Omron R88D-KT Series Manual Download Page 31

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9.2. Parameters Related to Gain

SS2 series

G5 series

Remarks

Parameter

No.

[hex]

Parameter name

Default

setting

[dec]

Parameter

No.

[dec]

Parameter name

Default

setting

[dec]

Pn10

Position Loop Gain

40
s

-1

Pn100 Position Loop Gain

48.0/

32.0

-1

Set the proportional gain of position control.
● The default setting differs between SS2 and

G5 series.

● In setting, pay attention to the units, 1 s

-1

and

0.1 s

-1

Pn11

Speed Loop Gain

Pn101 Speed Loop Gain

27.0/

18.0

Hz*1

Set the proportional gain of speed control.
● The default setting differs between SS2 and

G5 series.

● In setting, pay attention to the units, 1 Hz and

0.1 Hz.

Pn12

Speed Loop
Integration Time
Constant

Pn102

Speed Loop Integral
Time Constant

21.0/

31.0

ms*1

Set the integration time constant of speed
control.
● The default setting differs between SS2 and

G5 series.

● In setting, pay attention to the units, 1 ms and

0.1 ms.

Pn13

Speed Feedback
Filter Time Constant

Pn103

Speed Feedback
Filter Time Constant

Set the filter time constant in the speed detection
section.
● In both the SS2 and the G5 series, the default

setting is

0 (high responsiveness)

● In both the SS2 and the G5 series, increasing

the set value can suppress vibration but will
reduce responsiveness.

Pn14

Torque Command
Filter Time Constant

1.00

Pn104

Torque Command
Filter Time Constant

0.84/

1.26

ms*1

Set the torque command filter time constant of
torque control.
● The default setting differs between SS2 and

G5 series.

Pn15

Feed-forward
Amount

30.0

Pn110

Speed Feed-forward
Amount

30.0

Set the feed-forward amount to be transmitted
from position control to speed control.
● In both the SS2 and the G5 series, the default

setting is

30%

Pn16

Feed-forward
Command Filter

1.00

Pn111

Speed Feed-forward
Command Filter

0.50

Set the filter time constant in the feed-forward
section to be transmitted from position control to
speed control.
● The default setting differs between SS2 and

G5 series.

Pn17

Not used.

Pn18

Position Loop Gain
2

20
s

-1

Pn105

Position Loop Gain
2

57.0/

38.0

-1

Set the proportional gain of position control.
● The default setting differs between SS2 and

G5 series.

● In setting, pay attention to the units, 1 s

-1

and

0.1 s

-1

Pn19

Speed Loop Gain 2

Pn106 Speed Loop Gain 2

27.0/

18.0

Hz*1

Set the proportional gain of speed control.
● The default setting differs between SS2 and

G5 series.

● In setting, pay attention to the units, 1 Hz and

0.1 Hz.

Pn1A

Speed Loop
Integration Time
Constant 2

Pn107

Speed Loop Integral
Time Constant 2

1,000.0

Set the integration time constant of speed
control.
● The default setting differs between SS2 and

G5 series.

● In setting, pay attention to the units, 1 ms and

0.1 ms.

Pn1B

Speed Feedback
Filter Time Constant
2

Pn108

Speed Feedback
Filter Time Constant
2

Set the filter time constant in the speed detection
section.
● In both the SS2 and the G5 series, the default

setting is

0 (high responsiveness)

Pn1C

Torque Command
Filter Time Constant
2

1.00

Pn109

Torque Command
Filter Time Constant
2

0.84/

1.26

ms*1

Set the torque command filter time constant of
torque control.
● The default setting differs between SS2 and

G5 series.

*1. For the numerical notation sv/SV, sv represents the setting for less than 1 kW drives of 100 V or 200 V type, and SV represents the

setting for other drives.

Summary of Contents for R88D-KT Series

Page 1: ...AC Servomotor Servo Drives Replace Guide From SMARTSTEP2 series to G5 Series with General purpose Pulse Train or Analog Input R88M K R88D KT R88M G R7D BP I879 E1 01 ...

Page 2: ...respect to the use of the information 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 resul...

Page 3: ...use and precautions for correct use Intended Audience This Guide is intended for the following personnel Personnel in charge of introducing FA systems Personnel in charge of designing FA systems The personnel must also have the following knowledge Knowledge of electrical systems an electrical engineer or the equivalent Knowledge of AC Servomotors Drives Applicable Products This Guide covers the fo...

Page 4: ...omponents circuits system assemblies or any other materials or substances or environments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See http www omron com global or contact your Omron representative for published information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIA...

Page 5: ...ed on improvements and other reasons It is our practice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the Product may be changed without any notice When in doubt special part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s rep...

Page 6: ... and equipment that will make up the system to ensure that the system is used safely Review the entire contents of these manuals including all safety precautions precautions for safe use and precautions for correct use Confirm all regulations standards and restrictions that the system must adhere to Check the user program for proper execution before you use it for actual operation Trademarks Micro...

Page 7: ...story A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 April 2022 Original production Cat No I879 E1 01 Revision code ...

Page 8: ...cifications of Connectors and Terminal Blocks of Servo Drive 16 6 1 Layout and Specifications of Connectors and Terminal Blocks of Main Circuit Wiring and Motor Wiring 16 6 2 Layout and Specifications of Connectors of Control Circuit 17 7 Gain Adjustment Methods 22 7 1 Gain Adjustment Method Auto Tuning 22 7 2 Using Gain Adjustment Values for SS2 Series as Those for G5 Series 27 8 Connecting with ...

Page 9: ...otors Servo Drives with General purpose Pulse Train or Analog Input R88M K and R88D KT hereinafter called the G5 series or G5 To check the details that are not described in this manual refer to the User s Manual for the Servomotors and Servo Drives concerned No Manual No Manual name 1 I561 R88M G R7D BP AC Servomotors Servo Drives SMARTSTEP2 SS2 series User s Manual 2 I571 R88M K R88D KT AC Servom...

Page 10: ...tation 3 Parameter Unit Present Absent For the G5 series parameters are set from CX Drive computer tool 4 Servomotor dimensions Standard type Example 100 W motor 40 92 Example 100 W motor 40 92 Same in dimensions 5 Flat type Example 100 W motor 60 60 5 Example 100 W motor 40 92 The G5 series has no flat Servomotors so the dimensions are significantly different 6 Drip proof structure IP65 IP67 It i...

Page 11: ...0H KT01H 100 W G10030H BP01H 100 W K10030H KT01H 200 W G20030H BP02H 200 W K20030H KT02H 400 W G40030H BP04H 400 W K40030H KT04H 3 2 Flat Servomotors with Rated Rotation Speed of 3 000 r min Main circuit power supply voltage SS3 series G5 series Remarks Motor capacity Motor model R88M Drive model R7D Motor capacity Motor model R88M Drive model R88D Single phase 100 V 100 W GP10030L BP01L 100 W K10...

Page 12: ...2 without 50 W or 100 W brake G5 without 50 W or 100 W brake SS2 with 50 W or 100 W brake G5 with 50 W or 100 W brake Motor capacity Specifications Series Motor model R88M Dimension mm Remarks LL LR S D1 D2 C Z KL1 50 W Without brake SS2 series G05030 72 25 8 46 30 40 4 3 32 Connectors are located differently For G connectors are located on the lead cable ends For G5 connectors are located on the ...

Page 13: ...rs are located differently For G connectors are located on the lead cable ends For G5 connectors are located on the Servomotor body G5 series K20030 79 5 30 11 70 50 60 4 5 52 5 With brake SS2 series G20030 B 116 30 11 70 50 60 4 5 43 G5 series K20030 B 116 30 11 70 50 60 4 5 52 5 400 W Without brake SS2 series G40030 99 30 14 70 50 60 4 5 43 G5 series K40030 99 30 14 70 50 60 4 5 52 5 With brake ...

Page 14: ...ctors are located on the Servomotor body G5 series K10030 92 25 8 46 30 40 4 3 46 6 With brake SS2 series GP10030 B 84 5 25 8 70 50 60 4 5 43 G5 series K10030 B 122 25 8 46 30 40 4 3 46 6 200 W Without brake SS2 series GP20030 67 5 30 11 90 70 80 5 5 53 G5 series K20030 79 5 30 11 70 50 60 4 5 52 5 With brake SS2 series GP20030 B 100 30 11 90 70 80 5 5 53 G5 series K20030 B 116 30 11 70 50 60 4 5 ...

Page 15: ...he G5 series is a dimension when the ambient operating temperature is 0 to 40 C When it exceeds 40 C the dimension is 10 mm G5 series R88D KT01H 150 40 130 70 0 0 100 40 1 200 W SS2 series R7D BP02H 120 35 105 70 10 10 100 40 10 R7D BP02HH 120 40 105 70 10 10 100 40 10 G5 series R88D KT02H 150 40 130 70 0 0 100 40 1 400 W SS2 series R7D BP04H 120 40 105 70 10 10 100 40 10 G5 series R88D KT04H 150 ...

Page 16: ... Name Outline specifications Terminal Symbol Name Outline specifications CNA 10 L1 Main circuit power supply input terminals Single phase 100 to 115 VAC Single phase 200 to 240 VAC 3 phase 200 to 240 VAC CNA L1 Main circuit power supply input Single phase 100 to 120 VAC Single phase 200 to 240 VAC 3 phase 200 to 240 VAC 8 L2 L2 6 L3 L3 5 P External Regeneration Resistor connection terminals Extern...

Page 17: ... PULS FA Reverse pulse feed pulse or 90 phase difference signal phase A 1 23 CW PULS FA 4 CW PULS FA 24 CCW SIGN FB Forward Pulses Direction Signal or 90 Phase Difference Pulses Phase B 5 CCW SIGN FB Forward pulse direction signal or 90 phase difference signal phase B 1 25 CCW SIGN FB 6 CCW SIGN FB 1 For the G5 series select one of two pulse inputs by using Command Pulse Input Selection Pn005 Use ...

Page 18: ...peed selection 1 1 Functions are changed by using Control Mode Selection Pn02 It operates as the Deviation Counter Reset Input ECRST at the default setting 2 Advanced Position Control or 0 High response Position Control When you set 1 Internally Set Speed Control it operates as the Internally Set Speed Selection 2 VSEL2 2 Functions are changed by using Zero Speed Designation Torque Limit Switch Pn...

Page 19: ... 2 Output for regeneration overload or fan rotation speed alarm warning 3 Set a function to output by using Output Signal Selection 4 Pn413 The default setting is Positioning completion output 1 Motor rotation speed detection output 4 Set a function to output by using Output Signal Selection 1 Pn410 The default setting is Brake interlock output 5 Set a function to output by using Output Signal Sel...

Page 20: ...he G5 series parameters can be set from CX Drive computer tool via USB communications SS2 series G5 series Terminal No Symbol Name Terminal No Symbol Name CN3 3 TXD RS 232 send data 4 GND Ground 5 RXD RS 232 receive data CN7 1 VBUS USB signal terminal 2 D 3 D 4 Do not connect 5 GND Signal ground Analog monitor output terminal and connector For the G5 series you can check the Servo Drive status by ...

Page 21: ...vice SS2 series G5 series Terminal No Symbol Name Terminal No Symbol Name CN8 1 Do not connect 2 3 SF1 Safety input 1 4 SF1 5 SF2 Safety input 2 6 SF2 7 EDM EDM output 8 EDM Shell FG Frame ground Electrical specifications G5 series Safety Input External Power Supply 12 VDC 5 to 24 VDC 5 Safety input ON level 10 V or more OFF level 3 V or less EDM output Maximum service voltage 30 VDC Maximum outpu...

Page 22: ...o execute auto tuning of the replaced device Starting Auto Tune Wizard of G5 series Double click Auto Tune from the tuning function in the workspace of CX Drive computer tool to start the auto tuning wizard Selecting 1 Tuning Type of G5 series When the auto tuning wizard is started 1 Tuning Type is displayed then select one of the three tuning modes Choose Automatic Auto Tune Easy and click Next ...

Page 23: ...ameter Configuration of G5 series Set the machine rigidity of the motor to execute auto tuning for When the coupling rigidity from the motor shaft to the load end is high and low increase and decrease the value respectively If you cannot judge that set a default value of the selected machine configuration 12 in the following example and click Next ...

Page 24: ...sitioning stabilization time when auto tuning is completed As the conditions for that motion set Overshoot level Torque vibration level and Positioning Completion Range 1 Auto tuning may not be completed depending on the setting of Stabilization time or Positioning Completion Range 1 In that case increase one of the settings and execute it again Auto tuning may not be completed if Overshoot level ...

Page 25: ... In that case increase the set value of Error Counter Overflow Level Pn014 temporarily and execute auto tuning again After auto tuning is finished put the Error Counter Overflow Level Pn014 setting back to the original set value or set it to a proper value again G5 series Remarks Parameter No dec Parameter name Default setting dec Pn014 Error Counter Overflow Level 100 000 Command unit Set the det...

Page 26: ...uning results of the parameters For the G5 series the auto tuning results of gain related parameters are saved automatically to the non volatile memory of the drive however click Save to EEPROM so as to save all the related parameters to the non volatile memory Clicking Finish will finish the auto tuning wizard ...

Page 27: ...0 s 1 Pn100 Position Loop Gain 48 0 32 0 s 1 1 Set the proportional gain of position control In setting pay attention to the units 1 s 1 for the SS2 series and 0 1 s 1 for the G5 series Pn11 Speed Loop Gain 60 Hz Pn101 Speed Loop Gain 27 0 18 0 Hz 1 Set the proportional gain of speed control In setting pay attention to the units 1 Hz for the SS2 series and 0 1 Hz for the G5 series Pn12 Speed Loop ...

Page 28: ...of SS2 series is 10 000 and when Electronic Gear Ratio Numerator Exponent Pn4A is 0 Set the value that is set in Electronic Gear Ratio Denominator Pn4B of SS2 series to Electronic Gear Integer Setting Pn008 of G5 series SS2 series electronic gear functions When Electronic Gear Ratio Numerator 1 2 Pn46 Pn47 of SS2 series is 10 000 and when Electronic Gear Ratio Numerator Exponent Pn4A is 0 the enco...

Page 29: ...nally Set Speed Pn304 to Pn311 to Command Speed Selection Pn300 Pn300 Command Speed Selection 0 Pn03 Not used Pn04 Drive Prohibit Input Selection 1 Pn504 Drive Prohibition Input Selection 1 Set whether to enable or disable the drive prohibition function In both the SS2 and the G5 series the default setting is 1 Disabled Pn05 Not used Pn06 Zero Speed Designation Torque Limit Switch 1 Pn402 Input Si...

Page 30: ...N output signal CN1 12 13 pins of the SS2 series The default setting of the SS2 series is 2 Output for regeneration overload or fan rotation speed alarm warning For the G5 series use the general purpose output 2 for setting The default setting of Output Signal Selection 2 Pn411 is 00020202 hex Servo Ready Completed Output READY If you set the 00090909 hex Warning Output 1 WARN it will function the...

Page 31: ... amount to be transmitted from position control to speed control In both the SS2 and the G5 series the default setting is 30 Pn16 Feed forward Command Filter 1 00 ms Pn111 Speed Feed forward Command Filter 0 50 ms Set the filter time constant in the feed forward section to be transmitted from position control to speed control The default setting differs between SS2 and G5 series Pn17 Not used Pn18...

Page 32: ...s the control constant The default setting of the SS2 series is 0 Disabled The default setting of the G5 series is 1 This mode focuses on stability In replacement set it to 0 Disabled like the SS2 series Pn22 Realtime Autotuning Machine Rigidity Selection 2 Pn003 Realtime Autotuning Machine Rigidity Setting 13 11 1 Set the rigidity of equipment for real time auto tuning The default setting differs...

Page 33: ...SEL The default setting of the SS2 series is 1 The gain will be switched between gain 1 in Pn10 to Pn14 and gain 2 Pn18 to Pn1C The default setting of the G5 series is 1 Gain 1 Pn100 to Pn104 gain 2 Pn105 to Pn109 switching available When 0 Gain 1 PI P switching enabled is set speed control can be switched to proportional P control to reduce the gain Pn31 Gain Switch Setting 0 Pn115 Switching Mode...

Page 34: ...n Switch Hysteresis Setting 50 Pn118 Gain Switching Hysteresis in Position Control 33 Set a hysteresis to the judgment level for switching between Gain 1 and Gain 2 The default setting of the SS2 series is 50 The unit varies with the set value of Gain Switch Setting Pn31 For the G5 series position control and speed control can be configured differently The default setting of Gain Switching Hystere...

Page 35: ...oth the SS2 and the G5 series the default setting is 0 Positive logic Phase A advance in forward operation Pn46 Electronic Gear Ratio Numerator 1 10 000 Pn008 Electronic Gear Integer Setting 10 000 Set the electronic gear function The default setting of the SS2 series is Pn46 Pn47 10 000 Pn4A 0 Pn4B 2 500 meaning 2 500 input pulses for one motor rotation The G5 series has two setting methods Using...

Page 36: ... Parameter name Default setting dec Pn4E Smoothing Filter Setting 0 Pn223 Smoothing Filter Time Constant 0 0 ms Set the FIR filter time constant of command pulses In both the SS2 and the G5 series the default setting is 0 0 ms Be careful in setting because the setting unit is different Pn4F Not used 0 ...

Page 37: ...de the Servo Drive and the internally set speed control In both the SS2 and the G5 series the default setting is 0 ms In both the SS2 and the G5 series set the acceleration deceleration time of up to 1 000 r min Be careful in setting because the setting unit is different In both the SS2 and the G5 series for position control set 0 ms to the soft start acceleration deceleration time Pn59 Soft Start...

Page 38: ... The default setting differs between SS2 and G5 series Pn63 Deviation Counter Overflow Level 100 x 256 Encoder unit Pn014 Error Counter Overflow Level 100 000 Command unit Set the detection level of an Error Counter Overflow Error Alarm No 24 For the SS2 series the encoder unit multiple of 4 is used in setting For the G5 series the command unit command pulse unit is used in setting Be careful in s...

Page 39: ...erspeed Detection Level Setting 0 r min Pn513 Overspeed Detection Level Setting 0 r min Set the detection level of an Overspeed error Alarm No 26 In both the SS2 and the G5 series the default setting is 0 r min In both the SS2 and the G5 series if you set 0 r min it will be detected when the motor speed is 1 2 times as high as the maximum one Pn71 No 2 Torque Limit 100 Pn521 Torque Limit Selection...

Page 40: ...on Level 0 r min Pn513 Overspeed Detection Level Setting 0 r min When Torque Limit Switch Input TLSEL is enabled set the Overspeed error Alarm No 26 detection level limited by the No 2 torque limit The G5 series has no parameter of No 2 Overspeed Detection Level Use Overspeed Detection Level Setting Pn513 together with the No 1 torque limit Pn74 to Pn7F Not used ...

Page 41: ... Standard Flexible 3 000 r min 100 V 50 W K05030H T CAKA S CAKA SR CAKA S CAKA B CAKA SR CAKA BR CRKA C 2 CRKA CR 2 100 W K10030L S 200 W K20030L S 200 V 50 W K05030H T CAKA S CAKA SR CAKA S CAKA B CAKA SR CAKA BR 100 W K10030H T 200 W K20030H T 400 W K40030H T 1 represents an optional specification for the motor represents a 3 digit cable length 005 for 5 m 2 When you use an absolute absolute val...

Page 42: ...2022 0422 0422 I879 E1 01 Note Do not use this document to operate the Unit ...

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