1 3 2 0 3 7 5 0 3 3 1 7 5 4 1 1 Wire size AWG18 AWG16 Screw size Torque N m Control circuit power supply input L1C and L2C Rat...

Page 260: ...15 2 23 7 35 0 Wire size AWG14 AWG12 AWG10 AWG8 Screw size M5 Torque N m 2 0 Control circuit power supply input L1C and L2C Rated current A 0 07 0 1 0 12 0 12 0 14 Wire size AWG18 Screw size M5 Torque N m 2 0 Servomotor connection terminals U V W and GR 2 Rated current A 9 4 13 4 18 6 33 0 47 0 Wire size AWG14 AWG12 AWG8 AWG6 Screw size M5 Torque N m 2 0 Frame ground GR Wire size AWG14 AWG12 AWG8 ...

Page 261: ...n the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Drive as in Fig A Insert a flat blade screwdriver end width 3 0 to 3 5 mm into the opening for the screwdriver and press down firmly to open the slot as in Fig B 4 With the slot held open insert the end of the wire After inserti...

Page 262: ...lines Shielded cables must be used for all I O signal lines and encoder lines Use tin plated mild steel wires for the shielding All cables I O wiring and power lines connected to the Servo Drive must have clamp filters installed The shields of all cables must be directly connected to a ground plate Wiring Method R88D GTA5L GT01L GT02L GT04L GT01H GT02H GT04H GT08H GT10H GT15H GT20H GT30H GT50H 1 F...

Page 263: ...el Remarks SG Surge absorber Okaya Electric Industries Co Ltd RAV781BWZ 4 Single phase 100 VAC RAV781BXZ 4 Three phase 200 VAC NF Noise filter Okaya Electric Industries Co Ltd SPU EK5 ER 6 Single phase 100 200 VAC 5 A 3SUP HQ10 ER 6 Three phase 200 VAC 10 A 3SUP HU30 ER 6 Three phase 200 VAC 30 A 3SUP HL50 ER 6B Three phase 200 VAC 50 A SV Servo Drive OMRON Corp 1 SM Servomotor OMRON Corp 1 FC Cla...

Page 264: ... Yes Frame ground Noise filter Frame ground line 1 5 m No No Frame ground Noise filter Frame ground line 1 5 m No No AC power supply Switch box Power supply line 1 5 m No No Servo Drive model Noise Filter Model Rated current Phases Maximum leakage current 60 Hz Manufacturer R88D GTA5L SUP EK5 ER 6 5 A Single 1 0 mA at 250 VAC Okaya Electric Industries Co Ltd R88D GT01L R88D GT02L R88D GT04L 3SUP H...

Page 265: ...ting panel mounting holes and gaps around the door may allow electromagnetic waves into the panel To prevent this observe the recommendations described below when designing or selecting a control panel Case Structure Use a metal control panel with welded joints at the top bottom and sides so that the surfaces will be electrically conductive If assembly is required strip the paint off the joint are...

Page 266: ...the diagrams on the next page Strip the paint off the sections of the door and case that will be in contact with the conductive gasket or mask them during painting so that they will be electrically conductive The panel may warp and gaps may appear when screws are tightened Be sure that no gaps appear when tightening screws A B Case Door Control panel Door interior view Cross sectional view of A B ...

Page 267: ...e Select a no fuse breaker with a rated current greater than the total effective load current of all the Servomotors The rated current of the power supply input for each Servomotor is provided in Main Circuit and Servomotor Connections on page 4 21 Add the current consumption of other controllers and any other components when selecting the NFB Inrush Current The following table lists the Servo Dri...

Page 268: ...akage current depends on the power cable length and the insulation Note 2 The resistor plus capacitor method provides a yardstick to measure the leakage current that may flow through the human body when the Servomotor or Servo Drive is not grounded correctly The above leakage current is for normal temperature and humidity The leakage current depends on the temperature and humidity Servo Drive mode...

Page 269: ...o the manufacturers documentation for operating details Note 2 The surge immunity is for a standard impulse current of 8 20 μs If pulses are wide either decrease the current or change to a larger capacity surge absorber Dimensions Equalizing Circuits Manufacturer Model Surge immunity Type Remarks Okaya Electric Industries Co Ltd R A V 781BWZ 4 700 V 20 2500 A Block Single phase 100 200 VAC Okaya E...

Page 270: ...250 VAC OkayaElectric IndustriesCo Ltd R88D GT01L R88D GT02L R88D GT04L 3SUP HQ10 ER 6 10 A 3 5 mA at 500 VAC R88D GT01H SUP EK5 ER 6 5 A 1 mA at 250 VAC R88D GT02H R88D GT04H R88D GT08H 3SUP HQ10 ER 6 10 A 3 5 mA at 500 VAC R88D GT10H 3SUP HU30 ER 6 30 A 3 5 mA at 500 VAC R88D GT15H R88D GT20H R88D GT30H 3SUP HL50 ER 6B 50 A 8 mA at 500 VAC R88D GT50H R88D GT75H 105 115 5 5 43 70 52 10 95 M4 M3 M...

Page 271: ...se can also be reduced by using 1 5 turns with the ZCAT3035 1330 TDK Radio Noise Filter Model Rated current Rated voltage Leakage current Manufacturer SUP EK5 ER 6 5 A 250 V 1 0 mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd 105 115 5 5 43 70 52 10 95 M4 M3 M4 Ground terminal Cover mounting screw Cover Noise Filter 120 90 1 0 18 13 286 3 0 240 150 270 255 1 0 M6 M6 Two 5 5 7 dia Two 5 5 dia...

Page 272: ...ings is two turns 4 Also used on the Servo Drive output power lines to comply with the EMC Directives Only a clamp is used This clamp can also be used to reduce noise current on a frame ground line Dimensions Model Manufacturer Application 3G3AX ZCL1 1 OMRON Servo Drive output and power cable 3G3AX ZCL2 2 OMRON Servo Drive output and power cable ESD R 47B 3 NEC TOKIN Servo Drive output and power c...

Page 273: ...ics 10 100 10000 1000 100 10 1 0 1 1 1000 3G3AX ZCL2 3G3AX ZCL1 10000 1000 100 10 1 10 100 1 1000 ESD R 47B ZCAT3035 1330 10 100 1000 1000 100 10 20 40 60 80 100 1 10 100 0 1 4T 15T Frequency kHz Impedance Ω Frequency kHz Impedance Ω Frequency MHz Impedance Ω Frequency MHz Impedance Ω ...

Page 274: ...h as relays At power shutoff the surge voltage is the lowest but the rest time takes longer Used for 24 48 VDC systems Use a fast recovery diode with a short re verse recovery time e g RU2 of Sanken Electric Co Ltd Thyristor or varistor Thyristors and varistors are used for loads when induction coils are large as in elec tromagnetic brakes solenoids etc and when reset time is an issue The surge vo...

Page 275: ...ion and inductance will increase and cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filters Do not place the Encoder Cable with the following cables in the same duct Control Cables for brakes solenoids clutches and valves Dimensions Impedance Characteristics Manufacturer Product ...

Page 276: ... output section For open collector specifications keep the length of wires to within two meters Reactors to Reduce Harmonic Current Harmonic Current Countermeasures The Reactor is used for suppressing harmonic currents It suppresses sudden and quick changes in electric currents The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components requires that manufact...

Page 277: ...elow 200 kHz use an isolation transformer and a noise filter Note 2 To attenuate noise at high frequencies over 30 MHz use a ferrite core and a high frequency noise filter with a feed through capacitor Note 3 If multiple Servo Drives are connected to a single noise filter select a noise filter with a rated current at least two times the total rated current of all the Servo Drives Manufacturer Mode...

Page 278: ...ical general purpose noise filters are made for power supply frequencies of 50 60 Hz If these noise filters are connected to the PWM output of the Servo Drive a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Drive could be damaged Dimensions 3G3AX NF001 NF002 Manufacturer Model Rated current Remarks OMRON 3G3AX NF001 6 A For inverter ...

Page 279: ...NF006 Model Dimensions mm A B C E F H J N O P 3G3AX NF003 160 145 130 80 112 120 M4 154 3G3AX NF004 200 180 160 100 162 150 120 M5 M5 210 3G3AX NF005 220 200 180 100 182 170 140 M6 M6 230 3G3AX NF006 220 200 180 100 182 170 140 M8 M8 237 C B A P F E Six O Two N 50 30 50 H J Four 6 5 dia ...

Page 280: ...y connecting an External Regeneration Resistor Calculating the Regenerative Energy Horizontal Axis In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative The regenerative energy values for each region can be derived from the following equations Note Due to the loss of winding resistance and PWM the actu...

Page 281: ...rgy Absorption Capacity on page 4 48 For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on the model For details refer to Servo Drive Regenerativ...

Page 282: ...el For details refer to Servo Drive Regenerative Energy Absorption Capacity on page 4 48 For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy i e models of 500 W or more the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Drive s regenerative energy absorption capacity The capacity depends on th...

Page 283: ...rotation speed The amount of regeneration is proportional to the square of the rotation speed Lengthen the deceleration time to decrease the regenerative energy produced per time unit Lengthen the operation cycle i e the cycle time to decrease the average regeneration power Note These are the values at 100 VAC for 100 VAC models and at 200 VAC for 200 VAC models Servo Drive Regenerative energy J t...

Page 284: ...T01L GT02L GT01H GT02H GT04H If an External Regeneration Resistor is necessary connect it between B1 and B2 as shown in the diagram below Model Resistance Nominal capacity Regeneration ab sorption at 120 C Heat radiation condition Thermal switch output specifications R88A RR08050S 50 Ω 80 W 20 W Aluminum 350 350 Thickness 3 0 Operating temperature 150 C 5 NC contact Rated output 30 VDC 50 mA max m...

Page 285: ...ircuit power supply is shut OFF when the contacts open When using multiple External Regeneration Resistors connect each thermal switch in series The resistor may be damaged by burning or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch Connect the thermal switch output so that the main circuit power supply is shut OFF when the con...

Page 286: ...050S R88A RR080100S R88A RR22047S1 R88A RR22047S1 Resistance 2 50 Ω 100 Ω 25 Ω 50 Ω 47 Ω 94 Ω Connection method Regeneration absorption capacity 1 140 W 280 W 560 W Model R88A RR22047S1 R88A RR22047S1 R88A RR22047S1 Resistance 2 23 5 Ω 47 Ω 23 5 Ω Connection method Regeneration absorption capacity 1 180 W 360 W 1440 W Model R88A RR50020S R88A RR50020S R88A RR50020S Resistance 2 20 Ω 10 Ω 10 Ω Conn...

Page 287: ... 6 Forward and Reverse Drive Prohibit 5 14 5 7 Encoder Dividing 5 15 5 8 Electronic Gear 5 16 5 9 Overrun Limit 5 19 5 10 Brake Interlock 5 21 5 11 Gain Switching 5 25 5 12 Torque Limit 5 26 5 13 Soft Start 5 28 5 14 Position Command Filter 5 29 5 15 Speed Limit 5 30 5 16 User Parameters 5 31 Setting and Checking Parameters 5 31 Parameter Tables 5 33 Parameters Details 5 51 ...

Page 288: ...s the command pulse input 5 74 Pn41 Command Pulse Rotation Direction Switch Set to match the command pulse form of the controller 5 74 Pn42 Command Pulse Mode 5 75 Pn48 to Pn4B Electronic Gear Ratio Set the pulse rate for command pulses and Servomotor travel amount 5 78 CW CW CCW CCW 3 4 5 6 CWLD CWLD CCWLD CCWLD 44 45 46 47 Numerator Ratio Denominator CJ1W NC113 133 CJ1W NC213 233 CJ1W NC413 433 ...

Page 289: ... Pn19 Speed Gain 2 Pn1A Integration Time Constant 2 Pn20 Inertia Ratio Notch Filter Pn1D Filter 1 Frequency Pn1E Filter 1 Width Pn28 Filter 2 Frequency Pn29 Filter 2 Width Pn2A Notch Filter 2 Depth Pn2F Adaptive Filter Torque Command Limit Pn14 Filter Pn1C Filter 2 Pn5E No 1 Torque Limit Pn5F No 2 Torque Limit Divider Setting Pn44 Numerator Pn45 Denominator Pn46 Direction Switch Speed Detection Fi...

Page 290: ... Parameter No Parameter name Explanation Reference page Pn02 Control Mode Selection Set the control mode for speed control Settings 1 3 5 5 53 Pn50 Speed Command Scale Set the REF speed command input voltage for operating at the rated rotation speed 5 81 CS1W MC221 421 V1 FQM1 MMA22 REF AGND 14 15 V r min Controller with analog voltage output Motion Control Unit Analog voltage speed command Flexib...

Page 291: ...on Time Pn59 Deceleration Time Pn5A S curve Acceleration Deceleration Pn05 Command Speed Selection Speed Command REF 1 1 SM RE Speed Command Monitor Actual Speed Monitor Torque Command Monitor Speed PI Processor Pn11 Speed Gain 1 Pn12 Integration Time Constant 1 Pn19 Speed Gain 2 Pn1A Integration Time Constant 2 Pn20 Inertia Ratio Notch Filter Pn1D Filter 1 Frequency Pn1E Filter 1 Width Pn28 Filte...

Page 292: ...an be made from 20 000 to 20 000 r min Be sure to set the speeds within the allowable range of rotation speed of the Servomotor 5 82 Pn54 No 2 Internally Set Speed Pn55 No 3 Internally Set Speed Pn56 No 4 Internally Set Speed Pn74 No 5 Internally Set Speed Pn75 No 6 Internally Set Speed Pn76 No 7 Internally Set Speed Pn77 No 8 Internally Set Speed Pn58 Soft Start Acceleration Time Set the accelera...

Page 293: ...F OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF Pn56 4 OFF OFF ON Pn53 5 ON OFF ON Pn54 6 OFF ON ON Pn55 7 ON ON ON Pn56 No VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF 1 4 OFF OFF ON Pn53 5 ON OFF ON Pn54 6 OFF ON ON Pn55 7 ON ON ON 1 No VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF P...

Page 294: ... may be temporarily performed with a sudden change especially if the acceleration or deceleration time is set to 0 or small value or if the speed difference between internally set speed commands is large Use this function with the following precautions Avoid switching more than one internally set speed selection signal at the same time Set both Soft Start Acceleration Time and Soft Start Decelerat...

Page 295: ...evice side to prevent Servomotor runaway Pn5B 0 Pn5B 1 TREF1 VLIM pin 14 Torque command input Set the gain polar ity offset and filter for the torque command by using Pn5C Pn5D Pn52 and Pn57 Analog speed limit input To set the gain offset and filter for the speed limit use Pn50 Pn52 and Pn57 respectively TREF2 pin 16 This input is disabled The speed limit will be the No 4 Internally Set Speed Pn56...

Page 296: ...verse the polarity of the torque command input 5 84 Pn5B 0 Pn5B 1 TREF1 VLIM pin 14 This input is disabled The speed limit will be the No 4 Internally Set Speed Pn56 Analog speed limit input To set the gain offset and filter for the speed limit use Pn50 Pn52 and Pn57 respectively TREF2 pin 16 Torque command input The gain polarity offset and filter for the torque command can be set using Pn5C and ...

Page 297: ...or Speed PI Processor Pn11 Speed Gain 1 Pn12 Integration Time Constant 1 Pn19 Speed Gain 2 Pn1A Integration Time Constant 2 Pn20 Inertia Ratio Notch Filter Pn1D Filter 1 Frequency Pn1E Filter 1 Width Pn28 Filter 2 Frequency Pn29 Filter 2 Width Pn2A Notch Filter 2 Depth Pn2F Adaptive Filter Torque Command Limit Pn14 Filter Pn1C Filter 2 Pn5E No 1 Torque Limit Pn5F No 2 Torque Limit Divider Setting ...

Page 298: ... mode selected Note Use caution when switching control modes Operation may change suddenly depending on the control mode settings Parameter No Parameter name Explanation Reference page Pn02 Control Mode Selection Select control mode for switching control Settings 3 4 5 5 53 Control Mode Selection Pn02 setting TVSEL OFF ON 3 Position control Speed control 4 Position control Position control 5 Speed...

Page 299: ...e Position and Torque Control Switching Example Pn02 4 This time chart shows an example of torque thrust There is a maximum delay of 10 ms in reading the input signal When switching from torque control to position control turn OFF the Control Mode Switch Input TVSEL and wait at least 10 ms after the Positioning Completed Output INP turns ON before inputting the pulse command The pulses input befor...

Page 300: ... in reading the input signal Servomotor operation in Torque Control Mode changes according to the Servomotor load conditions e g fric tion external power inertia Take safety measures on the machine side to prevent Servomotor runaway Related Functions Refer to the related functions for each control mode ON 1 2 OFF r min V V Control Mode Switch Input TVSEL Servomotor operation Speed Command Input RE...

Page 301: ...driven in the forward direction With a vertical axis there is a risk that the load may drop when drive is prohibited by the drive prohibit input To prevent this it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter Pn066 and that stopping in the servo lock state be set set value 2 Parameter No Parameter name Explanat...

Page 302: ...n Reference page Pn44 Encoder Divider Numerator Setting Set the number of pulses to be output in combination with the Encoder Divider Denominator Setting Pn45 5 76 Pn45 Encoder Divider Denominator Setting Set the number of pulses to be output in combination with the Encoder Divider Numerator Setting Pn44 5 76 Pn46 Encoder Output Direction Switch Set the phase B logic and output source for the puls...

Page 303: ...tor Parameter No Parameter name Explanation Reference page Pn48 Electronic Gear Ratio Numerator 1 1 Set the pulse rate for command pulses and Servomotor trav el distance The upper limit of the gear ratio numerator is determined by the following formulas Electronic Gear Ratio Numerator 1 Pn48 2 Pn4A 4 194 304 Pn4D 1 Electronic Gear Ratio Numerator 2 Pn49 2 Pn4A 4 194 304 Pn4D 1 Pn48 Electronic Gear...

Page 304: ...eduction is required in the settings Calculation Example For a 17 bit encoder Use the following setting to operate at 5 000 pulses rotation Set the parameters so that the command pulse frequency multiplied by the electronic gear ratio does not exceed 80 Mpps If 80 Mpps is exceeded alarm 27 will occur Example The following calculation is for an absolute encoder with a resolution of 131 072 an elect...

Page 305: ...ectronic gear is given in the following table Parameter No Parameter name Explanation Reference page Pn40 Command Pulse Input Selection The command pulses are multiplied by a factor of 2 or 4 when using 90 phase difference signal inputs is selected as the in put format for the command pulse in the Command Pulse Mode Pn42 5 74 ...

Page 306: ... Prohibition Input Pn66 to 2 Normal Mode Autotuning starts or ends Parameter No Parameter name Explanation Reference page Pn26 Overrun Limit Setting Set the Servomotor s allowable operating range for the position command input range An overrun limit error alarm code 34 will occur if the set value is exceeded 5 65 Conditions under which the overrun limit will operate Operating mode Position Control...

Page 307: ...put position command and will be the range with the rotations set in Pn26 added on both sides of the position command input range Left Side Operation Servo ON When the position command to the left is input the position command input range will further increase Servo motor Load Servomotor s allowable operating range Range for generating alarm code 34 Range for generating alarm code 34 Pn26 Pn26 Ser...

Page 308: ...Servomotor is rotating the brake disk may become damaged due to friction damaging the Servomotor Function You can set the Brake Interlock Output BKIR timing to turn ON and OFF the electromagnetic brake Parameters Requiring Settings Parameter No Parameter name Explanation Reference page Pn6A Brake Timing when Stopped Use this parameter to set the output timing of the Brake In terlock Output BKIR Pn...

Page 309: ... Servo ON status will not occur until the Servomotor drops to 30 r min or less Power Supply OFF Timing When Servomotor Is Stopped 1 The time from turning OFF the brake power supply to the brake engaging is 100 ms max If using the Servomotor on a vertical axis take this delay into account and set the Brake Timing when Stopped Pn6A so that the Servomotor is deenergized after the brake has engaged ON...

Page 310: ...ke Interlock BKIR signal will turn OFF when the Servomotor s rotation speed is 30 r min or lower or the time set in the Brake Timing during Operation Pn6B has elapsed ON OFF ON OFF ON OFF ON OFF ON OFF Power supply Brake Interlock BKIR Servomotor Energized Deenergized 25 to 35 ms Pn6B 2 Approx 1 to 5 ms Approx 10 ms 1 Servo Ready READY RUN Command RUN Alarm Output ALM Dynamic brake Servomotor rota...

Page 311: ... OFF ON OFF ON OFF ON OFF ON OFF Brake Interlock Output BKIR Servomotor Energized Deenergized Approx 2 ms Servo Ready Output READY Alarm Reset RESET Alarm Output ALM Dynamic brake Servo position speed or torque input Released Engaged Approx 2 ms Approx 40 ms 120 ms min 220 ms min ...

Page 312: ...e Selection Pn21 to 0 not used Parameters Requiring Settings Note Adjust Pn18 Pn19 and Pn1A with GSEL turned ON according to 7 5 Manual Tuning on page 7 21 The Realtime Autotuning Machine Rigidity Selection Pn22 cannot be applied to gain 2 Set the default values for adjustment referring to the table on page 7 16 Parameter No Parameter name Explanation Reference page Pn18 Position Loop Gain 2 Set t...

Page 313: ... smaller If a positive voltage between 0 and 10 V is applied to PCL forward torque limit input the torque will be limited for forward operation 3 V 100 If a negative voltage between 0 and 10 V is applied to NCL reverse torque limit input the torque will be limited for reverse operation 3 V 100 For the parameter setting the maximum torque is limited by Pn5E for both forward and reverse operation PC...

Page 314: ...3 3 The torque limit setting is switched by turning pin 27 ON and OFF For both forward and reverse operation use Pn5E to limit the maximum torque when pin 27 is OFF and use Pn5F when pin 27 is ON Torque Limit Settings The setting range for the torque limit is 0 to 300 and the standard default setting is 300 except for the following combinations of Servo Drives and Servomotors Servo Drive Applicabl...

Page 315: ...d switching operations Do not use this function for a position controller with an acceleration deceleration function Parameters Requiring Settings If the soft start function is not used set this parameter to 0 default setting The actual acceleration and deceleration time is as follows Parameter No Parameter name Explanation Reference page Pn58 Soft Start Acceleration Time Set the time using the fo...

Page 316: ... for each filter are shown below Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain Acceleration 2 Kp s Deceleration 3 Kp s Kp Position loop gain Primary Filter Note The time constant will be as follows according to the setting of Pn4C Parameter No Parameter name Explanation Reference page Pn4C Position Command Filter Time Co...

Page 317: ...F as an Analog Speed Limit Input VLIM Parameters Requiring Settings Limiting the Speed to a Constant Speed in Torque Control Mode The speed will be limited according to the following parameter setting if the Torque Command Speed Limit Selection Pn5B is set to 0 Limiting the Speed with Analog Voltage The Speed Command Input REF will be the Analog Speed Limit Input terminal if the Torque Command Spe...

Page 318: ...e Press the Data key and then press the Mode key once Set the parameter number Pn using the Increment and Decrement keys Display the parameter setting by pressing the Data key Change the parameter setting using the Increment Decrement and Shift keys Save the changed setting to memory and return to the parameter number display by pressing the Data key Operating Procedures Displaying Parameter Setti...

Page 319: ...ront panel keys Display example Explanation The parameter number will be displayed Press the Data key The setting of the parameter will be displayed PR02G keys Front panel keys Display example Explanation The present setting will be displayed Use the Shift Increment and Decrement keys to change the setting The Shift key is used to change the digit PR02G keys Front panel keys Display example Explan...

Page 320: ...it number 1 0 to 15 Yes 01 Default Display Set the data to display on the Parameter Unit when the power supply is turned ON 1 0 to 17 Yes 0 Position deviation Pulses 1 Servomotor rotation speed r min 2 Torque output 3 Control mode 4 I O signal status 5 Alarm code and history 6 Software version 7 Warning display 8 Regeneration load ratio 9 Overload load ratio 10 Inertia ratio 11 Total feedback puls...

Page 321: ...ection Select the speed command when using speed control 0 0 to 3 0 Speed command input REF 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn53 to Pn56 2 No 1 Internally Set Speed to No 3 Internally Set Speed Pn53 to Pn55 and External Speed Command REF 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn53 to Pn56 and Pn74 to Pn77 06 Zero Speed Designation Speed Command Direction ...

Page 322: ... V 750 r min 8 Command speed 6 V 3000 r min 9 Command speed 1 5 V 3000 r min 08 IM Selection Select the relation between the output voltage level and the torque or number of pulses 0 0 to 12 0 Torque command 3 V rated 100 torque 1 Position deviation 3 V 31 pulses 2 Position deviation 3 V 125 pulses 3 Position deviation 3 V 500 pulses 4 Position deviation 3 V 2000 pulses 5 Position deviation 3 V 80...

Page 323: ...torque limit 1 Zero speed detection output 2 Warning output for regeneration overload overload absolute encoder battery or fan lock 3 Regeneration overload warning output 4 Overload warning 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output 0B Operation Switch When Using Absolute Encoder Set the operating method for the 17 bit absolute en coder...

Page 324: ... 2 400 bps 1 4 800 bps 2 9 600 bps 3 19 200 bps 4 38 400 bps 5 57 600 bps 0E Front Key Protection Setting Front panel key operation can be limited to Monitor Mode 0 0 to 1 Yes 0 All enabled 1 Limited to Monitor Mode 0F Reserved Do not change setting Pn No Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON ...

Page 325: ...lag filter used in the speed feed forward section 100 0 01 ms 0 to 6400 17 Reserved Do not change setting 18 Position Loop Gain 2 Set to adjust position control system responsiveness 20 1 s 0 to 3000 19 Speed Loop Gain 2 Set to adjust speed loop responsiveness 80 Hz 1 to 3500 1A Speed Loop Integration Time Constant 2 Set to adjust the speed loop integration time constant 50 ms 1 to 1000 1B Speed F...

Page 326: ...setting if there are sudden changes in load inertia during operation 7 Set to use realtime autotuning without switching the gain 22 Realtime Autotuning MachineRigidity Selection Set the machine rigidity to one of 16 levels during re altime autotuning The higher the machine rigidity the greater the setting needs to be The higher the setting the higher the responsiveness When the Parameter Unit is u...

Page 327: ...Notch Filter 2 Width Set the notch filter width to one of five levels for the resonance suppression notch filter Normally use the default setting 2 0 to 4 2A Notch Filter 2 Depth Set the depth of the resonance suppression notch fil ter 0 0 to 99 2B Vibration Frequency 1 Set vibration frequency 1 to suppress vibration at the end of the load in damping control 0 0 1 Hz 0 to 2000 2C Vibration Filter ...

Page 328: ... 5 Command speed 6 Amount of position deviation 7 Command pulses received 8 Positioning Completed Signal INP OFF 9 Actual Servomotor speed 10 Combination of command pulse input and speed 32 Gain Switch 1 Time This parameter is enabled when the Control Gain Switch 1 Setting Pn31 is 3 to 10 Set the delay time from the moment the condition set in the Control Gain Switch 1 Setting Pn31 is not met unti...

Page 329: ... 38 Gain Switch 2 Level Setting This parameter is enabled when Control Gain Switch 2 Setting Pn36 is 3 to 5 Set the judgment level for switching between gain 1 and gain 2 The unit de pends on the setting of Control Gain Switch 2 Setting Pn36 0 0 to 20000 39 Gain Switch 2 Hysteresis Setting Set the hysteresis width above and below the judg ment level set in the Gain Switch 2 Level Setting Pn38 The ...

Page 330: ...he direction specified by the com mand pulse 42 Command Pulse Mode Set the form of the pulse inputs sent as command to the Servo Drive from a position controller 1 0 to 3 Yes 0 90 phase difference phase A B signal in puts 1 Forward pulse and reverse pulse inputs 2 90 phase difference phase A B signal in puts 3 Feed pulses and forward reverse signal input 43 Command PulseProhibited Input Setting En...

Page 331: ...etting the larger the time constant 0 0 to 7 4D SmoothingFilter Setting Select the FIR filter time constant used for the com mand pulse input The higher the setting the smoother the command pulses 0 0 to 31 Yes 4E Deviation Counter Reset Condition Setting Set the deviation counter reset conditions 1 0 to 2 0 Clears the deviation counter when the signal is closed for 100 μs or longer 1 Clears the d...

Page 332: ...ly Set Speed Set the No 3 internally set rotation speed 300 r min 20000 to 20000 56 No 4 Internally Set Speed Set the No 4 internally set rotation speed For torque control when Pn5B 0 set the speed limit 50 r min 20000 to 20000 74 No 5 Internally Set Speed Set the No 5 internally set rotation speed 500 r min 20000 to 20000 75 No 6 Internally Set Speed Set the No 6 internally set rotation speed 600...

Page 333: ... Limit Selec tion on page 5 84 0 0 to 1 5C Torque Command Scale Set the relation between the voltage applied to the torque command input TREF1 or TREF2 and the Ser vomotor s output torque 30 0 1 V 100 10 to 100 5D Torque Output Direction Switch Set to reverse the polarity of the Torque Command Input REF TREF1 or PCL TREF2 0 0 to 1 0 Forward 1 Reverse 5E No 1 Torque Limit Set the limit to the Servo...

Page 334: ...letion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no position command 2 Positioning completion output turns ON when the zero speed detection signal is ON and the position deviation is within the Positioning Completion Range Pn60 and there is no position command 3 Positioning completion output turns ON when the position deviation is with...

Page 335: ... the deviation counter 0 0 to 9 0 During deceleration Dynamic brake After stopping Dynamic brake Deviation counter Clear 1 During deceleration Free run After stopping Dynamic brake Deviation counter Clear 2 During deceleration Dynamic brake After stopping Servo free Deviation counter Clear 3 During deceleration Free run After stopping Servo free Deviation counter Clear 4 During deceleration Dynami...

Page 336: ...tation speed and the Brake In terlock Signal BKIR will turn OFF after the set time for the parameter i e setting 2 ms has elapsed BKIR will also turn OFF if the speed drops to 30 r min or lower before the set time elapses 50 2 ms 0 to 100 6C Regeneration Resistor Selection Set whether to use a built in resistor or to add an Exter nal Regeneration Resistor 0 0 to 3 Yes 0 Regeneration resistor used ...

Page 337: ... Command Torque Command Input Overflow Level Setting Set the overflow level for Speed Command Input REF or Torque Command Input TREF using voltage after offset adjustment 0 0 1 V 0 to 100 72 Overload Detection Level Setting Set the overload detection level 0 0 to 115 73 Overspeed Detection Level Setting Set the overspeed detection level 0 r min 0 to 20000 78 Reserved Do not change setting 79 Reser...

Page 338: ...by multiple Units via RS 232 or RS 485 it is necessary to identify which Unit the host is accessing With this parameter the unit number can be confirmed using alphanumeric characters The unit number is determined by the unit number switch setting on the front panel when the power supply is turned ON This number is the unit number when using serial communications The setting of this parameter has n...

Page 339: ... Display Setting range 0 to 17 Unit Default setting 1 Power OFF ON Yes Setting Explanation 0 Position deviation 1 Servomotor rotation speed 2 Torque output 3 Control mode 4 I O signal status 5 Alarm code and history 6 Software version 7 Warning display 8 Regeneration load ratio 9 Overload load ratio 10 Inertia ratio 11 Total feedback pulses 12 Total command pulses 13 Reserved 14 Reserved 15 Automa...

Page 340: ...e Selection Setting range 0 to 6 Unit Default setting 0 Power OFF ON Yes Setting Explanation 0 Position Control Mode pulse string command 1 Speed Control Mode analog command 2 Torque Control Mode analog command 3 Mode 1 Position Control Mode Mode 2 Speed Control Mode 4 Mode 1 Position Control Mode Mode 2 Torque Control Mode 5 Mode 1 Speed Control Mode Mode 2 Torque Control Mode 6 Reserved Pn03 Tor...

Page 341: ... a limit switch above the workpiece is turned OFF when using a vertical axis the upward torque will be eliminated and there may be repeated vertical movement of the workpiece If this occurs set the Stop Selection for Drive Prohibition Input Pn66 to 2 or limit operation using the host controller rather than using this parameter Alarm Reset Set the parameter to 0 for executing the alarm reset from t...

Page 342: ...peed mode Use as the speed command sign The rotation direction is forward when the connection between the input and common is open and reverse when the connection between the input and common is closed Torque mode The zero speed designation input will be ignored and a zero speed designation will not be detected Pn07 SP Selection Setting range 0 to 9 Unit Default setting 3 Power OFF ON Setting Expl...

Page 343: ...on deviation 3 V 2000 pulses 5 Position deviation 3 V 8000 pulses 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Torque command 3 V 200 torque 12 Torque command 3 V 400 torque Pn09 General purpose Output 2 Selection Setting range 0 to 8 Unit Default setting 0 Power OFF ON Setting Explanation 0 Output during torque limit 1 Zero speed detection output 2 Warning output for over regenerati...

Page 344: ...t Default setting 1 Power OFF ON Setting Explanation 0 Output during torque limit 1 Zero speed detection output 2 Warning output for over regeneration overload absolute encoder battery or fan lock 3 Over regeneration warning output 4 Overload warning output 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output Pn0B Operation Switch When Using Abso...

Page 345: ...parameter is set to 1 parameters can be changed by using communications Use communications to return this parameter to 0 Pn0C RS 232 Baud Rate Setting Setting range 0 to 5 Unit Default setting 2 Power OFF ON Yes Setting Explanation 0 2 400 bps 1 4 800 bps 2 9 600 bps 3 19 200 bps 4 38 400 bps 5 57 600 bps Pn0D RS 485 Baud Rate Setting Setting range 0 to 5 Unit Default setting 2 Power OFF ON Yes Se...

Page 346: ... may cause machine resonance resulting in an overload alarm If the position loop gain is low you can shorten the positioning time using feed forward This parameter is automatically changed by executing realtime autotuning To set it manually set the Realtime Autotuning Mode Selection Pn21 to 0 Position loop gain is generally expressed as follows When the position loop gain is changed the response i...

Page 347: ...ntegration time constant The smaller the setting the faster the deviation will come close to 0 when stopping If 1000 is set the integral will be ineffective When the speed loop integration time constant is changed the response is as shown in the fol lowing diagram Pn11 Speed Loop Gain Setting range 1 to 3500 Unit Hz Default setting 50 Power OFF ON Pn12 Speed Loop Integration Time Constant Setting ...

Page 348: ...rward Setting the Feed forward Command Filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high Use this parameter to set the responsiveness of the position control system for the second position loop Use this parameter to set the responsiveness of the second speed loop Pn13 Speed Feedback Filter Time Constant Setting range ...

Page 349: ...ng realtime autotuning To set them manually set the Realtime Autotuning Mode Selection Pn21 to 0 Gain switching is enabled only for position control Use this parameter to set the frequency of notch filter 1 for resonance suppression The notch filter function will be disabled if this parameter is set to 1500 Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5...

Page 350: ...ting pattern Normally set the parameter to 1 or 4 Use a setting of 4 to 6 if a vertical axis is used Use setting 7 if vibration is caused by gain switching Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is enabled If the setting is changed suddenly by a large amount the gain will change rapidly subjecting the machine to shock Always start by making smal...

Page 351: ...bration Filter Selection Setting range 0 to 2 Unit Default setting 0 Power OFF ON Setting Explanation 0 No switching Both filter 1 and filter 2 are enabled 1 Filter 1 or filter 2 can be selected using vibration filter switching DFSEL DFSEL open Vibration filter 1 Pn2B and Pn2C is selected DFSEL closed Vibration filter 2 Pn2D and Pn2E is selected 2 Switching with position command direction Forward ...

Page 352: ...lly use the default setting Use this parameter to set the notch depth of notch filter 2 for resonance suppression Increasing the setting will decrease the notch depth and the phase lag Use this parameter to set vibration frequency 1 for damping control to suppress vibration at the end of the load Measure the frequency at the end of the load and make the setting in units of 0 1 Hz Setting frequency...

Page 353: ...uency 10 0 to 200 0 Hz The function will be disabled if the setting is 0 to 9 9 Hz Refer to Damping Control on page 7 35 for more information First set the Vibration Frequency 2 Pn2D Then reduce the setting of Pn2E if torque saturation occurs or increase the setting of Pn2E to increase operation speed Normally use a setting of 0 Other than the setting range the following restriction also applies 1...

Page 354: ...splay Setting range 0 to 64 Unit Default setting 0 Power OFF ON Displayed value Notch Filter 1 Frequency Hz Displayed value Notch Filter 1 Frequency Hz Displayed value Notch Filter 1 Frequency Hz 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 F 6 1426 28 607 50 258 Disabled when Pn...

Page 355: ...n 27 PI is not changed however if the Torque Limit Selection Pn03 is set to 3 For information on conditions for switching between gain 1 and gain 2 refer to Gain Switching Function on page 7 26 Pn30 Gain Switching Input Operating Mode Selection Setting range 0 or 1 Unit Default setting 1 Power OFF ON Setting Explanation 0 Gain 1 PI P switching enabled 1 Gain 1 gain 2 switching enabled Gain input S...

Page 356: ...n10 to Pn14 5 Command speed Figure B r min r min 6 Amount of position deviation Figure C 4 Pulse 4 Pulse 7 Command pulses received Figure D 8 Positioning Completed Signal INP OFF Figure E 9 Actual Servomotor speed Figure B r min r min 10 Combination of command pulse input and speed Figure F 5 r min 5 r min Setting Explanation Gain switching conditions Gain Switch Time Pn32 37 1 Gain Switch Level S...

Page 357: ...in Switch 1 Hysteresis Setting Pn34 is defined as shown in the following figure 3 The amount of change is the value within 166 μs Example When the condition is a 10 change in torque in 166 μs the set value is 200 4 This is the encoder resolution 5 The meanings of the Gain Switch Time Gain Switch Level Setting and Gain Switch Hysteresis Setting are different from normal if this parameter is set to ...

Page 358: ...from gain 2 to gain 1 if the Control Gain Switch 1 Setting Pn31 is 3 Pn32 Gain Switch 1 Time Setting range 0 to 10000 Unit 166 μs Default setting 30 Power OFF ON H L H L H L H L T 1 1 2 2 2 2 1 1 INP H L Speed V Figure A Torque T Accumulated pulses Level Level Level Speed V Figure B Figure C Figure D Figure E Gain 1 Gain 1 Gain 1 Gain 1 Gain 1 Gain 1 Gain 2 Gain 2 Gain 2 Gain 2 Gain 2 Gain 1 Gain ...

Page 359: ...dgment level set in the Gain Switch 1 Level Setting Pn33 The unit depends on the Control Gain Switch 1 Setting Pn31 The following shows the definitions for the Gain Switch 1 Time Pn32 Gain Switch 1 Level Setting Pn33 and Gain Switch 1 Hysteresis Setting Pn34 The settings for the Gain Switch 1 Level Setting Pn33 and the Gain Switch 1 Hysteresis Setting Pn34 are effective as absolute values positive...

Page 360: ...eresis width for the judgment level set in the Gain Switch 2 Level setting Pn38 The unit depends on the Control Gain Switch 2 Setting Pn36 The following shows the definitions for the Gain Switch 2 Time Pn37 Gain Switch 2 Level Setting Pn38 and Gain Switch 2 Hysteresis Setting Pn39 The settings for the Gain Switch 2 Level Setting Pn38 and the Gain Switch 2 Hysteresis Setting Pn36 Control Gain Switc...

Page 361: ...used for the command pulse input Pn3D Jog Speed Setting range 0 to 500 Unit r min Default setting 200 Power OFF ON Pn40 Command Pulse Input Selection Setting range 0 or 1 Unit Default setting 0 Power OFF ON Yes Setting Explanation 0 Photocoupler input PULS CN1 pin 3 PULS CN1 pin 4 SIGN CN1 pin 5 SIGN CN1 pin 6 1 Line driver input CWLD CN1 pin 44 CWLD CN1 pin 45 CCWLD CN1 pin 46 CCWLD CN1 pin 47 Pn...

Page 362: ... to externally connect the IPG input CN1 pin 33 and COM CN1 pin 41 Pn42 Command Pulse Mode Setting range 0 to 3 Unit Default setting 1 Power OFF ON Yes Setting Command pulse mode Servomotor forward command Servomotor reverse command 0 or 2 90 phase difference phases A and B sig nal inputs Line driver t1 2 μs Open collector t1 5 μs 1 Reverse pulse and for ward pulse inputs Line driver t2 1 μs Open ...

Page 363: ...e output resolution per rotation will never exceed the encoder resolution If the above settings are used the pulse output resolution per rotation will be equal to the encoder resolution One phase Z signal is output for each rotation of the Servomotor If the value from the above equation is a multiple of 4 phases Z and A are synchronized In all other cases the output width of phase Z will coincide ...

Page 364: ...B pulse to reverse the relation of the phase B pulse to the phase A pulse Pn46 Encoder Output Direction Switch Setting range 0 or 1 Unit Default setting 0 Power OFF ON Yes Setting Phase Forward motor operation Reverse motor operation Phase A 0 Non inverted phase B 1 Inverted phase B Setting Explanation 0 Phase B output Not inverted Output source Encoder position 1 Phase B output Inverted Output so...

Page 365: ...limit of the calculated numerator Pn48 or Pn49 2Pn4A is 4 194 304 Pn4D setting 1 Pn48 Electronic Gear Ratio Numerator 1 Setting range 0 to 10000 Unit Default setting 0 Power OFF ON Pn49 Electronic Gear Ratio Numerator 2 Setting range 0 to 10000 Unit Default setting 0 Power OFF ON Pn4A Electronic Gear Ratio Numerator Exponent Setting range 0 to 17 Unit Default setting 0 Power OFF ON Pn4B Electronic...

Page 366: ...ilter can be used to reduce the stepping movement of the Servomotor The following are examples of when the command pulses can change abruptly The electronic gear setting is high 10 times or higher The command pulse frequency is low Pn4C Position Command Filter Time Constant Setting Setting range 0 to 7 Unit Default setting 0 Power OFF ON Setting Explanation 0 No filter 1 Time constant 0 2 ms 2 Tim...

Page 367: ...ll be as follows Pn4D Smoothing Filter Setting Setting range 0 to 31 Unit Default setting 0 Power OFF ON Yes Pn4E Deviation Counter Reset Condition Setting Setting range 0 to 2 Unit Default setting 1 Power OFF ON Setting Explanation 0 Clears the deviation counter when the signal is closed for 100 μs or longer 1 Clears the deviation counter on the falling edge of the signal open and then closed for...

Page 368: ...this parameter to adjust the offset of the Speed Command Input REF CN1 pin 14 The offset amount is approximately the set value times 0 3 mV There are two ways to adjust the offset Manually Automatically The manual adjustment is as follows To adjust the offset for individual Servo Drives accurately input 0 V to the Speed Torque Command Input REF TREF1 or connect REF TREF1 to the signal ground and t...

Page 369: ...54 No 2 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 200 Power OFF ON Pn55 No 3 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 300 Power OFF ON Pn56 No 4 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 50 Power OFF ON Pn74 No 5 Internally Set Speed Setting range 20000 to 20000 Unit r min Default setting 500 ...

Page 370: ...ions where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration Pn5B Torque Command Speed Limit Selection Pn58 Soft Start Acceleration Time Setting range 0 to 5000 Unit 2 ms 1000 r min Default setting 0 Power OFF ON Pn59 Soft Start Deceleration Time Setting range 0 to 5000 Unit 2 ms 1000 r min Default setting 0 Po...

Page 371: ...ON Setting Control mode Torque command Speed limit 0 Torque control TREF1 CN1 pin 14 Pn5b Torque control in Position Control Torque Control Mode Torque control in Speed Control Torque Control Mode TREF2 CN1 pin 16 1 Torque control TREF2 CN1 pin 16 VLIM CN1 pin 14 Torque control in Position Control Torque Control Mode Torque control in Speed Control Torque Control Mode Pn5C Torque Command Scale Set...

Page 372: ...ettings of the Torque Limit Selection Pn03 and No 2 Torque Limit Pn5F are ignored Make the settings as a percentage of the rated torque Example Maximum torque is limited to 150 Refer to 5 12 Torque Limit on page 5 26 for information on torque limits and the torque limit selection Pn5E No 1 Torque Limit Setting range 0 to 500 Unit Default setting 300 Power OFF ON Pn5F No 2 Torque Limit Setting rang...

Page 373: ... Range does not affect the precision of the final position Use this parameter to set the rotation speed threshold at which to output a zero speed detection output or speed coincidence output from the general purpose output OUTM1 CN1 pin 12 or OUTM2 CN1 pin 40 If a speed detection output is assigned an output will be made when the speed of the motor is lower than the value set for this parameter If...

Page 374: ...r min Default setting 50 Power OFF ON Pn63 Positioning Completion Condition Setting Setting range 0 to 3 Unit Default setting 0 Power OFF ON Setting Explanation 0 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 1 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range Pn60 and t...

Page 375: ...Stop Selection parameter Pn066 and that stopping in the servo lock state be set set value 2 The dynamic brake is intended for emergency stop If the dynamic brake is activated provide an interval of 3 minutes or more before the next activation Pn65 Undervoltage Alarm Selection Setting range 0 or 1 Unit Default setting 1 Power OFF ON Setting Explanation 0 When the main power supply is interrupted du...

Page 376: ...ed when an alarm is cleared The dynamic brake is intended for emergency stop If the dynamic brake is activated provide an interval of 3 minutes or more before the next activation Pn67 Stop Selection with Main Power OFF Setting range 0 to 9 Unit Default setting 0 Power OFF ON Setting Explanation During deceleration After stopping Deviation counter 0 Dynamic brake Dynamic brake Cleared 1 Free run Dy...

Page 377: ...rvo OFF status is entered while the Servomotor is stopped When the RUN Command Input is turned OFF while the Servomotor is stopped the Brake Interlock Signal BKIR will turn OFF and the Servo will turn OFF after the time set for this parameter setting 2 ms elapses Make the setting as follows to prevent the machine workpiece from moving or falling due to the delay in the brake operation tb Brake tim...

Page 378: ...elerate reducing the number of rotations and the Brake Interlock Signal BKIR will turn OFF after the time set for this parameter has elapsed setting 2 ms TB in the above figure is the brake timing during operation setting 2 ms or the time until the speed of the Servomotor falls to 30 r min or lower whichever is shorter Refer to 5 10 Brake Interlock on page 5 21 for more information Pn6B Brake Timi...

Page 379: ...al torque limit will be used if this parameter is set to 0 Use this parameter to set the deviation counter overflow level The set value is calculated using the following formula Set value Deviation counter overflow detection pulses pulses 256 Pn6C Regeneration Resistor Selection Setting range 0 to 3 Unit Default setting 0 Power OFF ON Yes Setting Explanation 0 Regeneration resistor used Built in r...

Page 380: ...the overload detection level The setting of this parameter is limited to 115 of the Servomotor rating Use this parameter to set the overspeed detection level The overspeed detection level will be 1 2 times the maximum Servomotor rotation speed if this parameter is set to 0 This parameter should normally be set to 0 The setting should be changed only when it is necessary to reduce the overspeed det...

Page 381: ...nit 6 6 Names of Parts and Functions 6 6 6 4 Setting the Mode 6 7 Changing the Mode 6 7 Monitor Mode 6 8 Parameter Setting Mode 6 17 Parameter Write Mode 6 19 Normal Mode Autotuning 6 20 Auxiliary Function Mode 6 21 Copy Mode 6 25 6 5 Trial Operation 6 28 Preparation for Trial Operation 6 28 Trial Operation in Position Control Mode 6 28 Trial Operation in Speed Control Mode 6 29 Trial Operation in...

Page 382: ...ether there are any internal errors in the Servo Drive If using a Servomotor with an absolute encoder first set up the absolute encoder 6 2 Preparing for Operation Setting functions By means of the user parameters set the functions according to the operating conditions 5 16 User Pa rameters Trial operation First test operation without a load connected to the motor Then turn the power OFF and conne...

Page 383: ...50H 75H three phase 200 VAC input Main circuit power supply Three phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Checking Terminal Block Wiring The main circuit power supply input lines L1 L3 or L1 L2 L3 must be properly connected to the terminal block The control circuit power supply inputs L1C L2C must be properly connect...

Page 384: ...ely 2 seconds to turn ON after the power has been turned ON Do not attempt to detect an alarm using the Host Controller during this time if power is turned ON while the Host Controller is connected Checking Displays Displays on the Servo Drive The following will appear on the display on the Servo Drive when the power supply is turned ON Approx 2 s Approx 0 6 s Approx 0 6 s Default display Determin...

Page 385: ... s 0 6 s Servo Drive with unit number other than 0 Servo Drive with unit number 0 Communicating via RS 232 Only Communicating with Other Drives connected via RS 485 The microcomputer version is displayed The numbers depend on the microcomputer version The Drive s unit number set in parameter Pn00 is displayed Default Display Determined by the setting of parameter Pn01 The Parameter Unit version is...

Page 386: ...ll be displayed 3 Go to Absolute Encoder Clear Mode Press the Data key again Absolute Encode Clear Mode will be displayed 4 Start clearing the absolute encoder Hold down the Increment key Clearing the absolute encoder will be started 5 Restart the Servo Drive Turn OFF the control power supply to the Servo Drive and then turn it back ON ABS Auxiliary Function Mode Select mode Execute Automatic Offs...

Page 387: ...splays the selected Servo Drive s unit number set in the Unit No Setting Pn00 In Parameter Setting Mode displays the 2 digit parameter number Mode Key Switches between the following six modes Monitor Mode Normal Mode Autotuning Parameter Setting Mode Auxiliary Function Mode Parameter Write Mode Copy Mode Increment Decrement Key Increases or decreases parameter numbers or set values Shift Key Shift...

Page 388: ...6 7 6 4 Setting the Mode 6 Operation 6 4 Setting the Mode Changing the Mode Parameter Unit default display Monitor Parameter Setting Parameter Write Normal Mode Autotuning Auxiliary Function Copy ...

Page 389: ...tions method display Position deviation 8 pulses 1000r min Torque output 100 Position control display Input signal No 0 enabled No current errors No current warnings 30 of allowable regeneration energy Overload load ratio 30 Inertia ratio 100 Total feedback pulses 50 Total command pulses 10 Automatic Servomotor recognition enabled RS 232 communications Software version Software version 0 23 Note F...

Page 390: ...lses in the deviation counter unit pulse Accumulated pulses in reverse rotation are displayed with Servomotor Speed Displays the Servomotor speed unit r min Speeds in reverse rotation are displayed with Torque Output Displays the percentage of Servomotor torque output When the rated toque output for the Servomotor is used 100 is displayed Torque outputs in reverse rotation are displayed with Contr...

Page 391: ...SEL Control mode switch 32 05 VZERO Zero speed designation 26 06 GESEL Electronic gear switch 28 08 IPG Pulse disable 33 09 GSEL Gain switch 27 0A ECRST Deviation counter reset 30 0C VSEL1 Internally set speed selection 1 33 0D VSEL2 Internally set speed selection 2 30 13 DFSEL Vibration filter switch 26 14 VSEL3 Internally set speed selection 3 28 15 TLSEL Torque limit switch 27 Input signal No 0...

Page 392: ...M2 Torque Limiting 40 06 Speed Conformity 12 40 09 TGON Servomotor Rotation Speed Detection 39 If the decimal point is at the right of the signal number the signal number can be changed If the decimal point is at the right of the input output indication you can switch between inputs and outputs Move the flashing decimal point with the Shift key Switches between inputs and outputs Press the Increme...

Page 393: ...e can be viewed in the alarm history The display will flash when an alarm occurs If an alarm that is recorded in the history occurs the alarm code for the current alarm and for alarm 0 will be the same Alarm code is displayed if no alarms have occurred Current alarm Alarm 0 newest alarm Alarm 13 oldest alarm ...

Page 394: ...vo Drive overheat 49 Encoder PS signal error 16 Overload 58 CPU error 1 18 Regeneration overload 60 CPU error 2 21 Encoder disconnection detected 61 CPU error 3 23 Encoder communications error 62 CPU error 4 24 Deviation counter overflow 63 CPU error 5 26 Overspeed 65 Excessive analog input 2 27 Electronic gear setting error 66 Excessive analog input 3 34 Overrun limit error 73 CPU error 6 36 Para...

Page 395: ...e the Shift key to switch the display between the upper and lower digits of the total number of pulses Hold down the Data key for 5 s or longer to reset the total pulses to 0 No warning Warning Overload 85 or more of the alarm level for overload Battery warning Absolute encoder battery voltage dropped to 3 2 V or less Fan lock Abnormal cooling fan speed Over regeneration 85 or more of the alarm le...

Page 396: ...ays this indication is displayed Input signal Input voltage V Press the Increment or Decrement key to select the signal to monitor The PCL analog input value V is displayed The REF analog input value V after offset adjustment is displayed The NCL analog input value V is displayed Note The displayed value will not be accurate if the voltage exceeds 10 V ...

Page 397: ... P Pn43 0 Command Pulse Prohibited Input Enabled and the IPG input is open 7 Frequency of command pulse input is low P The position command per control cycle is 1 pulse or less and the following are some of the possible causes The command pulse is not input correctly The input specified in Pn40 is not connected correctly The type of input specified in Pn41 or Pn42 is not correct 8 ECRST input is e...

Page 398: ...operation Display example Explanation Use the Shift Increment and Decrement keys to set the parameter number If the parameter number is large the setting can be made more quickly by using the Shift key to change the digit that is being set The decimal point will flash for the digit that can be set Key operation Display example Explanation Press the Data key to display the setting Key operation Dis...

Page 399: ...ble the settings that have been changed for these parameters you must turn the power supply OFF and ON after saving the parameters to the EEPROM When the setting for a parameter is saved the new setting will be used for control Make gradual rather than large changes when changing values for parameters that greatly affect motor operation This is particularly true for the speed loop gain and positio...

Page 400: ...anged parameters will be enabled only after the power has been turned OFF and ON again Turn OFF the Servo Drive power supply and then turn it ON again Error is displayed if there is a writing error Write the data again Key operation Display example Explanation Press the Data key to return to Parameter Write Mode If a write error occurs write the data again If write errors continue to occur there m...

Page 401: ...ement key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase The Servomotor will start and normal mode autotuning will begin This display indicates a normal completion Error will be displayed if a tuning error has occurred Key operation Display example Explanation Press the Data key to return to Normal Mode Autotuning ...

Page 402: ...ey to display Monitor Mode Press the Mode key four times to display Auxiliary Function Mode Key operation Display example Explanation Press the Data key to enter Alarm Reset Mode Press and hold the Increment key until Start is displayed The bar indicator will increase when the key is pressed for 5 s or longer The bar indicator will increase Alarm reset will start This display indicates a normal co...

Page 403: ...offset adjustment will start This display indicates a normal completion Error will be displayed if the automatic offset adjustment could not be performed Set a valid control mode or make the setting so that the offset value does not exceed the range for the Speed Command Offset Adjustment Pn52 and then perform the procedure again Key operation Display example Explanation Press the Data key to retu...

Page 404: ...ay indicates a normal completion Error will be displayed if the absolute encoder reset could not be performed Check whether an unsupported encoder is connected and then perform the procedure again Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode The absolute encoder can be reset only with systems that use an absolute encoder Do not disconnect the Pa...

Page 405: ...5 s or longer The bar indicator will increase This completes preparations for jog operation Press and hold the Shift key until Sev_on is displayed The decimal point will move to the left when the key is pressed for 3 s or longer The Servo will turn ON Forward operation will be performed while the Increment key is pressed and reverse operation will be performed while the Decrement key is pressed Th...

Page 406: ...Copy Mode Press and hold the Increment key until EEPCLR is displayed The bar indicator will increase when the key is pressed for 3 s or longer The bar indicator will increase Initialization of the EEPROM in the Parameter Unit will start This display indicates a normal completion Key operation Display example Explanation Press the Data key to return to Copy Mode If Error is displayed before complet...

Page 407: ...ss the Data key to enter Copy Mode Press and hold the Increment key until EEP_CH is displayed DIFFER will be displayed if a different model code is entered The bar indicator will increase when the key is pressed for 3 s or longer The bar indicator will increase The Servo Drive model code is being checked If a different model code has been entered refer to 3 Different Model Codes below to perform t...

Page 408: ...he Data key to clear the error If errors are repeatedly displayed the following may be the cause cable disconnection connector contact failure incorrect operation due to noise or EEPROM fault in the Parameter Unit Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed If the Parameter Unit is disconnected incorrect data may be written and the data may be corrupt...

Page 409: ...the rated voltage Motor Installation Make sure that the Servomotor has been securely installed Disconnection from Mechanical System If necessary make sure that the Servomotor has been disconnected from the mechanical system Brake Make sure that the brake has been released Trial Operation in Position Control Mode 1 Connect connector CN1 2 Input power 12 to 24 VDC for the control signals 24VIN COM 3...

Page 410: ...ing parameters to change the Servomotor rotation speed or direction Pn50 Speed Command Scale Pn51 Command Speed Rotation Direction Switch Trial Operation in Torque Control Mode 1 Connect connector CN1 2 Input power 12 to 24 VDC for the control signals 24VIN COM 3 Turn ON the power supply to the Servo Drive 4 Confirm that the parameters are set to the standard settings 5 Set a low speed in the No 4...

Page 411: ...e Filter 7 11 Automatically Set Parameters 7 12 7 3 Normal Mode Autotuning 7 14 Normal Mode Autotuning Setting Method 7 15 Automatically Set Parameters 7 16 7 4 Disabling the Automatic Gain Adjustment Function 7 19 Disabling Realtime Autotuning 7 19 Disabling the Adaptive Filter 7 20 7 5 Manual Tuning 7 21 Basic Settings 7 21 Gain Switching Function 7 26 Machine Resonance Control 7 30 Automatic Ga...

Page 412: ... to bring the actual operation of the Servomotor as close as possible to the operations specified by the commands and to maximize the performance of the machine Example Ball screw Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed feed forward Inertia Ratio 20 40 50 0 300 70 50 30 0 300 100 80 20 500 300 2000 2000 0 0 0 375 250 125 0 0 375 250 125 0 0 375 250 125 r min C...

Page 413: ...tuning and the adaptive filter 7 19 Manual adjust ment Manual tuning basic Manual tuning is performed if autotuning cannot be executed due to restrictions on the control mode or load conditions or if ensuring the maximum responsiveness to match each load is required Basic procedure Position control mode adjustment 7 22 Speed control mode adjustment 7 24 Torque control mode adjustment 7 25 Gain swi...

Page 414: ...frequency of the mechanical system has a large impact on the gain adjustment The servo system responsiveness cannot be set high for machines with a low resonance frequency low machine rigidity Yes No Start of adjustment Will rigidity also be set automatically Is operation OK Is operation OK Yes Yes No Yes No Yes No Is operation OK Yes No No Realtime autotuning Normal mode autotuning Fit gain funct...

Page 415: ...ia ratio If the load inertia changes quickly i e in less than 10 seconds Load If the machine rigidity is extremely low If there is backlash or play in the system Operating pattern If the speed is continuously run at a low speed below 100 r min If the acceleration deceleration gradually changes at less than 2 000 r min in 1 s If the acceleration deceleration torque is too small compared with the un...

Page 416: ...e machine as normally 5 To increase system responsiveness gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection Pn22 If the machine produces unusual noise or oscillation return the Realtime Autotuning Machine Rigidity Selection to a low value e g 0 to 3 immediately 6 Write data to the EEPROM if the results are to be saved Setting Realtime Autotuning Degree of change ...

Page 417: ...ey Press the key Press the key Press the key Press the key Press the key Press the key Select the number of the parameter to be set by using the and keys Pn21 is selected in this example Change the value by using the and keys Setting Parameter Pn22 Select Pn22 by using the key Default setting Increase the value by using the key Decrease the value by using the key Writing to EEPROM Press the key En...

Page 418: ...on control Pn02 3 First control mode for position speed control Pn02 4 First control mode for position torque control Operating pattern The position command is for reciprocating operation The time per position command is at least 50 ms The minimum frequency for the position command is 1 kpps Required to determine the start and end of the command Conditions under which the fit gain does not functio...

Page 419: ...n operation It may take approximately 2 or 3 min depending on the equipment configuration which may require up to approximately 50 reciprocating operations Normally the fit gain will be completed when the optimal realtime rigidity number is found will be displayed in the following cases The INP signal becomes unstable or a realtime rigidity number without small vibration is not found The keys on t...

Page 420: ...Panel Display Example Selection display Execution display Fit gain window Execution display in fit gain window The front panel display will change to 000 000 Fit gain will start Value set for Pn21 Pn23 1 Perform the servo lock and set the rigidity to 0 and then press the key for 3 s while the dot at the far right is flashing as shown in the display above The front panel display will change along w...

Page 421: ...ilter Time Constant 2 Pn20 Inertia Ratio Pn22 Realtime Autotuning Machine Rigidity Selection Parameter No Parameter name Set value Pn15 Feed forward Amount 300 Pn16 Feed forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 1 30 Pn33 Gain Switch 1 Level Setting 50 Pn34...

Page 422: ... e Pn2F does not change 2 Write the data to the EEPROM if the results are to be saved The adaptive filter operates under the following conditions Conditions under which the adaptive filter operates Control mode The control mode is not torque control Conditions under which the adaptive filter does not function properly Resonance points If the resonance frequency is 300 Hz or lower If the resonance ...

Page 423: ... vibration occurs the Adaptive Filter Table Number Display Pn2F may have changed to an extreme value In this case also take the measures described above The Adaptive Filter Table Number Display Pn2F is written to the EEPROM every 30 minutes and when the power supply is turned OFF and turned ON again this data is used as the initial values for the adaptive operation The adaptive filter is normally ...

Page 424: ...y occur until the load inertia is estimated or the adaptive filter stabilizes after startup immediately after the first servo turns ON or when the Realtime Autotuning Machine Rigidity Selection Pn22 is increased This is not a problem if it disappears right away If the unusual noise or vibration however continues for three or more reciprocating operations take the following measures in any order yo...

Page 425: ...ecuted the Servomotor output torque can be output to the maximum set in the No 1 Torque Limit Pn5E parameter Note 4 Take sufficient care to ensure safety If vibration occurs immediately turn OFF the power supply or the servo and return the gain to the default by using the parameter settings Normal mode autotuning operates under the following conditions Conditions under which normal mode autotuning...

Page 426: ...he operating acceleration doubles each cycle starting with the third cycle Depending on the load operation may end before completing five cycles or the operating acceleration may not change This is not an error Normal Mode Autotuning Setting Method 1 Set the operating pattern using the Autotuning Operation Setting Pn25 parameter 2 Move the load to a safe position even if the Servomotor performs th...

Page 427: ...eed forward Command Filter 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 Pn18 Position Loop Gain 2 19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649 Pn19 Speed Loop Gain 2 9 18 22 27 35 40 50 60 75 90 115 140 1170 210 250 310 Pn1A Speed Loop Integration Time Constant 2 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 Pn1B Speed Feedback Filter Time Constant 2 0 0 0 0 0 0 0...

Page 428: ...ey to enter the Monitor Run Mode 4 Press and hold the Increment key until the display changes to The Servo will be ON for pin 29 of connector CN1 Drive system Machine rigidity No Ball screw direct coupling 6 to C Ball screw and timing belt 4 to A Timing belt 2 to 8 Gears rack and pinion drives 2 to 8 Machines with low rigidity etc 0 to 4 rkkkkkkkkkkkkkkkk0 Servomotor rotation speed display default...

Page 429: ...or or Servo Drive alone The Inertia Ratio Pn20 will become 0 Precautions for Correct Use Problem Likely cause Countermeasures An error is displayed An alarm has occurred the servo is OFF or the deviation counter is reset Do not operate the Servomotor near the Limit Switches or Origin Proximity Sensor Turn the servo ON Release the deviation counter reset Values for Pn10 or other parameters related ...

Page 430: ...1 to 0 the automatic estimation of the Inertia Ratio Pn20 will stop and realtime autotuning will be disabled However the estimated Inertia Ratio Pn20 will remain If the Pn20 value is obviously incorrect perform normal mode autotuning or calculate and set the appropriate value manually When disabling the automatic adjustment function the RUN Command Input RUN must be turned OFF To enable the Realti...

Page 431: ...Pn2F in the following tables Set the Notch Filter 1 Frequency Pn1D to 1 500 when disabling the adaptive filter using the above table Pn2F Notch Filter 1 Frequency Hz Pn2F Notch Filter 1 Frequency Hz Pn2F Notch Filter 1 Frequency Hz 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 Disabled when Pn22 F 6...

Page 432: ...be performed quickly by using waveform monitoring with the data tracing function of CX Drive or by measuring the analog voltage waveform with the monitor function Analog Monitor Output The actual Servomotor speed command speed torque and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device Set the type of signal to be output and the output ...

Page 433: ...nd other operation performance satisfactory Yes No End of adjustment Never make extreme adjustment or changes to settings Doing so will result in unstable operation and may lead to injuries Adjust the gain in small increments while checking Servomotor operation Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time C...

Page 434: ...deline Pn10 Position Loop Gain 30 Pn11 Speed Loop Gain 50 Pn12 Speed Loop Integration Time Constant 40 Pn13 Speed Feedback Filter Time Constant 0 Pn14 Torque Command Filter Time Constant 160 Pn15 Feed forward Amount 0 Pn16 Feed forward Command Filter 0 Pn18 Position Loop Gain 2 30 Pn19 Speed Loop Gain 2 50 Pn1A Speed Loop Integration Time Constant 2 40 Pn1B Speed Feedback Filter Time Constant 2 0 ...

Page 435: ...ry Yes No Increase the Speed Loop Gain Pn11 but not so much that it causes hunting when the servo is locked Reduce the Speed Loop Integration Time Constant Pn12 but not so much that it causes hunting when the servo is locked End of adjustment Yes No End of adjustment Does hunting vibration occur when the Servomotor is rotated Reduce the Speed Loop Gain Pn11 Write the data to EEPROM in the paramete...

Page 436: ...election Pn5B is set to 1 When the Servomotor nears the speed limit it will switch from torque control following the analog torque command to speed control commanded with speed limit values determined by the No 4 Internally Set Speed Pn56 or the Speed Command Input Torque Command Input REF TREF1 Parameters must be set according to the procedure given in Speed Control Mode Adjustment to perform sta...

Page 437: ... Refer to Normal Mode Autotuning on page 7 16 for information on making adjustments Parameter No Parameter name Perform manual tuning without gain switching Set Gain 2 Pn18 to Pn1C to the same values as Gain 1 Pn10 to Pn14 Set gain switching conditions Pn30toPn35 Adjust Pn11 and Pn14 for Gain 1 when stopped Pn10 Position Loop Gain 60 Pn11 Speed Loop Gain 50 30 Pn12 Speed Loop Integration Time Cons...

Page 438: ...rol Gain Switch 1 Setting 7 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 0 Pn34 Gain Switch 1 Hysteresis Setting 0 Pn35 Position Loop Gain Switching Time 0 Gain Switch Setting Setting parameters for position control mode Pn31 Conditions for switching to gain 2 Fig ure Gain Switch Time 1 Gain Switch Level Setting Gain Switch Hysteresis Setting 2 Pn32 Pn33 Pn34 0 Always gain 1 1 Alway...

Page 439: ...Setting Setting parameters for speed control mode Pn31 Conditions for switching to gain 2 Fig ure Gain Switch Time 1 Gain Switch Level Setting Gain Switch Hysteresis Setting 2 Pn32 37 Pn33 38 Pn34 39 0 Always gain 1 1 Always gain 2 2 Switching using Gain Switch Input GSEL 3 Amount of change in torque command A 3 0 05 166 μs 3 0 05 166 μs 4 Amount of change in speed command B 5 10 r min s 5 10 r mi...

Page 440: ...op Integration Time Constant Gain 1 for others ΔT 1 1 2 2 2 2 1 1 1 INP Time Time H L Level Level Level Level Gain 1 Gain 1 Gain 2 Gain 1 Gain 2 Gain 1 Gain 1 Gain 2 Gain 1 Gain 1 Gain 2 1 Gain 1 Gain 2 Time Time Time Time 1 Figure B Figure A Figure C Figure D Figure E Figure F Command speed S Command speed S Actual speed N Actual speed N ...

Page 441: ...filter is enabled by setting the Adaptive Filter Selection Pn23 to 1 Notch Filters 1 and 2 Pn1D Pn1E Pn28 Pn29 and Pn2A The OMNUC G Series Servo Drives provide two normal notch filters Notch Filter 1 can be used to adjust the frequency and width and Notch Filter 2 can be used to adjust frequency width and depth with parameters Parameter No Parameter name Explanation Pn23 Adaptive Filter Selection ...

Page 442: ...ce Peaks in a High Frequency Range Torque command after filter f f 3dB Notch Filter Characteristics Gain Gain Notch Filter Characteristics Gain Gain Gain Machine characteristics at resonance Machine characteristics at resonance Anti resonance Resonance Anti resonance Anti resonance Frequency Frequency Frequency Frequency Frequency Frequency Frequency Frequency Frequency Fre quency Adjust a bit low...

Page 443: ...e setting is 10 for position control and 0 for speed and torque control Stop operation before making changes when executing the automatic gain setting function Parameter No Parameter name Pn10 Position Loop Gain Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop G...

Page 444: ...d control Pn02 4 Position control only Pn02 5 Speed control only Encoder A 7 core absolute encoder is used Conditions under which the instantaneous speed observer does not function properly Load If the margin of error with the actual device is too large for the inertia load of the Servomotor and load combined Example If there is a large resonance point at the frequency of 300 Hz or lower There is ...

Page 445: ...the Instantaneous Speed Observer Setting Pn27 Set the Instantaneous Speed Observer Setting Pn27 to 1 The speed detection method will switch to Instantaneous Speed Observer If the change in torque waveform or the operation noise is large return the setting to 0 and check the precautions above as well as the Inertia Ratio Pn20 again If the change in torque waveform or the operation noise is small ma...

Page 446: ...rol mode 1 for position speed control Pn02 4 Control mode 1 for position torque control Conditions under which the effect of damping control is inhibited Load If forces other than commands such as external forces cause vibration If the ratio of the resonance frequency to anti resonance frequency is large If the vibration frequency is outside the range of 10 0 to 200 0 Hz Encoder Load Servo motor S...

Page 447: ...cause torque saturation under actual operation conditions The effects of vibration suppression will be lost if torque saturation occurs The vibration filter setting is restricted by the following equation 10 0 Hz Vibration frequency Vibration filter setting Vibration frequency 3 Set the Vibration Filter Selection Pn24 Vibration filters 1 and 2 can be switched according to the conditions of the mac...

Page 448: ...7 37 7 5 Manual Tuning 7 Adjustment Functions ...

Page 449: ...2 8 2 Alarm Table 8 3 8 3 Troubleshooting 8 6 Error Diagnosis Using the Displayed Alarm Codes 8 6 Error Diagnosis Using the Operating Status 8 15 8 4 Overload Characteristics Electronic Thermal Function 8 20 Overload Characteristics Graphs 8 20 8 5 Periodic Maintenance 8 21 Servomotor Service Life 8 21 Servo Drive Service Life 8 22 Replacing the Absolute Encoder Battery 8 23 ...

Page 450: ...50 60 Hz R88D GT H 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 kW to 7 5 kW Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz If the voltage is outside of this range there is a risk of operation failure so be sure that the power supply is correct Check the voltage of the sequence input power supply 24 VIN Terminal CN1 pin 7 Within the range of 11 to 25 VDC If the voltage is...

Page 451: ... Servo Drive Use the following procedure to replace the Servomotor or Servo Drive Replacing the Servomotor 1 Replace the Servomotor 2 Perform origin position alignment for position control When the Servomotor is replaced the Servomotor s origin position phase Z may deviate so origin alignment must be performed Refer to the Position Controller s manual for details on performing origin alignment 3 S...

Page 452: ...st Turn ON the Alarm Reset Input RESET Turn OFF the power supply then turn it ON again Reset the alarm on the Parameter Unit Note however that some alarms can only be cleared by recycling the power turn ON OFF ON Refer to the Alarms table on the next page If you clear an alarm while the RUN Command Input RUN is turned ON the Servo Drive will start operation as soon as the alarm is cleared which is...

Page 453: ... number of accumulated pulses in the deviation counter exceeded the setting for the Deviation Counter Overflow Level Pn70 Yes 26 Overspeed The Servomotor exceeded the maximum number of rotations Yes 27 Electronic gear setting error The setting for the electronic gear ratio Pn48 to 4B is not appropriate Yes 34 Overrun limit error The Servomotor exceeded the allowable operating range set in the Over...

Page 454: ...The Servo Drive is faulty No 62 CPU error 4 The Servo Drive is faulty No 63 CPU error 5 The Servo Drive is faulty No 65 Excessive analog input 2 A voltage exceeding the Speed Command Torque Command Input Overflow Level Setting Pn71 was applied to the analog command input CN1 pin 16 Yes 66 Excessive analog input 3 A voltage exceeding the Speed Com mand Torque Command Input Overflow Level Setting Pn...

Page 455: ...er supply is turned ON The power supply voltage is low Momentary power interruption occurred Power supply capacity is insufficient The power supply voltage is reduced because the main power supply is OFF The main power supply is not input Increase the power supply capacity Change the power supply Turn ON the power supply Power supply capacity is insufficient Increase the power supply capacity Phas...

Page 456: ...rbalance to the machine to lower gravitational torque Slow the descent speed Calculate the regener ative energy and connect an External RegenerationResistor with the required regeneration absorption capacity 13 Main power supply undervoltage Occurs when the Servo Drive is turned ON The power supply voltage is low Momentary power interruption occurred Power supply capacity is insufficient The power...

Page 457: ...e system by turning the servo ON and OFF Servomotor non conformity Use a Servomotor that is appropriate for use with the Servo Drive The pulse input timing is too fast Wait 100 ms min before inputting pulses after turning ON the RUN Command Input RUN The resistor in the Servo Drive is abnormally overheating Reduce the ambient temperature of the Servo Drive to 55 C or lower If the relay doesn t cli...

Page 458: ... e g the wiring or the contacts are faulty Wire the Servomotor power cable correctly The electromagnetic brake is ON Turn OFF the brake The Servo Drive is faulty Replace the Servo Drive Occurs during operation The actual torque exceeds the rated torque The starting torque exceedsthemaximum torque Review the load conditions and operating conditions Review the Servomo tor capacity An unusual noise o...

Page 459: ...urs during descent vertical axis Gravitational torque is too large Add a counterbalance to the machine to lower gravitational torque Reduce the descent speed Calculate the regenerative energy and connect an ExternalRegeneration Resistor with the required regeneration absorption capacity The operating limit of the External Regener ation Resistor is limit ed to 10 Set Pn6C to 2 For details refer to ...

Page 460: ...wiring The Servomotor is mechanically being held If the Servomotor shaft is held by external force release it Release the electro magnetic brake Control PCB error Replace the Servo Drive Occurs during high speed rotation The Servomotor power wiring or the encoder wiring is incorrect Correct the wiring Occurs when a long string of command pulses is given Gain adjustment is insufficient Adjust the g...

Page 461: ...ettings for the Electronic Gear Ratio parameters Pn48 to Pn4B 34 Overrun limit error Occurs during operation The Overrun Limit Setting Pn26 is ex ceeded during opera tion Adjust the gain Increase the setting for Pn26 Set Pn26 to 0 to disable the function 36 Overrun limit error Occurs when the power supply is turned ON There are data errors in the parameters that were read Reset all parameters The ...

Page 462: ...upply is turned ON The Servomotor is faulty Replace the Servo Drive Replace the Servomo tor 47 Absolute encoder status error Occurs when the power supply is turned ON The Servomotor was moving when the power supply was turned ON Do not let the Servo motor move when the power supply is turned ON 48 Encoder phase Z error Occurs during operation A phase Z pulse from the encoder was not detected regul...

Page 463: ...en the power supply is turned ON The Servomotor is faulty Replace the Servo Drive Replace the Servomo tor 95 Servomotor non conformity Occurs when the power supply is turned ON The Servomotor and Servo Drive combina tion is incorrect Use a correct combination The encoder wiring is disconnected Wire the encoder Fix the locations that are disconnected 96 CPU error 9 Occurs when the power supply is t...

Page 464: ... The Command Pulse Mode Pn42 is incorrect Check the Controller s command pulse type and the Servo Drive s command pulse type Set the Servo Drive s pulse type to match the Control ler s command pulse type The Zero Speed Designa tion Input VZERO is OFF In monitor mode check whether the VZERO Input is ON or OFF Turn ON the VZERO Input Correct the wiring The internally set speeds are not set Check the...

Page 465: ...r Cable is wired incorrectly Check the wiring of the Servomotor Power Cable s phases U V and W Wire correctly The Encoder Cable is wired incorrectly Check the Encoder Cable s wiring Wire correctly The Servomotor rotates without a command The command pulse input is incorrect Check the command pulse type Set the correct command pulse input Check the command pulse s voltage Connect a resistor that ma...

Page 466: ...mand Input RUN Deviation Counter Reset Input ECRST Zero Speed Designation Input VZERO Internally set Speed Selection 1 Input VSEL1 and Internally Set Speed Selection 2 Input VSEL2 Correct the wiring so that there is no chattering The Servomotor is overheating The ambient temperature is too high Check that the ambient tempera ture around the Servomotor is below 40 C Lower the ambient tempera ture t...

Page 467: ...sted pair wires that are at least 0 12 mm2 Use Encoder Cable that meets specifications Noise is entering the Encoder Cable because the cable is longer than the specified length Check the length of the Encoder Cable Shorten the Encoder Cable to less than 50 m Noise is entering the signal wires because the Encoder Cable is stuck or the sheath is damaged Check the Encoder Cable for cuts or other dama...

Page 468: ...o tor Check whether the coupling of the mechanical system and the Servo motor is misaligned Correct the coupling between the mechanical system and the Servomotor Noise is entering the Devia tion Counter Reset Input ECRST Check whether the control signal lines and power supply lines are bundled together Separate the control signal lines from the power supply lines or take other measures against noi...

Page 469: ...show the characteristics of the load rate and electronic thermal function s operation time When the torque command 0 and a constant torque command is continuously applied after three or more times the overload time constant has elapsed the overload time t s will be t s Overload time constant s loge 1 Overload level Torque command 2 The overload time constant s depends on the Servomotor The standar...

Page 470: ...Bearings 20 000 hours Decelerator 20 000 hours Oil seal 5 000 hours Encoder 30 000 hours These values presume an ambient Servomotor operating temperature of 40 C shaft loads within the allowable range rated operation rated torque and rated r min and proper installation as described in this manual You can request replacement of the bearings Decelerator Oil Seal or encoder as repair work The radial ...

Page 471: ... the power ON time be reduced as much as possible to lengthen the service life of the Servo Drive The life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature Generally speaking an increase of 10 C in the ambient operating temperature will reduce capacitor life by 50 The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with n...

Page 472: ...a battery alarm occurs the absolute encoder battery must be replaced Replace the battery with the control power supply of the Servo Drive ON If the battery is replaced with the control power supply of the Servo Drive OFF data held in the encoder will be lost Clear the battery alarm by any of the following methods after you replace the absolute encoder battery Use the alarm reset of the CN1 control...

Page 473: ...cement battery 2 Remove the battery box cover 3 Put the battery into the battery box 4 Close the cover to the battery box R88A BAT01G Raise the hooks to remove the cover Attach the connector Insert the battery Make sure that the connector wiring does not get caught when closing the cover to the battery box ...

Page 474: ...8 25 8 5 Periodic Maintenance 8 Troubleshooting ...

Page 475: ...Chapter 9 Appendix 9 1 Connection Examples 9 1 9 2 Parameter Tables 9 11 ...

Page 476: ...or the equivalent Make the setting so that the Servo can be turned ON and OFF with the RUN signal X1 X1 M E B XB R S T MC1 NFB MC2 0 V power supply for output 24 V power supply for outputs Reactor Servomotor Power Cable R88A CAG CJ1W NC133 233 433 R88D GT R88M G Contents 5 VDC power supply for pulse output 5 V GND for pulse output X axis dev cntr reset output X axis origin line driver input X axis...

Page 477: ... or the equivalent Make the setting so that the Servo can be turned ON and OFF with the RUN signal MC1 MC2 ON OFF X 1MC Main circuit power supply Main circuit contactor 0 V power supply for output 24 V power supply for outputs Reactor Servomotor Power Cable R88A CAG CJ1W NC113 213 413 R88D GT R88M G Contents X axis dev cntr reset output X axis origin line driver input X axis origin common X axis p...

Page 478: ...23 24 39 7 29 31 38 36 5 L1C L2C L1 L2 L3 B1 B3 B2 U V W A7 A8 A5 A6 A10 A16 A14 A12 A24 A19 A21 A23 A22 A20 X1 A4 A3 X1 XB 10 11 37 M CN2 E B XB R S T MC1 NFB MC2 0 V power supply for output 24 V power supply for outputs Reactor Servomotor Power Cable R88A CAG CJ1W NC133 233 433 R88D GT R88M G Contents X axis dev cntr reset output X axis origin line driver input X axis origin common X axis positi...

Page 479: ...at the Servo can be turned ON and OFF with the RUN signal No A1 A2 A8 A7 A6 A5 A16 A14 A12 A24 A19 A21 A23 A22 A20 X1 X1 XB A10 M E B XB R S T MC1 NFB MC2 0 V power supply for output 24 V power supply for outputs Reactor Servomotor Power Cable R88A CAG CS1W NC113 213 413 C200HW NC113 213 413 R88D GT R88M G Contents X axis dev cntr reset output X axis origin line driver input X axis origin common X...

Page 480: ...5 8 9 10 11 12 13 14 15 16 17 18 20 19 1 10 4 2 6 14 No XB M E B XB R S T MC1 NFB MC2 Reactor Servomotor Power Cable R88A CAG CS1W MC221 421 V1 R88D GT R88M G Contents Contents I O connector Red White Blue Green Yellow Noise filter 3 phase 200 to 240 VAC 50 60 Hz Ground to 100 or less Encoder Cable R88A CRG Brake Cable R88A CAGA B R88A CAGE B 24 VDC 24 VDC Battery 2 8 to 4 5 V DC 24 VDC 24 VDC She...

Page 481: ...B XB MC2 24 VDC 24 VDC 24 VDC Shell Output terminal block CW0 CCW0 Origin search 0 CIO 0101 02 24 VDC input terminal COM CIO 0101 00 to CIO 0101 03 Input terminal block 24 VDC input ter Pulse 0 origin input signal CIO 0001 03 COM CIO 0000 Pulse 0 origin proximity input signal CIO 0001 05 Reactor CP1H Y20DT D R88 GT Noise filter 3 phase 200 to 240 VAC 50 60 Hz R88M G Servomotor Power Cable R88A CAG...

Page 482: ... VDC Shell Reactor CP1H X40DT D R88 GT Noise filter 3 phase 200 to 240 VAC 50 60 Hz R88M G Output terminal block CW0 CIO 0100 00 COM for CIO 0100 00 CCW0 CIO 0100 01 COM for CIO 0100 01 Origin search 0 CIO 0101 02 24 VDC input terminal COM CIO 0101 00 to 0101 03 Input terminal block 24 VDC input ter Pulse 0 origin input signal CIO 0001 03 COM CIO 0000 Pulse 0 origin proximity input signal CIO 0000...

Page 483: ...red by Sanken Electric or the equivalent S No 37 39 35 1 5 13 2 6 X1 XB R T NFB X1 31 32 17 M E B XB DC24V DC24V DC24V MC1 MC2 24 VDC 24 VDC 24 VDC Shell Contents Input for the output power supply Output COM Origin input signal Positioning completed output Origin proximity input signal CW output CCW output CJ1M 3 phase 200 to 240 VAC 50 60 Hz Noise filter Reactor R88 GT R88M G Pulse output 0 Servo...

Page 484: ...ply for controls No A19 A20 A18 A16 B5 B3 B1 A5 A1 A10 B7 B5 B4 B12 B8 B9 X1 X1 XB M E B XB R S T MC1 NFB MC2 24 VDC 24 VDC 24 VDC Shell Contents Special I O connector I O connector CS1W HCP22 V1 3 phase 200 to 240 VAC 50 60 Hz Noise filter Reactor R88 GT R88M G Pulse output 1 Servomotor Power Cable R88A CAG Red White Blue Green Yellow Encoder Cable R88A CRG Brake Cable R88A CAGA B R88A CAGE B Gro...

Page 485: ...brakes 24 VDC with the 24 VDC power supply for controls No B1 A1 A3 B3 B5 A5 A19 A20 B19 B8 B9 B20 B12 A10 B5 B4 X1 M E B XB R S T MC1 NFB XB MC2 24 VDC 24 VDC 24 VDC Shell Contents Special I O connector I O connector CS1W HCA12 22 V1 3 phase 200 to 240 VAC 50 60 Hz Noise filter Reactor R88 GT R88M G Servomotor Power Cable R88A CAG Red White Blue Green Yellow Encoder Cable R88A CRG Brake Cable R88...

Page 486: ...Default setting Unit Setting range Power OFF ON 00 Unit No Setting Set the unit number 1 0 to 15 Yes 01 Default Display Set the data to display on the Parameter Unit when the power supply is turned ON 1 0 to 17 Yes 0 Position deviation Pulses 1 Servomotor rotation speed r min 2 Torque output 3 Control mode 4 I O signal status 5 Alarm code and history 6 Software version 7 Warning display 8 Regenera...

Page 487: ... POT input and NOT input enabled alarm code 38 appears 05 Command Speed Selection Select the speed command when using speed control 0 0 to 3 0 Speed command input REF 1 No 1 Internally Set Speed to No 4 Internally Set Speed Pn53 to Pn56 2 No 1 Internally Set Speed to No 3 Internally Set Speed Pn53 to Pn55 and External Speed Command REF 3 No 1 Internally Set Speed to No 8 Internally Set Speed Pn53 ...

Page 488: ...0 r min 8 Command speed 6 V 3000 r min 9 Command speed 1 5 V 3000 r min 08 IM Selection Select the relation between the output voltage level and the torque or number of pulses 0 0 to 12 0 Torque command 3 V rated 100 torque 1 Position deviation 3 V 31 pulses 2 Position deviation 3 V 125 pulses 3 Position deviation 3 V 500 pulses 4 Position deviation 3 V 2000 pulses 5 Position deviation 3 V 8000 pu...

Page 489: ... limit 1 Zero speed detection output 2 Warning output for regeneration overload overload absolute encoder battery or fan lock 3 Regeneration overload warning output 4 Overload warning 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output 0B Operation Switch When Using Absolute Encoder Set the operating method for the 17 bit absolute en coder 0 0 t...

Page 490: ...0 bps 1 4 800 bps 2 9 600 bps 3 19 200 bps 4 38 400 bps 5 57 600 bps 0E Front Key Protection Setting Front panel key operation can be limited to Monitor Mode 0 0 to 1 Yes 0 All enabled 1 Limited to Monitor Mode 0F Reserved Do not change setting Pn No Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON ...

Page 491: ...lter used in the speed feed forward section 100 0 01 ms 0 to 6400 17 Reserved Do not change setting 18 Position Loop Gain 2 Set to adjust position control system responsiveness 20 1 s 0 to 3000 19 Speed Loop Gain 2 Set to adjust speed loop responsiveness 80 Hz 1 to 3500 1A Speed Loop Integration Time Constant 2 Set to adjust the speed loop integration time constant 50 ms 1 to 1000 1B Speed Feedbac...

Page 492: ...ng if there are sudden changes in load inertia during operation 7 Set to use realtime autotuning without switching the gain 22 Realtime Autotuning MachineRigidity Selection Set the machine rigidity to one of 16 levels during re altime autotuning The higher the machine rigidity the greater the setting needs to be The higher the setting the higher the responsiveness When the Parameter Unit is used 0...

Page 493: ...Filter 2 Width Set the notch filter width to one of five levels for the resonance suppression notch filter Normally use the default setting 2 0 to 4 2A Notch Filter 2 Depth Set the depth of the resonance suppression notch fil ter 0 0 to 99 2B Vibration Frequency 1 Set vibration frequency 1 to suppress vibration at the end of the load in damping control 0 0 1 Hz 0 to 2000 2C Vibration Filter 1 Sett...

Page 494: ...mand speed 6 Amount of position deviation 7 Command pulses received 8 Positioning Completed Signal INP OFF 9 Actual Servomotor speed 10 Combination of command pulse input and speed 32 Gain Switch 1 Time This parameter is enabled when the Control Gain Switch 1 Setting Pn31 is 3 to 10 Set the delay time from the moment the condition set in the Control Gain Switch 1 Setting Pn31 is not met until retu...

Page 495: ...in Switch 2 Level Setting This parameter is enabled when Control Gain Switch 2 Setting Pn36 is 3 to 5 Set the judgment level for switching between gain 1 and gain 2 The unit de pends on the setting of Control Gain Switch 2 Setting Pn36 0 0 to 20000 39 Gain Switch 2 Hysteresis Setting Set the hysteresis width above and below the judg ment level set in the Gain Switch 2 Level Setting Pn38 The unit d...

Page 496: ...ection specified by the com mand pulse 42 Command Pulse Mode Set the form of the pulse inputs sent as command to the Servo Drive from a position controller 1 0 to 3 Yes 0 90 phase difference phase A B signal in puts 1 Forward pulse and reverse pulse inputs 2 90 phase difference phase A B signal in puts 3 Feed pulses and forward reverse signal input 43 Command PulseProhibited Input Setting Enable o...

Page 497: ...g the larger the time constant 0 0 to 7 4D SmoothingFilter Setting Select the FIR filter time constant used for the com mand pulse input The higher the setting the smoother the command pulses 0 0 to 31 Yes 4E Deviation Counter Reset Condition Setting Set the deviation counter reset conditions 1 0 to 2 0 Clears the deviation counter when the signal is closed for 100 μs or longer 1 Clears the deviat...

Page 498: ... Speed Set the No 3 internally set rotation speed 300 r min 20000 to 20000 56 No 4 Internally Set Speed Set the No 4 internally set rotation speed For torque control when Pn5B 0 set the speed limit 50 r min 20000 to 20000 74 No 5 Internally Set Speed Set the No 5 internally set rotation speed 500 r min 20000 to 20000 75 No 6 Internally Set Speed Set the No 6 internally set rotation speed 600 r min...

Page 499: ...nd Speed Limit Se lection on page 5 84 0 0 to 1 5C Torque Command Scale Set the relation between the voltage applied to the Speed Limit Input VLIM and the Servomotor speed 30 0 1 V 100 10 to 100 5D Torque Output Direction Switch Set to reverse the polarity of the Torque Command Input REF TREF1 or PCL TREF2 0 0 to 1 0 Forward 1 Reverse 5E No 1 Torque Limit Set the limit to the Servomotor s maximum ...

Page 500: ...n output turns ON when the position deviation is within the Positioning Completion Range Pn60 and there is no position command 2 Positioning completion output turns ON when the zero speed detection signal is ON and the position deviation is within the Positioning Completion Range Pn60 and there is no position command 3 Positioning completion output turns ON when the position deviation is within th...

Page 501: ...eviation counter 0 0 to 9 0 During deceleration Dynamic brake After stopping Dynamic brake Deviation counter Clear 1 During deceleration Free run After stopping Dynamic brake Deviation counter Clear 2 During deceleration Dynamic brake After stopping Servo free Deviation counter Clear 3 During deceleration Free run After stopping Servo free Deviation counter Clear 4 During deceleration Dynamic brak...

Page 502: ... speed and the Brake In terlock Signal BKIR will turn OFF after the set time for the parameter i e setting 2 ms has elapsed BKIR will also turn OFF if the speed drops to 30 r min or lower before the set time elapses 50 2 ms 0 to 100 6C Regeneration Resistor Selection Set whether to use a built in resistor or to add an Exter nal Regeneration Resistor 0 0 to 3 Yes 0 Regeneration resistor used Built ...

Page 503: ...nd Torque Command Input Overflow Level Setting Set the overflow level for Speed Command Input REF or Torque Command Input TREF using voltage after offset adjustment 0 0 1 V 0 to 100 72 Overload Detection Level Setting Set the overload detection level 0 0 to 115 73 Overspeed Detection Level Setting Set the overspeed detection level 0 r min 0 to 20000 78 Reserved Do not change setting 79 Reserved Do...

Page 504: ...Unit 3 96 Connector Terminal Blocks and Cables 4 16 contactors 4 39 control cable specifications 3 57 Control Cables 2 23 Control Gain Switch 1 Setting Pn31 5 69 Control Gain Switch 2 Setting Pn36 5 73 control I O connector specifications 3 9 control I O connectors 3 86 control input circuits 3 17 control input signals 3 12 Control Mode Selection Pn02 5 53 Control Mode Switch Input TVSEL 3 13 3 25...

Page 505: ...6 General purpose Output Common COM 3 15 H harmonic current countermeasures 4 41 I IM Selection Pn08 5 56 incremental encoders 3 46 Inertia Ratio Pn20 5 63 instantaneous speed observer 7 33 Instantaneous Speed Observer Setting Pn27 5 65 internally set speed control 5 5 Internally Set Speed Selection 1 VSEL1 3 13 Internally Set Speed Selection 2 VSEL2 3 13 Internally Set Speed Selection 3 VSEL3 3 1...

Page 506: ...erse Pulse CW 3 12 Reverse Pulse CWLD 3 14 Reverse Torque Limit Input NCL 3 12 Rotation Speed for Motor Rotation Detection Pn62 5 87 rotational speed characteristics for 1 000 r min Servomotors 3 44 rotational speed characteristics for 2 000 r min Servomotors 3 42 rotational speed characteristics for 3 000 r min Flat Servomotors 3 40 rotational speed characteristics for 3 000 r min Servomotors 3 3...

Page 507: ... Torque Command Filter Time Constant 2 Pn1C 5 62 Torque Command Input TREF1 3 12 Torque Command Input TREF2 3 12 Torque Command Scale Pn5C 5 84 Torque Command Speed Limit Selection Pn5B 5 84 torque control 5 8 torque control mode adjustment 7 25 torque limit 5 26 Torque Limit Selection Pn03 5 53 Torque Limit Switch TLSEL 3 13 Torque Output Direction Switch Pn5D 5 84 trial operation 6 28 troublesho...

Page 508: ...e previous version Revision code Date Revised content and pages 01 February 2008 Original production 02 July 2008 Changes were made throughout the manual to add information and make minor corrections 03 October 2009 Changes were made throughout the manual to add information and make minor corrections 04 January 2017 Changes were made throughout the manual to add information and make minor correcti...

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Page 510: ... IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China T...

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